Input Pin Description

Input Pin Description

i_xEn

When TRUE, this input activates the OperatingAreaRestrictionIC function block.

When the function block is deactivated, all outputs are set to 0 / FALSE.

Disabling the function block while the crane is moving will result in the crane movement to be stopped.

i_xBridgeFwd, i_xBridgeRev

Direction commands for the bridge travel.

i_rBridgePos

Actual distance of the center of the crane bridge from the center of coordinate system in meters. The function block supports both positive and negative position values.

i_iBridgeSpdActl

Actual speed of the bridge travel motor [RPM].

i_rBridgeDistToStopAsw

The function block must receive the estimated stopping distance from the AntiSwayOpenLoop_2 function block when the anti-sway function is active on the bridge travel movement. If the anti-sway function is not active or not implemented (i_stOarParam.xBridgeAsw = FALSE), the stopping distance is calculated from the actual motor speed, linear speed of the axis and the deceleration ramp time.

i_xTrolFwd, i_xTrolRev

Direction commands for the trolley.

i_rTrolPos

Actual distance of the center of the trolley from the center of coordinate system in meters. The function block supports both positive and negative position values.

i_iTrolSpdActl

Actual speed of the trolley motor [RPM].

i_rTrolDistToStopAsw

The function block must receive the estimated stopping distance from the AntiSwayOpenLoop_2 function block when the anti-sway function is active on the trolley movement. If the anti-sway function is not active or not implemented (i_stOarParam.xTrolAsw = FALSE), the stopping distance is calculated from the actual motor speed, linear speed of the axis and the deceleration ramp time.

i_xHoistFwd, i_xHoistRev

Direction commands for the hoist.

i_rCbleLenActl

Actual length of the hoist cable in meters from the topmost position. The value is used for determining whether the predicted stopping or actual position of the trolley lie within a restricted area.

i_iHoistSpdActl

Actual speed of the hoist motor [RPM].

i_xBlockOvrrd

Overrides blocking of the operator command when the position of the trolley is inside a restricted zone. When TRUE, the operator commands are not modified and the restricted zones are ignored. The input must be FALSE in normal operation and may be set to TRUE only to leave restricted areas. The function block automatically disables the override after 60 minutes even if the input is still TRUE.

i_wShapeSel

Selects one of the shapes for teaching. The first polygonal shape is selected by entering the value 1. The number of available restricted areas depends on configuration of parameter c_iNoOfPoly.

There are four polygonal restricted areas defined in the default configuration. They are selected by entering values from 1 to 4.

i_xTeachMode

TRUE on this input switches the function block to the teach mode. In this mode, the function block stores position of vertices defining the restricted areas. The restricted areas are inactive in teach mode. The teach mode must be disabled by writing FALSE in order to activate the restricted areas. All vertices belonging to one shape must be taught in one run. When the i_xTeachMode variable is set to FALSE and then again to TRUE, the previously taught vertices of a shape are overwritten.

Positions of all vertices are stored outside of the function block in a structured variable. It is possible to manipulate these values in your application. The function block automatically leaves the teach mode after 60 minutes even if the input is still TRUE.

i_xTeachPoint

Teaches the position of one vertex at a rising edge. Each rising edge increases the index and teaches one further vertex up to the maximum number of c_iNoOfVert (default value = 10) vertices. The teaching of one shape is finished by setting the input i_xTeachMode to FALSE or changing the actual shape using the input i_wShapeSel.

i_xRst

Resets detected alarms on rising edge, provided the cause of the alarm has been remedied.

i_stOarParam

Structure of parameters of data type OarParam

For detailed description, refer to OarParam.

iq_astPolyDef

Input/output structure to define of polygonal restricted areas

For detailed description, refer to ShapeDef

The position values of configured vertices are written by the function block, but can be manipulated by your program code if required.

The variable must be defined as retained or persistent in your program code to prevent loss of configured data after power cycle.

The values of variables that are not defined as retained or persistent are lost after a power cycle.