Output Pin Description

Output	Data Type	Description
q_xEn	BOOL	TRUE: Enables the function block. FALSE: Disables the function block. Refer to detailed description of q_xEn.
q_xDrvFwd	BOOL	Forward command to the drives
q_xDrvRev	BOOL	Reverse command to the drives
q_wDrv1SpdTarg	WORD	Drive 1 target speed Range: 0...6000 Scaling/Unit: RPM
q_wDrv1Acc	WORD	Drive 1 acceleration time Range: 0...999 Scaling/Unit: 0.1 s Refer to detailed description of q_wDrv1Acc.
q_wDrv1Dec	WORD	Drive 1 deceleration time Range: 0...999 Scaling/Unit: 0.1 s Refer to detailed description of q_wDrv1Dec.
q_wDrv2SpdTarg	WORD	Drive 2 target speed Range: 0...6000 Scaling/Unit: RPM
q_wDrv2Acc	WORD	Drive 2 acceleration time Range: 0...999 Scaling/Unit: 0.1 s Refer to detailed description of q_wDrv2Acc.
q_wDrv2Dec	WORD	Drive 2 deceleration time Range: 0...999 Scaling/Unit: 0.1 s Refer to detailed description of q_wDrv2Dec.
q_iDrftActl	INT	Value of the actual drift. The value is signed and gives information about position of the bridge with respect to its centered position. Range: -12000...+12000
q_iSkewActl	INT	Value of the actual skew. The value is signed and gives information about relative angle of the bridge with respect to its straight heading. Range: -16000...+16000
q_xAlrm	BOOL	Displays the detected alarm status of the function block. In case of an alarm the FB removes run commands from both drives and does not allow any further movement until the cause of the alarm has been removed. TRUE: Alarm detected FALSE: No alarm detected
q_wAlrmId	WORD	Detected alarm identification. Refer to notifications.

q_xEn

Enable status of the FB. While the FB is enabled, it modifies target speeds and ramp times of both drives based on actual sensor readings. In disabled state it channels the input commands, speed reference and ramp times to its outputs. Alarm outputs are set to zero (FALSE).

Transition between disabled and enabled state of the FB and vice versa while the crane is running is not restricted but it is not recommended.

q_wDrv1Acc, q_wDrv2Acc

Acceleration times for drives 1 and 2. The acceleration times are calculated along with the target speeds in order to optimize the skew and drift control. These values must be written to acceleration time parameters of the drives.

When the FB is used together with Anti-sway, both outputs are written to 1 and the ramping is handled by the FBs.

q_wDrv1Dec, q_wDrv2Dec

Deceleration times for drives 1 and 2. The deceleration times are calculated along with the target speeds in order to optimize the skew and drift control. These values must be written to deceleration time parameters of the drives.

When the FB is used together with Anti-sway, both outputs are written to 1 and the ramping is handled by the FBs.

Notifications

Bit Number	Description
0	Actual drift exceeds the maximum drift threshold.
1	Actual skew exceeds the maximum skew threshold.
2	Input configuration, i_wDrvSpdLsp >= i_wDrvSpdHsp.
3	One or both of the drives are not ready and a command to move the crane was given or a drive ready signal lost during movement.
4	i_wMotSpdNom = 0 while the FB is configured to work in cooperation with Anti-sway (i_xAsw = TRUE).