Output Pin Description - AntiSwayOpenLoop

Output Pin Description - AntiSwayOpenLoop_2

Output Pin Description

Output	Data Type	Description
q_xEn	BOOL	TRUE: Enables the Anti-sway function. FALSE: Disables the Anti-sway function.
q_xAswActv	BOOL	Anti-sway correction active. TRUE: Anti-sway active FALSE: Anti-sway inactive
q_xDrvFwd	BOOL	Forward command. Connect this output to the forward command input of the Altivar_Control FB. TRUE: Forward FALSE: Not forward
q_xDrvRev	BOOL	Reverse command. Connect this output to the reverse command input of the Altivar_Control FB. TRUE: Reverse FALSE: Not reverse
q_wAswSpdRef	REAL	Unsigned speed reference output. Use this output to control the drive via function blocks from the Altivar Library (ATV). Range: 0...stPAS.wDrvSpdRefMax Scaling/Unit: 1 RPM
q_iAswSpdRef	REAL	Signed speed reference. Range: -stPAS.wDrvSpdRefMax ...stPAS.wDrvSpdRefMax Scaling/Unit: 1 RPM
q_xBrakCtrl	BOOL	Brake control. TRUE: Open brake FALSE: Close brake Refer to detailed description below this table.
q_rDistStop	REAL	Calculated stop distance. Range: -3.4e+38...3.4e+38 Scaling/Unit: m Refer to detailed description below this table.
q_wStat	WORD	Status register. Range: 0...512 Refer to detailed description below this table.
q_wAlrmId	WORD	Detected alarm identification. Refer to Notifications. Range: 0...15
q_xAlrm	BOOL	Detected alarm bit. TRUE: Alarm detected FALSE: No alarm detected NOTE: Alarm reset automatically after the cause of the alarm is removed.

q_xBrakCtrl

This is a brake control output. Normally the brake is controlled by the brake logic of the drive. If this is so, leave this output unconnected. If an accurate Anti-sway control is also required for short movements, it is possible to let the Anti-sway FB control the brake directly. The output goes TRUE as soon as a command in the forward/reverse direction is given, the output is set to FALSE when the movement finishes.

NOTE: When brake logic is used on an Altivar drive running in open loop motor control, the drive closes the brake when the actual speed drops to/below the brake engage frequency. Since Anti-sway has to lower the speed to zero on short movements before applying the sway correction, closing of the brake interferes with the Anti-sway action.

WARNING

UNINTENDED EQUIPMENT OPERATION

Do not use parameter Brake engage delay (TBE) inside the Brake logic control menu of the Altivar drive.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Setting of the Brake engage delay to value higher than 0 may cause the drive to lock up in DCB state during reversing of direction of movement. If you need to delay closing of the brake, use q_xBrakCtrl instead.

q_rDistStop

This is the calculated distance necessary to stop the movement using the Anti-sway function. When this function is enabled, in setting i_stPAS.wCalcDistTime to a value higher than zero, the function block continuously calculates the necessary stopping distance. The calculation is spread over several controller cycles.

This function is used on automatic cranes to determine the point where the stopping ramp has to start in order to arrive at the target position.

q_wStat

Status Bit	Description
0	When TRUE, the FB is in alarm state due to a detected error.
1	When TRUE, Anti-sway output reference is stabilized (1% of the linear speed).
2	When TRUE, FB is enabled.
3	When TRUE, Anti-sway function is active.
4	Status of output q_xDrvFwd.
5	Status of output q_xDrvRev.
6	When TRUE, additional stop distance optimization is available with actual setting of i_stPAS.wAswRampLim.

Notifications

This output indicates what alarm has been reported.

Alarm resets automatically after the cause of the alarm is removed.

Alarm Bit q_wAlrmId	Description
0	One or more of the FB inputs is/are out of range.
1	One or more of the input structure elements is/are out of range.
2	Tried to initialize the Anti-sway, but the Anti-sway speed profile is currently active -> output of the Anti-sway.
3	Command to enable Anti-sway given while previous profile has not finished yet.