SIMOCRANE Basic Technology 2012-06 en en-US PDF

Basic Technology ___________________
Preface
___________________
System overview 1
___________________
Hardware interfaces 2
SIMOCRANE
___________________
Software structure 3
Basic Technology ___________________

Function modules 4
___________________
Crane function blocks 5
Operating Instructions
___________________
Communication 6
Alarm, error and system
___________________
messages 7
___________________
Commissioning 8
___________________
Possibility of adaptation 9
___________________
Standard applications 10
___________________
Spare parts/Accessories 11
___________________
Appendix A
Valid for
SIMOCRANE Basic Technology V3.0
Hardware:
– SIMOTION D435-2 DP/PN as of version V4.3 SP1
– SINAMICS as of version V4.5
06/2012
Legal information
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damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
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Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
Siemens AG Copyright © Siemens AG 2007 - 2012.

Industry Sector Ⓟ 08/2012 Technical data subject to change All rights reserved
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Preface
This document is part of the SIMOCRANE Basic Technology package. It describes a

standard application solution for cranes. This standard application solution has been
available since mid 2007. It is suitable for both "ready-to-run" (parameterization only) and
"ready-to-apply" (adapted by users) applications.
Prerequisite (area of validity)

This manual is valid for use with the following product versions:
Hardware:
● SIMOTION D435-2 DP/PN as of version V4.3 SP1
● SINAMICS as of version V4.5
Software:
● SIMOTION SCOUT as of version V4.3 SP1
● SIMOCRANE Basic Technology as of version V3.0
● Drive Control Chart (DCC) options package as of version V2.2 SP1
Additional information
Siemens product support

The latest information about SIMOTION products, product support, and FAQs can be found
on the Internet here
(http://support.automation.siemens.com/WW/view/en/10805436/130000).
The latest information about SINAMICS products, product support, and FAQs can be found
on the Internet here
(http://support.automation.siemens.com/WW/view/en/13305690/130000).
The latest information about SIMOCRANE products, product support, and FAQs can be
found on the Internet here
(http://support.automation.siemens.com/WW/view/de/10807397/130000).
Crane Application notes:
On the Internet here (http://support.automation.siemens.com/CN/view/zh/48342008/136000)
.
Basic Technology
Operating Instructions, 06/2012 3
Preface
Product support for SIMOCRANE

The following addresses provide support for your SIMOCRANE products:
● Support request on the Internet:
– http://support.automation.siemens.com
● Europe hotline
– Tel.: +49 (0) 911 895 7 222
– Fax: +49 (0) 911 895 7 223
– E-mail: [email protected]
● America hotline
– Tel.: +1 423 262 5710
– Fax: +1 423 262 2231
● Asia/Pacific hotline
– Tel.: +86 10 6475 7575
– Fax: +86 10 6474 7474
Application support for SIMOCRANE

For additional customer-specific requirements and applications, please contact the following
e-mail address:
[email protected]
Further assistance
We also offer introductory courses to help you familiarize yourself with SIMOCRANE Basic
Technology. You can find more information here (www.siemens.nl/training/cranes).
If you have any additional questions please contact your local Siemens sales person.
Basic Technology
4 Operating Instructions, 06/2012
Table of Contents
Preface ...................................................................................................................................................... 3
1 System overview...................................................................................................................................... 11
2 Hardware interfaces................................................................................................................................. 19
2.1 Handling a CompactFlash card of a D4x5-2................................................................................19
2.2 Interfaces of the SIMOTION D435-2 DP/PN ...............................................................................19
2.2.1 Ethernet ports...............................................................................................................................20
2.2.2 PROFINET IO interface ...............................................................................................................23
2.2.3 Digital I/Os....................................................................................................................................26
2.3 Interfaces of the Communication Board Ethernet 30 (CBE30-2).................................................27
3 Software structure.................................................................................................................................... 29
3.1 Software structure........................................................................................................................29
3.2 Structure of a function module .....................................................................................................31
3.3 Control Structure..........................................................................................................................35
4 Function modules .................................................................................................................................... 37
4.1 Hoist .............................................................................................................................................37
4.2 Trolley(Cross Travel) ...................................................................................................................43
4.3 Gantry (Long Travel)....................................................................................................................49
4.4 Boom............................................................................................................................................55
4.5 Holding Gear ................................................................................................................................58
4.6 Closing Gear ................................................................................................................................61
4.7 Slewing Gear................................................................................................................................66
5 Crane function blocks .............................................................................................................................. 69
5.1 Nomenclature of the crane function blocks..................................................................................69
5.2 Crane DCC library........................................................................................................................71
5.2.1 General information .....................................................................................................................71
5.2.2 DCC_AccelChangeSlewGear ......................................................................................................72
5.2.3 DCC_ChangeOverHDFW ............................................................................................................77
5.2.4 DCC_ContLoadMeasurement......................................................................................................80
5.2.5 DCC_ContLoadMeasurement_1 ..................................................................................................88
5.2.6 DCC_CurrentDistribution .............................................................................................................93
5.2.7 DCC_CurrentEqualControl...........................................................................................................95
5.2.8 DCC_CurrentEqualControl_1.....................................................................................................100
5.2.9 DCC_GrabMonitor .....................................................................................................................102
5.2.10 DCC_HeavyDuty........................................................................................................................103
5.2.11 DCC_LoadDependingFieldWeak ...............................................................................................106
5.2.12 DCC_LoadDependFieldWeak_1 ................................................................................................113
Basic Technology
Table of Contents
5.2.13 DCC_MasterSwitch ................................................................................................................... 120

5.2.14 DCC_MasterSwitch_1 ............................................................................................................... 124
5.2.15 DCC_Monitoring........................................................................................................................ 128
5.2.16 DCC_OverSpeed ...................................................................................................................... 130
5.2.17 DCC_PreLimitSwitch................................................................................................................. 134
5.2.18 DCC_SlackRopeControl............................................................................................................ 137
5.2.19 DCC_SlackRopeControl_1........................................................................................................ 144
5.2.20 DCC_StartPulse ........................................................................................................................ 150
5.2.21 DCC_StartPulse_1 .................................................................................................................... 154
5.2.22 DCC_TractionControl ................................................................................................................ 156
5.2.23 DCC_VelocityChangeSlewGear ............................................................................................... 160
5.3 Crane FB library ........................................................................................................................ 163
5.3.1 General information................................................................................................................... 163
5.3.2 FB_TelegramSinamicsToSimotion............................................................................................ 164
5.3.3 FB_TelegramSimotionToSinamics............................................................................................ 166
5.3.4 FB_TelegramS7ToSimotion ...................................................................................................... 169
5.3.5 FB_TelegramSimotionToS7 ...................................................................................................... 175
5.3.6 FB_ControlAxis ......................................................................................................................... 181
5.3.7 FB_ErrorPriority......................................................................................................................... 187
5.3.8 FB_Monitoring ........................................................................................................................... 189
5.3.9 FB_OperationMode ................................................................................................................... 194
5.3.9.1 Functionality .............................................................................................................................. 208
5.3.9.2 Selecting a function module ...................................................................................................... 210
5.3.9.3 Technology object switchover................................................................................................... 214
5.3.9.4 Description of the operating modes .......................................................................................... 224
5.3.9.5 Selecting operating modes........................................................................................................ 243
5.3.9.6 Homing ...................................................................................................................................... 252
5.3.9.7 Master-slave operation control type.......................................................................................... 253
5.3.9.8 Synchronous operation control type ......................................................................................... 257
5.3.9.9 Switching over from a motor encoder to an external encoder .................................................. 264
5.3.9.10 Tandem mode ........................................................................................................................... 265
5.3.9.11 Offset mode............................................................................................................................... 266
5.3.9.12 Shortening the distance-to-go ................................................................................................... 266
5.3.9.13 Brake test .................................................................................................................................. 267
5.3.9.14 Brake control with SINAMICS ................................................................................................... 269
5.3.9.15 Alarms ....................................................................................................................................... 270
5.3.9.16 Error .......................................................................................................................................... 270
5.3.10 FB_TractionControl ................................................................................................................... 272
5.3.11 FB_ReferenceMode .................................................................................................................. 273
5.3.12 FB_Cornering ............................................................................................................................ 280
5.3.13 FB_SynchronizeRTC................................................................................................................. 285
5.3.14 FB_AutoSettingFW.................................................................................................................... 286
5.4 Setup and version update for crane libraries ............................................................................ 289
5.4.1 Updating the Crane_FB_Library................................................................................................ 290
5.4.2 Upgrade of a function in the Crane_FB_Library........................................................................ 290
5.4.3 Setting up and updating the Crane_DCC_Library..................................................................... 290
6 Communication...................................................................................................................................... 293
6.1 General overview ...................................................................................................................... 293
6.2 Communication, SIMATIC – SIMOTION D ............................................................................... 297
6.2.1 Configuring the connection ....................................................................................................... 297
Basic Technology
Table of Contents
6.2.2 Defining the telegram.................................................................................................................306

6.2.2.1 SIMATIC S7 → SIMOTION.........................................................................................................307
6.2.2.2 SIMOTION → SIMATIC S7.........................................................................................................315
6.2.3 Short description of the data blocks and function blocks in SIMATIC for communication.........320
6.3 Communication, SIMOTION D – SINAMICS (internal SIMOTION D communication) ..............323
6.3.1 Configuring the connection ........................................................................................................323
6.3.2 Defining the telegram.................................................................................................................325
6.3.2.1 SIMOTION → SINAMICS ...........................................................................................................325
6.3.2.2 SINAMICS → SIMOTION ...........................................................................................................328
7 Alarm, error and system messages ....................................................................................................... 333
7.1 Overview - monitoring functions.................................................................................................333
7.2 Dynamic monitoring of following errors......................................................................................333
7.3 Position and standstill monitoring ..............................................................................................335
7.4 Standstill signal ..........................................................................................................................337
7.5 Overspeed signal from SINAMICS ............................................................................................338
7.6 Application error messages and alarm messages.....................................................................339
7.7 Troubleshooting .........................................................................................................................350
8 Commissioning ...................................................................................................................................... 351
8.1 Preliminary remark.....................................................................................................................351
8.2 SIMOCRANE WebStart .............................................................................................................353
8.3 General ......................................................................................................................................361
8.4 Controlling the crane taking the PROFIdrive profile into account..............................................369
8.4.1 Switching on the crane...............................................................................................................369
8.4.2 Switching off the crane...............................................................................................................370
8.4.3 SPEED_CONTROLLED ON ......................................................................................................370
8.4.4 SPEED_CONTROLLED OFF ....................................................................................................372
8.4.5 Mechanical motion stop .............................................................................................................374
8.5 Application examples for the S7 control ....................................................................................374
8.5.1 Controlling the drive ...................................................................................................................376
8.5.1.1 Switching-on a drive...................................................................................................................377
8.5.1.2 Switching-off a drive...................................................................................................................378
8.5.2 Selecting and deselecting operating modes ..............................................................................379
8.5.2.1 Selecting the AUTOMATIC operating mode..............................................................................380
8.5.2.2 Deselecting the AUTOMATIC operating mode..........................................................................382
8.5.3 Externally switching over from trolley to boom and vice versa ..................................................383
8.5.3.1 Switching over from trolley to boom...........................................................................................384
8.5.3.2 Switching over from boom to trolley...........................................................................................385
8.5.4 Grab crane .................................................................................................................................386
8.5.4.1 Adjusting the grab ......................................................................................................................387
8.5.4.2 Slack rope controller function.....................................................................................................389
8.5.4.3 Current equalization controller function .....................................................................................391
8.5.4.4 Lifting the grab ...........................................................................................................................392
8.5.4.5 Lowering the grab ......................................................................................................................395
8.5.4.6 Opening the grab .......................................................................................................................397
8.5.4.7 Close grab..................................................................................................................................399
Basic Technology
Table of Contents
8.6 SINAMICS drive object ............................................................................................................. 400

8.7 SIMOTION technology object ................................................................................................... 407
8.8 Crane DCC blocks .................................................................................................................... 411
8.9 User program (MCC program) .................................................................................................. 412
8.10 Field weakening (LDFW)........................................................................................................... 414
8.10.1 General description ................................................................................................................... 414
8.10.2 Theoretical basics and equations ............................................................................................. 415
8.10.3 Commissioning information....................................................................................................... 416
8.10.3.1 Generating the measurement quantities................................................................................... 416
8.10.3.2 Commissioning support for LDFW with FB_AutoSettingFW..................................................... 419
8.10.3.3 Compensating the frictional current .......................................................................................... 423
8.10.3.4 Compensating the acceleration torque of the rotating masses................................................. 424
8.10.3.5 Compensating the acceleration torque of the load ................................................................... 425
8.10.3.6 Correcting the efficiency............................................................................................................ 425
8.10.3.7 Calculating the physical size of the load ................................................................................... 427
8.10.4 Procedure for drives with a switchable gear ............................................................................. 427
8.10.5 Criteria for enabling field weakening......................................................................................... 428
8.10.6 Reducing the supplementary setpoint for an incorrect calculation ........................................... 429
8.10.7 Examples of load curves for load-dependent field weakening.................................................. 430
8.10.7.1 Example 1: Constant power ...................................................................................................... 431
8.10.7.2 Example 2: Curve is specified (no constant power).................................................................. 432
8.11 Continuous load measurement (CLM) ...................................................................................... 434
8.11.2 Theoretical basics and equations ............................................................................................. 434
8.11.3 Commissioning information....................................................................................................... 435
8.11.3.1 Commissioning support for CLM with FB_AutoSettingFW ....................................................... 439
8.11.3.2 Friction torque compensation.................................................................................................... 443
8.11.3.3 Compensating the acceleration torque of the rotating masses................................................. 444
8.11.3.4 Compensating the acceleration torque of the load ................................................................... 445
8.11.3.5 Correcting the efficiency............................................................................................................ 446
8.11.3.6 Compensating the rope weight ................................................................................................. 448
8.11.3.7 Load from load measuring cell .................................................................................................. 448
8.11.3.8 Calculating the physical size of the load ................................................................................... 449
8.11.3.9 Output "Grab touchdown" (boGrabTouchDown = True) ........................................................... 449
8.12 Start pulse ................................................................................................................................. 451
8.12.2 Commissioning.......................................................................................................................... 451
8.13 Temporary travel at overspeed ................................................................................................. 453
8.14 Grab Ship Unloader (GSU) ....................................................................................................... 454
8.14.2 Procedure.................................................................................................................................. 454
8.14.2.1 Checking the hardware ............................................................................................................. 454
8.14.2.2 Checking the configuration in the project.................................................................................. 454
8.14.2.3 Running a script for each drive ................................................................................................. 454
8.14.2.4 Adjusting the direction of rotation.............................................................................................. 455
8.14.2.5 Stationary measurement and rotating measurement................................................................ 456
8.14.2.6 Setting the reference and maximum parameters...................................................................... 457
8.14.2.7 Reference parameters in the interface of the MCC unit ........................................................... 457
Basic Technology
Table of Contents
8.14.2.8 Setting the closing velocity.........................................................................................................458

8.14.2.9 Deactivating control blocks in the DCC for the time being ........................................................460
8.14.2.10 Checking the interface between the S7 and SIMOTION ......................................................460
8.14.2.11 Settings for load-dependent field weakening and continuous load measurement ...............461
8.14.2.12 Control word circuit ...............................................................................................................461
8.14.2.13 Grab monitoring ....................................................................................................................468
8.14.2.14 Continuous load measurement.............................................................................................468
8.14.2.15 Setting control blocks in the DCC .........................................................................................468
8.14.2.16 Correct grab adjustment .......................................................................................................469
8.15 Ship-to-shore tandem crane (STS tandem)...............................................................................470
8.15.1 Getting started............................................................................................................................470
8.15.2 Interconnections.........................................................................................................................470
8.15.3 Interface description...................................................................................................................472
8.15.4 Procedure...................................................................................................................................476
8.15.5 Moving in tandem mode.............................................................................................................477
8.15.6 Offset mode between tandem master and tandem slave (TandemMode) ................................478
8.15.7 Offset mode between the master and the slave ........................................................................479
9 Possibility of adaptation ......................................................................................................................... 483
9.1 Inserting a drive object...............................................................................................................483
9.2 Inserting a technology object and a fixed gear ..........................................................................484
9.3 Creating input and output addresses.........................................................................................487
9.4 Setting up the program ..............................................................................................................489
9.4.1 MCC level...................................................................................................................................489
9.4.2 DCC level ...................................................................................................................................492
10 Standard applications ............................................................................................................................ 497
10.1 STS crane (ship-to-shore)..........................................................................................................498
10.2 RMG Crane (Rail-mounted Gantry) ...........................................................................................502
10.3 RTG crane (Rubber-Tired Gantry) .............................................................................................505
10.4 GSU (grab ship unloader) crane ................................................................................................507
10.5 LSC (Luffing Slewing Crane) .....................................................................................................510
10.6 OHBC (Overhead Bridge Crane) ...............................................................................................513
10.7 GD Crane (Grab Dredger) .........................................................................................................515
10.8 STS tandem crane (ship-to-shore with four hoists) ...................................................................517
10.9 Easy RTG crane (simple rubber-tired gantry)............................................................................520
10.10 GSU Tandem Crane (GSU with two closing gear and two holding gear)..................................521
10.11 OHBC (Overhead Bridge Crane distributed synchronous operation over two SIMOTION
D) ...............................................................................................................................................524
11 Spare parts/Accessories........................................................................................................................ 527
A Appendix................................................................................................................................................ 529
A.1 References.................................................................................................................................529
A.2 Abbreviations .............................................................................................................................530
Basic Technology
Table of Contents
A.3 Terminology (German/English) ................................................................................................. 531
Basic Technology
System overview 1
Introduction
The technology module T300 with MASTERDRIVES drive for crane-specific technology
(basic technology) was used in the previous crane application solution. Since mid-2007, the
new sector solution SIMOCRANE Basic Technology is available in the Siemens Cranes
business area. The new platform based on SIMATIC + SIMOTION + SINAMICS is available
for harbor and industrial cranes. All tasks are clearly segregated so that SIMOTION handles
all crane technologies, e.g. basic technology, sway control, etc., which can be structured
systematically on one another. The hardware configuration using an STS crane with new
platform is shown in the following diagram as an example.
6,0$7,& 6,027,21 6,1$0,&6
Figure 1-1 The SIMOCRANE platform
Figure 1-2 STS configuration with the new platform using SIMOTION D435-2 as example
In comparison to the solutions based on T300 and/or SIMATIC with MASTERDRIVES, the
new solution on SIMOTION D includes the following features:
Basic Technology
System overview
● The basic technology covers the motion control of all the main drives of a crane. It
includes the functions of all six T300 modules (hoist, gantry, gantry-slave, slewing gear,
holding gear and closing gear) and more (e.g. boom etc.); for information on the scope of
the standard application, refer to Chapter STS crane (ship-to-shore) (Page 498).
● All of the functions proven in practice have been integrated into the new platform. All
methods have been updated. The new requirements were taken into account.
● SIMOTION D offers a centralized solution. The internal data exchange so replaces the
otherwise usual inter-axis communication.
● New closed-loop control concept for synchronous operation and positioning with position
controller.
● Possibility of adapting to customer-specific requirements.
● A package permits both ready-to-run (only parameterization) as well as also ready-to-
apply (adapted by the user) applications.
Special feature V3.0

The version V2.0 SP2 was released at end of 2010. Its focus was on the improved usability
and the enhanced functionality.
As of June 2012, the SIMOTION D435 platform was enhanced with the innovation provided
with SINAMICS CU320-2 and the new processor for SIMOTION. Thus, from the platform
viewpoint, the software and hardware of the SIMOCRANE Basic Technology V3.0 package
with SIMOTION D435-2 are no longer compatible with V2.0 SP2 that can run on the
SIMOTION D435.
With the new version V3.0, the usability has been continuously improved, for example, with
the introduction of the Web-based SIMOCRANE WebStart tool for commissioning and
diagnostics as well as with the introduction of the Auto-Setting function for commissioning
the load-dependent field weakening and the continuous load measurement function. The
software and hardware interfaces are extended in V3.0, for example with the interface to the
coming "ECO technology" innovation and the integrated interface to SINAMICS DC Master.
In addition, a virtual interface has been implemented to create a PLC user program directly
in SIMOTION without requiring a SIMATIC S7.
Basic Technology
System overview
Scope of delivery
The previous SIMOCRANE Basic Technology V2.0 SP2 package with SIMOTION D435
(order number: 6AU1660-4AA10-0AA0) will continue to be marketed. In parallel, the
SIMOCRANE Basic Technology V3.0 package with SIMOTION D435-2 (order number:
6AU1660-4AA20-0AA0) is supplied. This means, as customer you can choose between
these two packages depending on the project and the system.
Figure 1-3 SIMOCRANE Basic Technology scope of supply
The SIMOCRANE Basic Technology package offers a control system for various crane
applications. It includes:
SIMOCRANE Basic Technology V2.0 SP2

Hardware
● SIMOTION D435
Memory card (CF card)
● Latest firmware version for SIMOTION D4x5 and SINAMICS S120
● Licenses:
– SIMOTION MultiAxes (for motion control)
– SIMOTION IT (for diagnostics via Web server)
– SIMOTION Crane Basic Technology (for functions in the crane DCC library)
Software
● CD with
– Setup for installing the Crane DCC Library and online help
– Standard application and the Crane FB Library
– Documentation
Basic Technology
System overview
SIMOCRANE Basic Technology V3.0

Hardware
● SIMOTION D435-2 DP/PN
Memory card (CF card)
● Latest firmware version for SIMOTION D4x5-2 and SINAMICS S120
● Licenses:
– SIMOTION MultiAxes (for motion control)
– SIMOTION Crane Basic Technology (for functions in the Crane DCC library)
Software
● CD with
– Setup for installing the Crane DCC Library and online help
– Standard application and the Crane FB library
– SIMOTION D4x5-2 V4.3.1 and SINAMICS V4.5 firmware
– Documentation
Product structure
The software package includes a Crane DCC library, a Crane FB library and several
complete standard applications (e.g. for STS cranes).
The Crane DCC Library comprises a collection of blocks (e.g. load dependent field
weakening) which are implemented as "Drive Control Charts" (DCC) blocks. DCC is a
representation which supports graphic configuring and interconnecting. For detailed
information about the scope of functions of the Cranes Library, refer to table 1-2.
The Crane DCC Library consists of a collection of blocks (e.g. OperationMode) which are
implemented in "Structured Text" (ST) as function blocks. These blocks are called in the
drive-oriented sequential control.
Basic Technology
System overview
The standard applications comprise ready-to-use configured application software for different
crane types, e.g. "Ship to shore crane" etc. These solutions are "Ready-to-Run" for users
who only want to be concerned with parameterization. These can be considered being a
"Ready-to-Apply" basis for large-scale adaptations and expansions, offering a high degree of
expansibility and flexibility.
Figure 1-4 Product structure for Basic Technology applications
Basic Technology
System overview
Functionality
The application software has a modular structure according to crane types. An overview of
the function modules, their operating modes and technology function used are shown in the
following tables.
Table 1- 1 Overview, function modules, axes and operating modes
Function Number Control mode Modes of operation

module of axes
Hoist 4 • Speed-controlled • AUTOMATIC
• Positioning • MANUAL
• Master-slave operation • SPEED_CONTROLLED (jogging)
• Synchronous operation • SWAYCONTROL
• EASY_POSITIONING
Trolley 2 • Speed-controlled • AUTOMATIC
(Cross Travel)
• Synchronous operation • SENSORLESS EMERGENCY
• SWAYCONTROL
Gantry 2 • Speed-controlled • AUTOMATIC
(Long Travel)
• Synchronous operation • SENSORLESS EMERGENCY
Boom 1 • Speed-controlled • SPEED_CONTROLLED (jogging)
(Luffing Gear)
Holding and 4 • Each separately speed- • SPEED_CONTROLLED (jogging)
Closing Gear controlled with one axis • SWAYCONTROL
(Holding Gear or Closing
Gear)
• Synchronous operation
between both axes
Slewing Gear 1 • Speed-controlled • AUTOMATIC
• SPEED_CONTROLLED (jogging)
• SENSORLESS EMERGENCY
Basic Technology
System overview
Table 1- 2 Overview, crane-specific technology functions
No. Function/block Brief description

1 Load-dependent field Using this DCC block, a supplementary speed setpoint is
weakening/ calculated dependent on the load. This speed increase for
DCC_LoadDependField partial loads above the rated speed is required for cranes to
Weak_1/ increase the handling capacity.
DCC_LoadDependingField
Weak
2 Prelimit switch (selectable The velocity of the drive can be influenced using this DCC
limiting)/ block when a predefined pre-limit switch is reached.
DCC_PreLimitSwitch
3 Start pulse / DCC_StartPulse_1/ Using this DCC block, "load sag" when starting hoisting
DCC_StartPulse gear with a suspended load is either prevented or reduced.
4 Changeover of the ramp- Using this DCC block, the acceleration and deceleration
function generator in the field- times are modified in heavy duty operation or in field
weakening range and when weakening.
selecting heavy duty operation
DCC_ChangeOverHDFW
5 Current distribution monitoring/ This DCC block is used to compare the current setpoint or
DCC_CurrentDistribution the actual values of the master and slave. A message is
generated if a specified difference is exceeded.
6 Slack rope controller/ This function helps to avoid the formation of slack ropes
DCC_SlackRopeControl_1/ when the grab starts handling the cargo. This function also
DCC_SlackRopeControl ensures that the grab can bury itself into the material –
therefore ensuring the maximum filling level.
7 Current equalization control with When raising and lowering the closed grab, the tension
orange-peel bucket mode / levels in the holding and closing ropes should be
DCC_CurrentEqualControl_1/ approximately the same. This means that the hoisting
DCC_CurrentEqualControl power is optimally distributed across the two motors.
8 Slewing velocity dependent on The speed of the slewing gear is adapted depending on the
working radius/ boom working radius in order to keep the circumferential
DCC_VelocityChangeSlewGear velocity constant.
9 Ramp-up and ramp-down time For cranes with luffing gear, with increasing working radius,
dependent on working radius + the load torque for the slewing gear increases while
velocity/ accelerating. In order to avoid the current limits being
DCC_AccelChangeSlew reached, the ramp-up and ramp-down times are suitably
Gear adapted as a function of the working radius and/or the
angular velocity.
10 Master switch / Using this DCC block, the drive can be moved with a fine
DCC_MasterSwitch_1/ sensitivity for manual positioning using a master switch,
DCC_MasterSwitch which is directly connected.
11 Anti-slip control/ The velocity between the motor encoder and the external
DCC_TractionControl encoder is monitored using this DCC block. If an
excessively high velocity deviation occurs, the velocity of
the acceleration is adapted.
12 Heavy duty or constant field With this DCC block, the drive becomes capable of heavy
weakening/ duty operation (HeavyDuty) or operation with constant field
DCC_HeavyDuty weakening (FieldWeak) through variation in the velocity.
13 Overspeed monitoring/ For hoisting gear applications, using this DCC block, an
DCC_OverSpeed overspeed condition is monitored or a setpoint-actual value
deviation is detected (this is not a fail-safe function).
Basic Technology
System overview
No. Function/block Brief description

14 Setpoint monitoring/ This DCC block is used to monitor whether the velocity,
DCC_Monitoring acceleration or deceleration have been reduced. Further, it
is monitored whether the drive is in field weakening.
15 Continuous load measurement/ This DCC block measures the load continuously to guide
DCC_ContLoadMeasurement_1/ the crane driver when he/she cannot see the grab.
DCC_ContLoadMeasurement The message "Grab touchdown" is also displayed.
16 Grab monitoring/ This DCC block can be used to detect bulky load material in
DCC_GrabMonitor the closing gear.
17 Time-optimized positioning for a Using this system function, the drive can be moved to the
single axis target position as quickly as possible with the specified
maximum velocity and acceleration/deceleration.
18 Master-slave closed-loop torque Master-slave operation is used if two motors are connected
control to a common shaft. The master operates either closed-loop
position controlled or closed-loop speed controlled
depending on the operating mode. The slave only operates
closed-loop torque controlled. The master sends the torque
as torque setpoint to the slave.
19 Synchronous operation Synchronous operation control is used if two motors are
connected to a common load. Depending on the operating
mode, the master and slave operate either closed-loop
position controlled or closed-loop speed controlled. The
slave receives a speed or position setpoint depending on
the operating mode from the master via a gear (gear ratio
1 : 1). The functional scope has been expanded with the
implementation of flying homing, offset compensatory
control and offset mode.
20 Tandem mode The tandem mode is an extension of the synchronous
operation control mode. Synchronous operation motion
control takes place between two groups. In each group, two
drives can be coupled in master-slave closed-loop torque
control or also in synchronous operation. The function is
suitable for applications with harbor cranes (for example
double-spreader container cranes or large ship unloaders
with four-drum grabs) as well as for applications involving
industrial cranes with several hoisting gear and trolleys.
21 Cornering movement Using this function, cornering movement for the crane long
travel (gantry) can be executed in closed-loop speed
controlled operation.
22 Brake test The mechanical brake function (e.g. hoisting gear) should
be regularly checked using this function. To do this, the axis
moves against the closed brake with a certain torque
setpoint in order to check the braking capability of the
brake.
23 Basic positioner This is a positioning that does not use a position controller
of the axis but rather FB_OperationMode is calculated in
the FB library; it is suitable for systems that tend to be
subject to mechanical vibrations, such as a rope-drawn
trolley on STS cranes.
For example, the standard application for the STS crane includes the four function modules:
Hoist, Trolley, Gantry and Boom. For the actual scope of these function modules, their
functions, operating modes and technologies, refer to Standard applications (Page 497).
Basic Technology
Hardware interfaces 2
2.1 Handling a CompactFlash card of a D4x5-2
The CompactFlash card is supplied bootable with the latest SIMOTION Kernel, the latest
drive software and the licenses required for the crane applications. The SIMOTION D4xx
cannot be operated without a CompactFlash card! The licensing is associated with the serial
number of the CompactFlash card.
NOTICE
The SIMOTION CompactFlash card must not be formatted. The crane application software
cannot run without licenses.
As of SIMOCRANE Basic Technology V3.0, the firmware versions for SIMOTION and
SINAMICS with which the associated version of the Basic Technology was released are
contained on the product CD-ROM. This means, should the firmware version of SIMOTION
or SINAMICS not be compatible, you can use the version stored on the CD.
2.2 Interfaces of the SIMOTION D435-2 DP/PN
Available interfaces
Table 2- 1 Overview of the available interfaces
Interface Designation Connector type

DRIVE-CLiQ interface X100 DRIVE-CLiQ socket
(not for SIMOTION D425-2)
(not for SIMOTION D425-2)
Ethernet interface PN/IE X127 P1 RJ45 socket

Ethernet interface PN/IE-NET X130 P1 RJ45 socket
PROFINET PN IO interface X150 (P1, P2, P3) RJ45 socket
(only for SIMOTION D4x5-2 DP/PN) Note:
X150 (P3) corresponds
to X120 PN/IE-OP.
Basic Technology
Hardware interfaces
Interface Designation Connector type
Digital I/Os X122, X132, X142 Mini Combicon, 3.5 mm

3x14-pin
Power supply connector X124 Combicon, 4-pin
PROFIBUS DP interface X126 9-pin Sub-D socket

PROFIBUS DP/MPI interface X136 9-pin Sub-D socket
Measuring sockets (T0, T1, T2 and M) X141 4-pin, socket

SIMOTION CF slot X109 CF card connector
Fan/battery module interface X190/X191 Fan/battery module
1. USB port X125 USB socket
2. USB port X135 USB socket
Option slot Sockets
Non-usable interfaces
Table 2- 2 Overview of interfaces that cannot be used for SIMOTION D
Interface designation Interface Connector type

RS 232 interface X140 9-pin Sub-D, pins
2.2.1 Ethernet ports
Interfaces for connection to Industrial Ethernet

Industrial Ethernet is a communication network with a transmission rate of
10/100/1000 Mbit/s.
SIMOTION D4x5-2 offers the following functions via Ethernet interfaces:
● Communication with STEP 7 and SIMOTION SCOUT
● Communication between SIMOTION and SIMATIC NET OPC
The following software must be installed on the PG/PC for this function:
"SIMATIC NET SOFTNET-S7 (S7-OPC server)"
● Connection of HMI systems
● Communication with other devices using TCP/IP or UDP communication
● IT communication (via SIMOTION IT DIAG, SIMOTION IT OPC XML-DA, SIMOTION IT
Virtual Machine).
Basic Technology
Hardware interfaces
Position of the connectors for SIMOTION D4x5-2 DP/PN

The following figure shows the position of the Ethernet interfaces on the D4x5-2 DP/PN and
their displays.
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Figure 2-1 The position of the Ethernet interfaces and their displays (example of SIMOTION D445-2 DP/PN)
Note
Because, as of V4.3, the two Ethernet interfaces support PROFINET basic services, enter
the designation PN/IE-NET or PN/IE.
These PROFINET basic services (e.g. DCP, LLDP, SNMP) provide uniform functions for the
address assignment and diagnostics, but do not provide PROFINET IO communication for
the connection of drives, I/O modules, etc.
Additional references
Detailed information about the states of the status LEDs can be found in the SIMOTION
D4x5-2 Commissioning and Hardware Installation Manual, Diagnostics chapter.
Basic Technology
Hardware interfaces
Interface characteristics
Table 2- 3 X127 P1 and X130 P1
Feature Version
Connector type RJ45 socket
Cable type Industrial Ethernet cable
• 4- and 8-wire cables can be used for 10/100 Mbit/s
• 8-wire cables must be used for 1000 Mbit/s
Max. cable length 100 m
Autocrossing Yes
Dust protection blanking plugs for Five blanking plugs contained in the D4x5-2 scope of delivery
sealing unused Ethernet ports Blanking plugs (50 pcs) order number: 6SL3 066-4CA00-0AA0
Miscellaneous X127 and X130 P1 are full-duplex 10/100/1000 Mbit/s Ethernet ports
Note
The MAC addresses are imprinted on an adhesive label that is located behind the protective
cover and can be seen from the front.
Basic Technology
Hardware interfaces
2.2.2 PROFINET IO interface

PROFINET is an open component-based industrial communication system using Ethernet
for distributed automation systems.
SIMOTION D4x5-2 DP/PN has a PROFINET interface with three ports (X150 P1-P3)
onboard. The PROFINET interface supports operation of a SIMOTION D4x5-2 DP/PN as an
IO controller and/or as an I device.
Interface position
The following figure contains information about the PROFINET interface of the control unit.
The position of the interface, the labeling of the ports and the associated displays are
described.
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Figure 2-2 The position of the PROFINET X150 P1 to P3 interfaces and their displays (SIMOTION D445-2 DP/PN)
Note
The third port of the PROFINET IO interface X150 P3 is also designated as X120 PN/IE OP.
This designation is not relevant for SIMOTION D.
Basic Technology
Hardware interfaces
Additional references
Detailed information about the states of the status LEDs can be found in the SIMOTION
D4x5-2 Commissioning and Hardware Installation Manual, Diagnostics chapter.
Table 2- 4 Ports X150 P1 to P3
Feature Version
Connector type RJ45plus socket
Cable type PROFINET
Maximum cable length 100 m
Minimum transmission cycle 0.25 ms
Autocrossing Yes
i.e. crossed and uncrossed cables can be used
Dust protection blanking plugs for Five blanking plugs contained in the D4x5-2 scope of delivery
sealing unused PROFINET ports Blanking plugs (50 pcs) order number: 6SL3066-4CA00-0AA0
Connectable devices
The following devices can be connected to the PROFINET IO interface:
● PG/PC programming devices (communication with SIMOTION SCOUT / STEP 7)
● SIMATIC HMI devices
● SIMATIC controllers with PROFINET interface
● Distributed I/O
● Drive units with PROFINET IO interface (standard devices)
The SIMOTION D4x5-2 DP/PN then assumes the role of a PROFINET IO controller and can
offer the following functions:
● PROFINET IO controller, I device (also controller and device simultaneously)
● Supports real-time classes of PROFINET IO:
– RT (real-time)
– IRT (isochronous real-time).
The following functions are also supported by Industrial Ethernet:
● Communication between SIMOTION and SIMATIC NET OPC
The "SIMATIC NET SOFTNET-S7 (S7-OPC server)" software must be installed on the
PG/PC for this function.
● Communication with other devices using TCP/IP or UDP communication
● IT communication (via SIMOTION IT DIAG, SIMOTION IT OPC XML-DA, SIMOTION IT
Virtual Machine)
Basic Technology
Hardware interfaces
For more information regarding the software packages, see Catalog PM 21, refer to the list
of references (separate document) for the order number.
Note
A list of the modules released with SIMOTION is available at
(http://support.automation.siemens.com/WW/view/en/11886029).
The list is updated regularly and contains information on the use of these modules.
Take note of the documentation on the individual modules or devices!
Interface assignment
Table 2- 5 Assignment of the ports X150 P1 to P3
Representation Pin Name Description

1 TXP Transmit data +

2 TXN Transmit data -
3 RXP Receive data +

4 - Reserved, do not use
6 RXN Receive data -
Second PROFINET interface

The Ethernet Communication Board (CBE30-2) provides as option a second PROFINET
interface for the D4x5-2 DP/PN Control Units.
The CBE30-2 cannot be used in SIMOTION D4x5 2 DP Control Units.
Basic Technology
Hardware interfaces
2.2.3 Digital I/Os
The digital I/Os on the X122, X132 and X142 connectors are provided for the connection of
sensors and actuators.
Table 2- 6 Wiring of X122, X132 and X142
Characteristics Version
Connector type Mini Combicon
Connectable cable types and Rigid 0.2 mm2 to 1.5 mm2
conductor cross-sections Flexible 0.2 mm2 to 1.5 mm2
Flexible with end sleeve 0.25 mm2 to 1.5 mm2
AWG 24 to 16
Stripped length 10 mm
Tool Screwdriver 0.4 x 2.0 mm
Max. cable length 30 m
Max. current carrying capacity 8A
(ground)
Position of the connectors

The following figure shows the position of the interface connectors on the D4x5-2 and the
assignment of the various digital I/Os.
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Figure 2-3 Position of the X122, X132 and X142 digital interfaces (example of SIMOTION D445-2 DP/PN)
Basic Technology
Hardware interfaces
2.3 Interfaces of the Communication Board Ethernet 30 (CBE30-2)
Properties of the CBE30-2

A second PROFINET interface can be implemented for the SIMOTION D4x5-2 DP/PN with
the CBE30-2 Ethernet communication board.
The CBE30-2 cannot be used with the SIMOTION D4x5-2 DP.
The CBE30-2 offers the following functions:
● PROFINET IO controller, I device (also controller and device simultaneously)
● 100 Mbit/s full duplex / autocrossing
● Supports real-time classes of PROFINET IO:
– RT (real-time)
– IRT (isochronous real-time).
The CBE30-2 has an X1400 interface with integrated 4-port switch based on PROFINET
ASIC ERTEC 400.
View
The connections and LED displays are provided on the front of the CBE30-2.
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Figure 2-4 CBE30-2, X1400 interface front view
Basic Technology
Hardware interfaces
Basic Technology
Software structure 3
3.1 Software structure
The complete software has a modular structure. Each function module (e.g. Hoist, Gantry,
Trolley etc.) has its own Software Unit. Using two application programs generated in the
graphic programming language "Motion Control Chart", the required function blocks are
called from the library "Cranes FB Library" in every unit to run the appropriate function
module. Further, every function module has a setpoint channel generated in the graphic
programming language "Drive Control Charts" (DCC) for velocity, acceleration and
deceleration. In addition, the DCC monitors various functions (e.g. current distribution
monitoring, overspeed).
Furthermore, a separate unit is responsible for cross-module monitoring and homing. If
needed, the special cornering functions for gantry, synchronization of the time on the
SIMOTION/SINAMICS by SIMATIC PLC and AutoSetting for the commissioning of the load-
dependent field weakening special functions can be activated.
Basic Technology
Software structure
3.1 Software structure
Figure 3-1 Software structure of a function module
Basic Technology
Software structure
3.2 Structure of a function module

The structure of a function module is split up in the unit into two MCC programs. One
program operates in the normal cycle, while the other requires a high-speed cycle, e.g.
communication with SINAMICS. A separate unit is responsible for cross-axis monitoring and
homing. In these programs, the function blocks are called from the library "Crane FB library"
as required by the sequencer.
All function modules essentially have an identical structure. Exceptions exist for travel gears
on rails (e.g. trolley) and for master-slave applications for the slave. In these particular
cases, additional functional blocks are inserted into the MCC program (e.g. for Gantp_1:
Gantry_1_TractionControl). The structure of the unit for Gantry is described in the example.
The function blocks are described in detail in Chapter Crane function blocks (Page 69).
In the unit "Gantp_1" the program "Gantrymcc_1_s" is executed according to the following
sequence:
Normal execution in Gantrymcc_1_s
Figure 3-2 Unit "Gantp_1", program sequence "Gantrymcc_1_s"
1. The "FB_TelegramS7ToSimotion" function block is called.

The function block reads in the data received from the SIMATIC S7. The setpoints are
prepared in the DCC.
2. The function block "FB_ControlAxis" is called.
Using this block, the control and status words between the technology object (TO) and
the drive object (DO) are set and read.
3. The function block "FB_TractionControl" is called.
The actual velocity of the motor encoder and external encoder is fetched using this DCC
block. The setpoints are prepared in the DCC.
4. The function block "FB_OperationMode" is called.
The operating mode management and the travel commands are executed using this
block. The setpoints prepared in DCC are used for the motion commands.
Basic Technology
Software structure
5. The function block "FB_ErrorPriority" is called.

Faults and alarms associated with technology objects, drive objects, and function blocks
are fetched and prioritized using this block.
6. The function block "FB_TelegramSimotionToS7" is called.
The send data from the SIMOTION is transferred to SIMATIC S7 using this block.
Fast execution in Gantrymcc_1_f
Figure 3-3 Unit "Gantp_1", program sequence "Gantrymcc_1_f"
1. The function block "FB_TelegramSinamicsToSimotion" is called.

The process data from the drive object is evaluated using this block.
2. The function block "FB_TelegramSimotionToSinamics" is called.
The process data from the technology object is evaluated using this block.
The gantry is monitored in the cross-axis "Mon_Ref" unit, and, when required, homed on the
fly and an offset for a synchronous operation compensated. In addition, the cornering
movement and the commissioning support by "FB_AutoSetting" are called in this unit.
Basic Technology
Software structure
Separate Unit Mon_Ref:

● The function block "FB_Cornering" is called in the IPOSynchronousTask. Cornering
movement for the gantry is made possible using this block. For a detailed description,
refer to Chapter FB_Cornering (Page 280)
Figure 3-4 Unit "Mon_Ref", program sequence "Corneringmcc_1"
● The function block "FB_Monitoring" is called in an IPOSynchronousTask (e.g. IPO2). The

master-slave connection or synchronous relationship is monitored using this block.
Figure 3-5 Unit "Mon_Ref", program sequence "Monitoringmcc_1"
Basic Technology
Software structure
● The function block "FB_ReferenceMode" is called in the IPOSynchronousTask. This block

is used to execute flying homing to a parameterized position. The function block also
offers the option to compensate the offset between the master and slave for synchronous
operation.
Figure 3-6 Unit "Mon_Ref", program sequence "Referencingmcc_1"
● The "FB_SynchronizeRTC" function block for setting the time of day is called as
background task.
Figure 3-7 Unit "Mon_Ref", program sequence "TimeSynchronizeRTCmcc_1"
● The "FB_AutoSetting" function block for commissioning the load-dependent field

weakening and continuous load measurement is called in the IPO synchronous task.
Figure 3-8 Unit "Mon_Ref", program sequence "Autosettingmcc_1"
Basic Technology
Software structure
3.3 Control Structure

The control (closed-loop) is structured so that the setpoints for velocity, acceleration, and
deceleration are read into the program "Gantrymcc_1_s" from the SIMATIC S7 using the
function block "FB_TelegramS7ToSimotion". These setpoints are interconnected at the
output of the function block with the DCC function blocks from the crane DCC library. The
setpoint channel of the three setpoints are described in more detailed in the following:
Figure 3-9 Setpoint channel of the three setpoints
Velocity path
The setpoint velocity is first interconnected to the "MasterSwitch_1" block in the DCC. If the
master switch functionality is to be used, then the master switch curve must be configured
and enabled. Otherwise, the velocity setpoint is directly connected from the input to the block
output without any change.
Basic Technology
Software structure
The velocity setpoint is then connected to the block "TractionControl". This block detects any
wheel slip of the travel gear running on rails. If wheel slip is identified, then the velocity can
be reduced step-by-step if the appropriate enable signals are set in the block.
The velocity setpoint is connected to the block "PreLimitSwitch". Depending on the control,
the setpoint velocity is reduced. Finally, the setpoint acceleration is interconnected to the
function block "FB_OperationMode".
Acceleration path
The acceleration setpoint is firstly interconnected to the block "ChangeOverHDFW" in the
DCC. In this block, the acceleration setpoint in heavy duty operation can be changed over
from the value specified from the SIMATIC S7 to a permanently configured value, if the
required enable signal is set.
The acceleration setpoint is then connected to the block "TractionControl". This block detects
any wheel slip of the travel gear running on rails. If wheel slip is identified, then the
acceleration can be reduced step-by-step if the appropriate enable signals are set in the
block.
Finally, the setpoint velocity is interconnected to the function block "FB_OperationMode".
Deceleration path
The deceleration setpoint is firstly interconnected to the block "ChangeOverHDFW" in the
DCC. In this block, the deceleration setpoint in heavy duty operation can be changed over
from the value specified from the SIMATIC S7 to a permanently configured value if the
required enable signal is set.
Finally, the setpoint deceleration is interconnected to the function block
"FB_OperationMode".
Technology object (TO)

The travel commands – with velocity, acceleration and deceleration – are transferred to the
technology object in the function block "FB_OperationMode". Depending on the active
operating mode, the position, velocity, acceleration and deceleration profile for the travel
motion are calculated in the technology object. The setpoint channel of the technology object
is shown in the diagram below (see also Ref. [13]).
Figure 3-10 Setpoint channel of the technology object
Basic Technology
Function modules 4
In terms of software, a function module contains an MCC unit, a DCC chart, a technology
object (TO), and a drive object (DO); also refer to the section titled Structure of a function
module (Page 31). A technology object models an axis at the SIMOTION level, also a drive
object at the SINAMICS level. Both objects are coupled through the appropriate
configuration. According to the sequence control, the function blocks are called from the
library "Crane_FB_library" in the MCC unit. In addition to the MCC unit, setpoint preparation
also requires the DCC blocks from the "Crane_DCC_Library".
4.1 Hoist
The function module Hoist comprises two axes – Hoist_1 (master) and Hoist_2 (slave). In the
section titled Ship-to-shore tandem crane (STS tandem) (Page 470), the Hoist function
module comprises four axes, where Hoist_3 is analogous to Hoist_1 and Hoist_4 is
analogous to Hoist_2. Every axis has an MCC unit and a DCC chart. The units of the MCC
program and the DCC blocks of the relevant function module are subdivided into the
modules Hoistp_1 (master) / Hoistd_1 and Hoistp_2 (slave) / Hoistd_2. The MCC programs
required are grouped in the Hoistp_1 and Hoistp_2 units. The DCC charts are grouped in the
Hoistd_1 and Hoistd_2 units.
Using a data set switchover for the particular technology object (TO-Hoist_1 and TO-Hoist_2)
- when required - it is possible to differentiate between the position actual value from the
motor encoder (data set 1) and a position actual value from an external encoder (data set 2).
A data set switchover for the associated drive object (DO-Hoist_1 or DO-Hoist_2) allows
different motor or encoder data sets to be selected (data set 0/1).
CAUTION
"Speed control without motor encoder (data set 1)" control mode for hoist is not permissible
for safety reasons.
Hoistp_1 (FB blocks) comprises the following:

● FB_TelegramS7ToSimotion
● FB_ControlAxis
● FB_OperationMode
● FB_TelegramSinamicsToSimotion
● FB_TelegramSimotionToSinamics
● FB_ErrorPriority
● FB_TelegramSimotionToS7
Basic Technology
Function modules
4.1 Hoist
Hoistp_2 (FB blocks) comprises the following:

● FB_ControlAxis
Hoistd_1 (DCC blocks) comprises the following:

● MasterSwitch_1
● HeavyDuty
● LoadDependFieldWeak_1
● OverSpeed
● PreLimitSwitch
● StartPulse_1
● ChangeoverHDFW
● Monitoring
Hoistd_2 (DCC blocks) comprises the following:

● MasterSwitch_1
● HeavyDuty
● OverSpeed
● PreLimitSwitch
● StartPulse_1
● ChangeoverHDFW
● CurrentDistribution
● Monitoring
Mon_Ref comprises the following:

● FB_Monitoring
● FB_ReferenceMode
● FB_Autosetting
Basic Technology
Function modules
4.1 Hoist
Figure 4-1 Hoist 1, basic signals 1
Basic Technology
Function modules
4.1 Hoist
Basic Technology
Function modules
4.1 Hoist
Basic Technology
Function modules
4.1 Hoist
Basic Technology
Function modules
4.2 Trolley(Cross Travel)

The function module Trolley comprises two axes – Trolley_1 (master) and Trolley_2 (slave).
Every axis has an MCC unit and a DCC chart. The units of the MCC program and the DCC
blocks of the relevant function module are subdivided into the modules Trollp_1 (Master) /
Trolld_1 and Trollp_2 (Slave) / Trolld_2. The MCC programs required are grouped in the
Trollp_1 and Trollp_2 units. The DCC charts are grouped in the Trolld_1 and Trolld_2 units.
Using a data set switchover for the particular technology object (TO-Trolley_1 and TO-
Trolley_2) - when required - it is possible to differentiate between the position actual value
from the motor encoder (data set 1) and a position actual value from an external encoder
(data set 2).
Using a data set switchover for the particular drive object (DO-Trolley_1 or DO-Trolley_2) it is
possible to differentiate between closed-loop speed control with a motor encoder (data set 0)
and closed-loop speed control without a motor encoder (data set 1).
Trollp_1 (FB blocks) comprise the following:

● FB_ControlAxis
● FB_TractionControl
Trollp_2 (FB blocks) comprise the following:

● FB_ControlAxis
Basic Technology
Function modules
Trollyd_1 (DCC blocks) comprise the following:

● MasterSwitch_1
● TractionControl
● PreLimitSwitch
● ChangeoverHDFW
● Monitoring
Trollyd_2 (DCC blocks) comprise the following:

● MasterSwitch_1
● TractionControl
● PreLimitSwitch
● ChangeoverHDFW
● Monitoring
Mon_Ref comprises:
● FB_Monitoring
Basic Technology
Function modules
Figure 4-5 Trolley 1, basic signals_1
Basic Technology
Function modules
Basic Technology
Function modules
Basic Technology
Function modules
Basic Technology
Function modules
4.3 Gantry (Long Travel)

The function module Gantry comprises two axes – Gantry_1 (master) and Gantry_2 (slave).
Every axis has an MCC unit and a DCC chart. The units of the MCC program and the DCC
blocks of the relevant function module are subdivided into the modules Gantp_1 (master) /
Gantd_1 and Gantp_2 (slave) / Gantd_2. The MCC programs required are grouped in the
Gantp_1 and Gantp_2 units. The DCC charts are grouped in the Gantd_1 and Gantd_2 units.
Using a data set switchover for the particular technology object (TO-Gantry_1 and TO-
Gantry_2) it is possible to differentiate between the position actual value from a motor
encoder (data set 1) and a position actual value from an external encoder (data set 2).
Using a data set switchover for the particular drive object (DO-Gantry_1 & DO-Gantry_2) it is
possible to differentiate between closed-loop speed control with a motor encoder (data set 0)
and closed-loop speed control without a motor encoder (data set 1).
Gantp_1 (function blocks) comprises the following:

● FB_ControlAxis
Gantp_2 (function blocks) comprises the following:

● FB_ControlAxis
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Function modules
Gantd_1 (DCC blocks) comprises the following:

● MasterSwitch_1
● TractionControl
● PreLimitSwitch
● ChangeoverHDFW
● Monitoring
Gantd_2 (DCC blocks) comprises the following:

● MasterSwitch_1
● TractionControl
● PreLimitSwitch
● ChangeoverHDFW
● Monitoring
Mon_Ref (FB blocks) comprises the following:

● FB_Monitoring
● FB_Cornering
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Function modules
Figure 4-9 Gantry 1, basic signals_1
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Function modules
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Function modules
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Function modules
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Function modules
4.4 Boom
4.4 Boom
The Boom function module comprises a technology object (TO), an MCC unit, and a DCC
chart, but no drive object (DO). By default, the Boom function module is not activated until an
external TO switchover to the trolley is made. TO-Boom and TO-Trolley share a drive object
(DO-Trolley).
A data set switchover for the associated drive object (DO-Trolley_1 or DO-Trolley_2) allows
different motor or encoder data sets to be selected (data set 2/3).
CAUTION
"Speed control without motor encoder (data set 3)" control mode for boom is not
permissible for safety reasons.
Boomp_1 (FB blocks) comprises the following:

● FB_ControlAxis
Boomd_1 (DCC blocks) comprises the following:

● MasterSwitch_1
● PreLimitSwitch
● StartPulse_1
● ChangeoverHDFW
● Monitoring
Boom_2 is used if the Boom motor is also being run with the Trolley_2 converter. The
Boomp_2 and Boomd_2 programs are similar to Boomp_1 and Boomd_1. Boom_1 and
Boom_2 so do not form a master-slave or synchronous axis.
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Function modules
4.4 Boom
Figure 4-13 Boom 1, basic signals_1
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Function modules
4.4 Boom
Figure 4-14 Boom 1, basic signals_2
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Function modules
4.5 Holding Gear
4.5 Holding Gear

The function module Holding Gear comprises an MCC unit and a DCC chart. The required
MCC programs are stored in unit Holdingp_1 and the DCC chart in Holdingd_1.
Using a data set switchover for the particular technology object (TO-HoldingGear_1) - when
required - it is possible to differentiate between the position actual value from a motor
A data set switchover for the drive object (DO-HoldingGear_1) allows different motor or
encoder data sets to be selected (data set 0/1).
CAUTION
"Speed control without motor encoder (data set 1)" control mode for holding gear is not
Holdingp_1 (FB blocks) comprises the following:

● FB_ControlAxis
Holdingd_1 (DCC blocks) comprises the following:

● MasterSwitch_1
● HeavyDuty
● PreLimitSwitch
● StartPulse_1
● SlackRopeControl_1
● ContinuousLoadMeas_1
● ChangeoverHDFW
● Monitoring
Mon_Ref comprises the following:

● FB_AutoSetting
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Function modules
4.5 Holding Gear
Figure 4-15 Holding Gear, basic signals 1
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Function modules
4.5 Holding Gear
Figure 4-16 Holding Gear, basic signals 2
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Function modules
4.6 Closing Gear
4.6 Closing Gear

The function module Closing Gear comprises an MCC unit and a DCC chart. The required
MCC programs are stored in unit Closingp_1 and the DCC chart in Closingd_1.
Using a data set switchover for the particular technology object (TO-ClosingGear_1) - when
required - it is possible to differentiate between the position actual value from a motor
A data set switchover for the drive object (DO-ClosingGear_1) allows different motor or
encoder data sets to be selected (data set 0/1).
CAUTION
"Speed control without motor encoder (data set 1)" control mode for closing gear is not
Closingp_1 (FB blocks) comprises the following:

● FB_ControlAxis
Closingd_1 (DCC blocks) comprises the following:

● MasterSwitch_1
● HeavyDuty
● PreLimitSwitch
● ChangeoverHDFW
● StartPulse_1
● CurrentEqualControl_1
● Monitoring
● GrabMonitor
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Function modules
4.6 Closing Gear
Figure 4-17 Closing Gear, basic signals_1
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Function modules
4.6 Closing Gear
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Function modules
4.6 Closing Gear
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Function modules
4.6 Closing Gear
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Function modules
4.7 Slewing Gear
4.7 Slewing Gear

The function module Slewing Gear comprises an MCC unit and a DCC chart. The required
MCC programs are stored in unit Slewingp_1 and the DCC chart in Slewingd_1.
Using a data set switchover for the technology object (TO-SlewingGear_1) it is possible to
differentiate between the position actual value from a motor encoder (data set 1) and a
position actual value from an external encoder (data set 2).
Using a data set switchover for the drive object (DO-SlewingGear_1) it is possible to
differentiate between closed-loop speed control with a motor encoder (data set 0) and
closed-loop speed control without a motor encoder (data set 1).
Slewingp_1 (FB blocks) comprise the following:

● FB_ControlAxis
Slewingd_1 (DCC blocks) comprise the following:

● MasterSwitch_1
● VelocityChangeSlewGear
● PreLimitSwitch
● AccelChangeSlewGear
● ChangeoverHDFW
● Monitoring
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Function modules
4.7 Slewing Gear
Figure 4-21 Slewing Gear, basic signals 1
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Function modules
4.7 Slewing Gear
Figure 4-22 Slewing Gear, basic signals 2
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Crane function blocks 5
5.1 Nomenclature of the crane function blocks
A function block in the Crane DCC and FB library is shown below as an example:
Figure 5-1 Symbol of a function block
Types of function blocks
Prefix Type
DCC Crane DCC function blocks
FB Crane ST function block
Examples:
DCC_LoadDependingFieldWeak:
DCC block for the load-dependent field weakening
FB_OperationMode:
ST block for managing operating modes and travel motion
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Crane function blocks
5.1 Nomenclature of the crane function blocks
Connections and data types

The connection name must often be abbreviated due to the restricted number of characters.
The abbreviated designators of the data types and prefixes are listed in the following table.
Prefix Prefix Elementary data types (designator) Range of values

DCC FB
bo bo BOOL Bit (1) TRUE, FALSE
b b8 BYTE Byte (8) 16#00...16#FF
b b16 or w WORD Word (16) -2**15...2**15 -1
b b32 or dw DWORD Double word (32) -2**31...2**31 -1
i i16 INT Integer number (16) -2**15...2**15 -1
i i32 DINT Double integer number (32) -2**31...2**31 -1
- i16 UINT Integer number (16) without sign 0…65535
r r32 REAL Floating-point number (32) Refer to IEC 559
r r64 LREAL Long floating-point number (64) Refer to IEC 559
r r32 SDTIME Real time data 0 ms ... 3.4
Time (as floating-point number) E38 ms
- - Anyobject Connection of TO -
- - ENUM System data types for enumeration, e.g. ACTIVE,
INACTIVE
Connection type
Abbreviation Connection type

IN input
OUT Output
Examples
Table 5- 1 DCC blocks
boEnableTC BOOL Input Enables the traction control

rInStartpulseS7 REAL Input Start pulse value from the "S7"
boOut_EnableFieldWeak BOOL Output Field weakening active
rOutStartpulse REAL Output Start pulse output
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5.2 Crane DCC library
Table 5- 2 Crane FB blocks
inSTW1bit0 BOOL Input Control word 1 bit 0

r64TargetPosition LREAL Input Target position specification for the
AUTOMATIC, MANUAL, EASY_POSITIONING
operating modes
outSpeedControllerActive BOOL Output Speed controller active
i32errorIDFunctionBlock DINT Output Fault number from the function block,
OperationMode
Note
"in" or "out" is not included in every connection name. This is only true for I/O variables of the
same name.
5.2.1 General information
Note
The source code of every DCC block is closed. A license for SIMOTION Crane Basic
Technology is required to use the Crane DCC library. If, when booting, the appropriate
licenses are not found, then the application is brought into the stop state.
If SIMOTION SCOUT is reinstalled, the crane package (setupBasicTechnology) must also
be reinstalled.
Descriptions of how to install and update the Crane_DCC_Library are provided in the section
titled Setup and version update for crane libraries (Page 289).
If not otherwise noted, then the following statements apply to all DCC blocks:
Firmware version
● SIMOTION Drive Based (D4x5-2): Firmware as of V4.3 SP1
● SINAMICS: Firmware as of V4.5
Configuring
The DCC blocks can be configured in cyclic tasks.
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Explanation
All inputs/outputs of DCC blocks have a pre-assigned value. The value can be pre-assigned
in three ways:
1. If the input/output is not assigned, then the default value applies.
2. The input/output is linked to a variable from the MCC interface section.
3. The input/output is linked to a variable from the DCC block.
5.2.2 DCC_AccelChangeSlewGear
Symbol
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Note
With this DCC block, the term "velocity" refers to "angular velocity".
Brief description
The DCC block DCC_AccelChangeSlewGear allows the ramp-up time and/or the ramp-down
time for a slewing gear to be optimally adjusted as a function of the working radius and/or the
angular velocity (not too long but also not so short that the current limit is reached).
Mode of operation
The slewing gear on cranes is purely an acceleration drive. The larger the working radius of
the luffing gear, the larger the accelerating torques for the slewing gear.
To prevent the current limit from being reached on ramp-up, the ramp-up time for the ramp-
function generator of the slewing gear would normally need to be set for the largest working
radius. However, this would waste time with smaller working radii. For this reason, either the
ramp-up times or ramp-down times of the ramp-function generator are adjusted appropriately
as a function of the working radius and setpoint angular velocity.
Applying an additional option allows the high-speed up-ramp and/or down-ramp to be used.
In this case, the velocity evaluation is deactivated and only the acceleration and/or
acceleration component dependent on the working radius is applied.
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Figure 5-2 Operating principle of the block
Note
The effective acceleration factor is limited to a maximum of -200% and +200%.
NOTICE
Enter the maximum velocity in [mm/s] at input "rMaximumVelocity" as a fixed value, or

interconnect the maximum velocity with this input in the user program (e.g. refer to
Technology Object: D4x5.SlewingGear_1.TypeOfAxis.MaxVelocity.maximum or
FB_OperationMode (Page 194), output variable r64maximumVelocity). The block does not
work correctly otherwise.
WARNING
Ensure that you enter the correct values for the polygon parameters! The input parameters
"rX1ActualWorkingRadius" to "rX10ActualWorkingRadius" and "rX1VelocitySetpoint" to
"rX5VelocitySetpoint" must be assigned in ascending sequence.
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Note
The input parameters "rY1AccDecFactor" to "rY10AccDecFactor" and "rY1AccDecFactor_2"
to "rY5AccDecFactor_2" must be assigned in descending order.
WARNING
Proper operation of the block cannot be guaranteed if you do not set the parameters
correctly.
Connections
Name Connection Default Data type Meaning

type setting
rInVelocitySetpoint IN DCC REAL Setpoint velocity [mm/s]
rActualVelocity IN MCC REAL Actual velocity [mm/s]
rActVelocitySmoothTime IN 10 SDTIME Smoothing time actual velocity [ms]
rInAccelerationSetpoint IN DCC REAL Setpoint acceleration [mm/s2]
rInDecelerationSetpoint IN DCC REAL Setpoint deceleration [mm/s2]
rMaximumVelocity IN MCC REAL Maximum velocity (base velocity + field-
weakening speed) [mm/s]
rActualWorkingRadius IN MCC REAL Actual working radius [mm]
rWorkingRadiusSmoothTime IN 10 SDTIME Smoothing time actual working radius [ms]
boAccelChangeEnable IN False BOOL Enable ramp-up time dependent on
working radius:
FALSE: Effective acceleration = setpoint
acceleration
TRUE: Changed acceleration
boDecelChangeEnable IN False BOOL Enable ramp-down time dependent on
working radius:
FALSE: Effective deceleration = setpoint
deceleration
TRUE: Changed deceleration
rX1ActualWorkingRadius IN 0.0 REAL Polygon actual working radius X1 [mm]
rY1AccDecFactor IN 100.0 REAL Polygon acceleration factor Y1 [%]
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type setting
boEnableVelocityFactor IN False BOOL either constant (100%) or dependent on
velocity:
FALSE: Constant = 100%
TRUE: Velocity-dependent
rX1VelocitySetpoint IN 0.0 REAL Polygon velocity setpoint X1 [%]
rY1AccDecFactor_2 IN 100.0 REAL Polygon acceleration factor Y1 [%]
boFastAccelerationEnable IN False BOOL Enable for high-speed acceleration only:
FALSE: Effective acceleration = setpoint
deceleration x effective acceleration factor
x effective velocity factor
TRUE: Effective acceleration = setpoint
acceleration x effective acceleration factor
boFastDecelerationEnable IN False BOOL Enable for high-speed deceleration only:
FALSE: Effective deceleration = setpoint
deceleration x effective acceleration factor
x effective velocity factor
TRUE: Effective deceleration = setpoint
deceleration x effective deceleration factor
rOutAccelerationSetpoint OUT MCC REAL Effective acceleration [mm/s2]
DCC
rOutDecelerationSetpoint OUT MCC REAL Effective deceleration [mm/s2]
DCC
rActiveFactor OUT 0.0 REAL Effective acceleration factor [%]
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5.2.3 DCC_ChangeOverHDFW
Symbol
Brief description
Using the DCC block DCC_ChangeOverHDFW, the acceleration and deceleration times are
modified in heavy-duty operation (HeavyDuty) or in field weakening (FieldWeakening).
Mode of operation
This function block is required, for example, for Hoist with field weakening in order to prevent
the current limits from being reached during acceleration in the field-weakening range.
At low loads (steady-state load torque), in order to increase the handling capacity, the speed
is increased to a value that is permissible for a particular load by reducing the field current.
This means that in the field-weakening range, the acceleration torque available is also
correspondingly reduced. For the steady-state load torque and the acceleration torque of the
load, only the lower torque corresponding to the lower load is required. However, the
acceleration torque of the rotating masses remains the same due to the fact that the
moments of inertia have not changed (load dependent).
For hoists, the acceleration and deceleration times are normally set so that the drive, when
accelerating and hoisting with rated load and at the full motor field, doesn't quite reach the
current limit so that acceleration and deceleration distances are as short as possible.
If the acceleration and deceleration times are set so that the drive (also in field weakening)
when accelerating does not reach the current limit, then with constant acceleration in the
rated speed and field-weakening range, extremely long approach and deceleration distances
are obtained. In order to optimize these, the ramp-up time can be extended when
transitioning into the field-weakening range.
For heavy duty, to reduce the acceleration torques, when heavy-duty operation is selected,
then a long ramp-up time is immediately switched-in.
Basic Technology
Figure 5-3 Changing the ramp-up/ramp-down times for field weakening and heavy-duty operation
CAUTION
Consult the crane manufacturer for basic information about data settings. Carry out the
procedure described below, however, only if corresponding information is not available.
Note
Change of the velocity setpoint, acceleration time, delay time, initial rounding-off and final
rounding-off
a) The velocity, acceleration and deceleration can be changed at any time in the
SPEED_CONTROLLED operating mode.
b) The velocity and acceleration can be changed at any time in the AUTOMATIC,
EASY_POSITIONING and MANUAL operating modes.
A longer delay time is not applied in the delay phase. A shorter delay time, however, will be
applied. If the delay time is reduced during the braking phase, the target position is no longer
approached, but rather the drive is braked with the shorter delay time.
c) In the SENSORLESS EMERGENCY operating mode, the velocity can only be changed up
to the parameterizable limit "r64VelocitySensorlessEmergency".
d) In all operating modes, a change of the initial rounding-off and the final rounding-off is
applied only with a deflected master switch. The exception is the AUTOMATIC operating
mode. In this case, the change is applied immediately.
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NOTICE
Enter the maximum velocity in [mm/s] at input "rMaximumVelocity" as fixed value, or

interconnect the maximum velocity with this input in the user program (e.g.: refer to
Technology Object: D4x5.Gantry_1.TypeOfAxis.MaxVelocity.maximum, or function block
FB_OperationMode output variable r64maximumVelocity). The block does not work
correctly otherwise.
Note
Values for ramp-up/ramp-down time ≤ 0 do not make any sense. The value 0 would mean
an infinite acceleration. The higher the value, the smaller the acceleration or deceleration,
and so the more current available for the static torque.
Connections

type setting
boSelectionHeavyDuty IN MCC BOOL Selects heavy-duty operation
rTimeAccHeavyDuty IN 10000.0 REAL Ramp-up time for heavy-duty operation
[ms]
rTimeDecHeavyDuty IN 10000.0 REAL Ramp-down time for heavy-duty operation
[ms]
boFieldWeakReached IN DCC BOOL Field weakening reached
boSelectionFieldWeak IN False BOOL Selects constant field weakening
rTimeAccFieldWeak IN 10000.0 REAL Ramp-up time in field-weakening operation
[ms]
rTimeDecFieldWeak IN 10000.0 REAL Ramp-down time in field-weakening
operation [ms]
rMaximumVelocity IN MCC REAL Maximum velocity [mm/s]
rInAccelerationSetpoint IN MCC REAL Acceleration setpoint [mm/s2] from the S7
controller
rInDecelerationSetpoint IN MCC REAL Deceleration setpoint [mm/s2] from the S7
controller
rOutAccelerationSetpoint OUT MCC REAL Effective acceleration for the drive [mm/s2]
DCC
rOutDecelerationSetpoint OUT MCC REAL Effective deceleration for the drive [mm/s2]
DCC
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5.2.4 DCC_ContLoadMeasurement
Symbol
Basic Technology
Brief description
The DCC block DCC_ContLoadMeasurement performs a continuous load measurement on
the holding gear.
Mode of operation
This function is useful for every grab crane when no external load measuring cell is
available.
The load measurement is performed continuously. The crane driver can always see the
weight of the hoisted load. In the case of dredgers, for example, the crane driver cannot see
the submerged grab bucket. With the continuous load measurement function, the driver can
lift a fully loaded bucket out of the water every time. A "Grab touchdown" signal is also
displayed.
The continuous load measurement function is implemented with a sawtooth generator which
can be started and stopped via inputs "rLimittoStartSawToothGen" and
"rLimittoStopSawToothGen" respectively. When the generator reaches the stop limit, it starts
from the beginning again. You can view the result at output "rCountsSawToothGenerator".
You can set the counting increments with "rIntegrationTimeSawTooth".
Mode of operation of the input "rIntegrationTimeSawTooth":
The block is linked into runtime group T2. Let us assume that T2 equals 9 ms. If you now
specify 9 ms via the input "rIntegrationTimeSawTooth", then it will add 1 at each cycle. If you
set "rIntegrationTimeSawTooth" to 90 ms, then it will add 0.1 at each cycle. This setting acts
on inputs "rStartMeasurement" and "rStopMeasurement" as the count value of the sawtooth
generator (rCountsSawToothGenerator) must be entered here as the start and stop count
values.
In this way, you can store the desired sampling operations in the measuring window.
Example:
If you enter 2.0 in "rStartMeasurement" and 12.0 in "rStopMeasurement", either 10 cycles or
100 cycles will be available depending on the count value in T2
(rCountsSawToothGenerator).
Basic Technology
Figure 5-4 Speed torque characteristic
Figure 5-5 Principle of calculating the actual load value
NOTICE
The reference torque in [Nm] must be entered at input "rTorqueNominal" as a fixed value,
or the maximum current must be interconnected with this input in the user program (refer to
the SINAMICS parameter p2003).
interconnect the maximum velocity with this input in the user program. (refer to e.g.
Technology Object: D4x5.HoldingGear_1.TypeOfAxis.MaxVelocity.maximum or function
block FB_OperationMode output variable r64maximumVelocity).
The block will not work correctly otherwise.
Basic Technology
WARNING
"rX1_ActualVelocity_SGST1" to "rX10_ActualVelocity_SGST1" and
"rX1_ActualVelocity_SGST2" to "rX10_ActualVelocity_SGST2" must be assigned in
ascending sequence. Proper operation of the block cannot be guaranteed if you do not set
the parameters correctly.
Connections

type setting
rTorqueNominal IN MCC REAL Reference torque [Nm]
boSelectionGearboxStage2 IN False BOOL Selection gear stage 2
boActualVelocityZero IN MCC BOOL Standstill signal, zero speed signal
rLimitToStartSawToothGen IN 10.0 REAL Interval average [%] of current velocity for
starting the sawtooth generator relative to
maximum velocity
rLimitToStopSawToothGen IN 30.0 REAL Stop limit from which the sawtooth
generator begins counting from the
beginning again.
rStartMeasurement IN 2.0 REAL Start limit from which the sawtooth
generator starts the load measurement.
(boStartMeasurement)
rStopMeasurement IN 30.0 REAL Stop limit from which the sawtooth
generator stops the load measurement.
(boStopMeasurement)
rIntegrationTimeSawTooth IN 1.0 REAL Integration time for the sawtooth generator
[ms]
rSetpointTorqueHG IN MCC REAL Torque setpoint holding gear [Nm]
rSetpointTorqueCG IN MCC REAL Torque setpoint closing gear [Nm]
rTorqueSmoothTime IN 0 SDTIME Smoothing time for calculated total torque
(holding gear + closing gear) in [ms]
rHGTorqueSmoothTime IN 0 SDTIME Smoothing time for holding gear torque
setpoint [ms]
rCGTorqueSmoothTime IN 0 SDTIME Smoothing time for closing gear torque
setpoint [ms]
rSmoothTime_dn_dt IN 20 SDTIME Smoothing time [ms] for the velocity
setpoint applied to the derivative action
element.
rDifferentiationTimeCons IN 3000 SDTIME Derivative action time constant [ms] for the
velocity setpoint applied to the derivative
action element; normally the motor ramp-
up time to nmax
Basic Technology

type setting
rFact_AccTorqueRotMass1 IN 0.0 REAL Evaluation for acceleration torque of
rotating masses [%] in gear stage 1
rFact_AccTorqueRotMass2 IN 0.0 REAL Evaluation for acceleration torque of
rotating masses [%] in gear stage 2
rFact_AccTorque_Load1 IN 0.0 REAL Evaluation for acceleration torque of load
[%] in gear stage 1
rFact_AccTorque_Load2 IN 0.0 REAL Evaluation for acceleration torque of load
[%] in gear stage 2
rEfficiency_eta_drop IN 100.0 REAL Efficiency correction for lowering [%]
rEfficiency_eta_lift IN 100.0 REAL Efficiency correction for hoisting [%]
rLoadHystLimitValueMon IN 0.5 REAL Hysteresis for load monitoring [%] relative
to "rMaximumLoad" for message "Grab
touchdown"
rLoadAverLimitValueMon IN 9.0 REAL Average interval for load monitoring [%]
relative to "rMaximumLoad" for message
"Grab touchdown"
rSpeedHystLimitValueMon IN 0.5 REAL Hysteresis for current velocity monitoring
[%] relative to maximum velocity
rSpeedAverLimitValueMon IN 5.0 REAL Average interval for current velocity
monitoring [%] relative to maximum velocity
rRopeHystLimitValueMon IN 0.5 REAL Hysteresis for rope length monitoring [%]
relative to "rMaximumRopeLength" for
message "Grab touchdown"
rRopeAverLimitValueMon IN 0.0 REAL Average interval for rope length monitoring
[%] relative to "rMaximumRopeLength" for
rOnDelayTimeLimitMonitor IN 100 SDTIME ON delay for "Grab touchdown" if condition
is fulfilled [ms].
rLoadNormFactor IN 1.0 REAL Load conversion factor from current value
to the physical unit tons
rX1_ActualVelocity_SGST1 IN 10.0 REAL X1 (current velocity) [%]
gear stage 1
rY1_Friction_SGST1 IN 2.0 REAL Y1 friction [%]
gear stage 1
gear stage 1
gear stage 1
rX3_ActualVelocity_SGST1 IN 30.0 REAL X3 (current velocity) [%] gear stage 1
gear stage 1
gear stage 1
gear stage 1
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type setting
gear stage 1
gear stage 1
gear stage 1
gear stage 1
gear stage 1
gear stage 1
gear stage 1
gear stage 1
gear stage 1
rX10_ActualVelocit_SGST1 IN 100.0 REAL X10 (current velocity) [%]
gear stage 1
gear stage 1
rActualRopeLength IN 0.0 REAL Actual rope length [mm]
rMaximumRopeLength IN 1.0 REAL Maximum possible rope length [mm]
rCompensationRopeFactor IN 1.0 REAL Compensation factor for rope weight
rLoadMeasurementCell IN 0.0 REAL Measured load value from load measuring
cell
rLoadSmoothTime IN 0 SDTIME Smoothing time for actual load [ms]
rMaximumLoad IN 1.0 REAL Maximum possible load, e.g. [t]
boSwitchToLoadMeasCell IN False BOOL Selection of actual load value from load
measuring cell
gear stage 2
gear stage 2
gear stage 2
gear stage 2
gear stage 2
gear stage 2
gear stage 2
Basic Technology

type setting
gear stage 2
gear stage 2
gear stage 2
gear stage 2
gear stage 2
gear stage 2
gear stage 2
gear stage 2
gear stage 2
gear stage 2
rX10_ActualVelocit_SGST2 IN 0.0 REAL X10 (current velocity) [%]
gear stage 2
gear stage 2
rLoad OUT MCC REAL Evaluated actual load value [e.g. in tons],
depending on rLoadNormfactor
boGrapTouchDown OUT MCC BOOL Grab touchdown
rCountsSawToothGenerator OUT 0.0 REAL Current counter reading of sawtooth
generator
boStartMeasurement OUT False BOOL Measuring window start signal
boStopMeasurement OUT False BOOL Measuring window stop signal
rHGSetTorqueInPercent OUT 0.0 REAL Torque setpoint holding gear [%]
rCGSetTorqueInPercent OUT 0.0 REAL Torque setpoint closing gear [%]
rSetpointTorquePercent OUT 0.0 REAL Calculated total torque setpoint [%]
(holding gear + closing gear) / 2
rSavedCounts OUT 0.0 REAL Number of sampling operations in the
measuring window
rSetTorqueMeanValue OUT 0.0 REAL Mean value of torque setpoint [%]
rSavedSetpointTorque OUT 0.0 REAL Torque setpoint in measuring window [%]
rAcceleration OUT 0.0 REAL Current acceleration [%]
rAccelerationMeanValue OUT 0.0 REAL Mean value of acceleration [%]
rSavedAccelerationSum OUT 0.0 REAL Acceleration total [%]
rJBLoad OUT 0.0 REAL Acceleration torque of load [%] relative to
rTorqueNominal
Basic Technology

type setting
rJBRot OUT 0.0 REAL Acceleration torque of rotating masses [%]
relative to rTorqueNominal
rFriction OUT 0.0 REAL Friction [%] dependent on current velocity
rMm_Minus_Friction OUT 0.0 REAL Mtot – Mfriction (total torque – frictional torque)
[%] relative to rTorqueNominal
rMm_minus_Jbrot_Mf OUT 0.0 REAL Total torque – frictional torque –
acceleration torque of rotating masses [%]
rLoad_without_eta OUT 0.0 REAL Actual load without efficiency correction [%]
rLoad_with_eta OUT 0.0 REAL Actual load with efficiency correction [%]
rLoad_eta_plus_Friction OUT 0.0 REAL Actual load with efficiency correction plus
friction torque [%]
rLoad_eta_and_rope OUT 0.0 REAL Actual load with efficiency correction and
rope weight correction [%]
Note
The following applies to all friction values:
The input value rXx (corresponding to the respective current velocity in percent relative to
"rMaximumVelocity") belongs to the corresponding friction value (in percent) rYx. Linear
interpolation is performed between the points. The friction value is included in the load value
calculation.
Note
Typical setting values:
• rDifferentiationTimeCons: Ramp-up time holding gear, e.g. 3000 ms
• rFact_AccTorqueRotMass1: Approx. 20% - 30%
• rFact_AccTorque_Load1: Approx. 5% - 10%
• rEfficiency_eta_drop: Approx. 110%
• rEfficiency_eta_lift: Approx. 90% - 100%
• rLimitToStartSawToothGen: Approx. 10% (to overcome the breakaway torque)
• Friction: Approx. 2% - 4%
Note
For a detailed description of this block, refer to Chapter Continuous load measurement
(CLM) (Page 434)
Basic Technology
5.2.5 DCC_ContLoadMeasurement_1
Symbol
Brief description
The DCC block DCC_ContLoadMeasurement_1 has a 6-point polygon.
The DCC block DCC_ContLoadMeasurement_1 performs a continuous load measurement
on the holding gear.
Mode of operation
The mode of operation of this block corresponds to that of the DCC_ContLoadMeasurement
block (refer to Chapter DCC_ContLoadMeasurement (Page 80)). The existing 10-point
polygon for the travel characteristic is however simplified to six points and the second
gearbox has been eliminated.
Basic Technology
The DCC_ContLoadMeasurement_1 block contains a sliding mean value generator (MVS;

"Sliding-type mean value generator") to determine the torque and acceleration. The
alternative DCC_ContLoadMeasurement block uses instead of this, a sawtooth generator.
The limit values for load and depth can be provided for the SIMATIC controller or for the
visualization.
NOTICE
The reference torque in [Nm] must be entered at input "rTorqueNominal" as a fixed value,
or the maximum current must be interconnected with this input in the user program (refer to
the SINAMICS parameter p2003).
The maximum velocity must be entered in [mm/s] at input "rMaximumVelocity" as fixed
value, or the maximum velocity interconnected with this input in the user program. (refer to
e.g. Technology Object: D4x5.HoldingGear_1.TypeOfAxis.MaxVelocity.maximum or
function block FB_OperationMode output variable r64maximumVelocity).
WARNING
"rX1_ActualVelocity" to "rX6_ActualVelocity" must be assigned in ascending sequence.
correctly.
Basic Technology
Connections

type setting
rMaximumVelocity IN MCC REAL Maximum velocity
(base velocity +
field-weakening speed) [mm/s]
iNumberOfCycles_MVS IN 10 INT Number of computation cycles, over which
a sliding mean value generation (MVS) is
realized for acceleration and torque
rSetpointTorqueHG IN MCC REAL Torque setpoint holding gear [Nm]
rSetpointTorqueCG IN MCC REAL Torque setpoint closing gear [Nm]
rTorqueSmoothTime IN 0.0 SDTIME Smoothing time for calculated total torque
(holding gear + closing gear) in [ms]
rHGTorqueSmoothTime IN 0.0 SDTIME Smoothing time for holding gear torque
setpoint [ms]
rCGTorqueSmoothTime IN 0.0 SDTIME Smoothing time for closing gear torque
setpoint [ms]
rSmoothTime_dn_dt IN 20.0 SDTIME Smoothing time for the velocity setpoint
applied to the derivative action element
[ms]
rDifferentiationTimeCons IN 3000.0 SDTIME Derivative action time constant for the
velocity setpoint applied to the derivative
action element; normally the motor ramp-
up time to nmax[ms]
rFact_AccTorqueRotMass IN 0.0 REAL Evaluation for accelerating torque of the
rotating masses [%]
rFact_AccTorque_Load IN 0.0 REAL Evaluation for the load acceleration torque
[%]
rEfficiency_eta_drop IN 100.0 REAL Efficiency correction for lowering [%]
rEfficiency_eta_lift IN 100.0 REAL Efficiency correction for hoisting [%]
rMaxGrabWeight IN 35.0 REAL Maximum possible load, e.g. [t]
rLoadHystLimitValueMon IN 0.5 REAL Hysteresis for load monitoring [%] relative
to "rMaxGrabWeight" for the message
"Grab touchdown"
rGrabWeight IN 0.0 REAL Average interval for load monitoring relative
to "rMaxGrabWeight" for message "Grab
touchdown" [%]
rSpeedHystLimitValueMon IN 0.5 REAL Hysteresis for current velocity monitoring
relative to the maximum velocity [%]
rSpeedAverLimitValueMon IN 5.0 REAL Average interval for current velocity
monitoring relative to the maximum velocity
[%]
rMaximumRopeLength IN 80000.0 REAL Maximum possible rope length [mm]
rRopeHystLimitValueMon IN 0.5 REAL Hysteresis for rope length monitoring
message "Grab touchdown" [%]
Basic Technology

type setting
rUnderWater IN 15000.0 REAL Average interval for rope length monitoring
message "Grab touchdown" [%]
rActualRopeLength IN MCC REAL Actual rope length [mm]
rCompensationRopeFactor IN 0.0 REAL Compensation factor for rope weight
rOnDelayTimeLimitMonitor IN 100.0 SDTIME ON delay for "Grab touchdown" if condition
is fulfilled [ms]
rLoadMeasurementCell IN 0.0 REAL Measured load value from load measuring
cell
rLoadNormFactor IN 1.0 REAL Load conversion factor from current value
to the physical unit tons
rLoadSmoothTime IN 0.0 SDTIME Smoothing time for actual load [ms]
boSwitchToLoadMeasCell IN False BOOL Selection of actual load value from load
measuring cell
rX1_ActualVelocity IN 10.0 REAL X1 (actual velocity) [%]
rY1_Friction IN 2.0 REAL Y1 friction [%]
rLoad OUT MCC REAL Evaluated actual load value [e.g. in tons],
depending on rLoadNormfactor
boGrabTouchDown OUT MCC BOOL Grab touchdown
rHGSetTorqueInPercent OUT 0.0 REAL Torque setpoint holding gear [%]
rCGSetTorqueInPercent OUT 0.0 REAL Torque setpoint closing gear [%]
rSetpointTorquePercent OUT 0.0 REAL Calculated total torque setpoint [%]
(holding gear + closing gear) / 2
rTorque_MVS OUT 0.0 REAL Mean value of torque setpoint [%]
rAccel_MVS OUT 0.0 REAL Mean value of acceleration [%]
rJBLoad OUT 0.0 REAL Acceleration torque of load [%] relative to
rTorqueNominal
rJBRot OUT 0.0 REAL Acceleration torque of rotating masses [%]
rFriction OUT 0.0 REAL Friction [%] dependent on current velocity
rMm_Minus_Friction OUT 0.0 REAL Mtot – Mfriction (total torque – frictional torque)
[%] relative to rTorqueNominal
Basic Technology

type setting
rMm_minus_Jbrot_Mf OUT 0.0 REAL Total torque – frictional torque –
acceleration torque of rotating masses [%]
rLoad_without_eta OUT 0.0 REAL Actual load without efficiency correction [%]
rLoad_with_eta OUT 0.0 REAL Actual load with efficiency correction [%]
rLoad_eta_plus_Friction OUT 0.0 REAL Actual load with efficiency correction plus
friction torque [%]
rLoad_eta_and_rope OUT 0.0 REAL Actual load with efficiency correction and
rope weight correction [%]
rLoadScal OUT 0.0 REAL Calculated load referred to the maximum
grab weight [%]
rGrabWeightScal OUT 0.0 REAL Limit value, load for message "Grab
touchdown" referred to the maximum grab
weight [%]
rRopeLengthScal OUT 0.0 REAL Actual rope length referred to the maximum
rope length [%]
rUnderWaterScal OUT 0.0 REAL Limit value, rope length for message "Grab
touchdown" referred to the maximum rope
length [%]
boLVM_Load_QL OUT False BOOL Limit monitor: Load actual value < load limit
value (rGrabWeight); important for the
boLVM_Speed_QU OUT False BOOL Limit monitor: Velocity actual value >
velocity limit value
(rSpeedAverLimitValueMon); important for
the message "Grab touchdown"
boLVM_Rope_QU OUT False BOOL Limit monitor: Rope length > rope length
limit value (rUnderWater); important for the
Note
The following applies to all friction values:
The input values "rX1_ActualVelocity" to "rX6_ActualVelocity" (corresponding to the
respective actual velocity as a percentage relative to "rMaximumVelocity") belong to the
corresponding friction value (as a percentage) "rY1_Friction" to "rY6_Friction". Linear
interpolation is performed between the points. The friction value is included in the load value
calculation.
Note
For a detailed description of this block, refer to Chapter Continuous load measurement
(CLM) (Page 434)
Basic Technology
5.2.6 DCC_CurrentDistribution
Symbol
Brief description
The current of the master and slave is monitored using the DCC block
DCC_CurrentDistribution. An error message is generated if any deviation is exceeded.
Mode of operation
This function can be used for master-slave operation or synchronous operation. The block
checks that the total current of both drives is being distributed evenly. However, this is not
always the case for crane operation.
In synchronous operation, the current setpoint is monitored for the two drives. In master-
slave operation, it is the current actual value that is monitored.
Bit 3 "boFaultCurrentMonitoring" is set in application status word 1 if the difference between
the setpoint currents of the two drives exceeds the values configured for deviation and time.
An example of synchronous operation is illustrated below.
CAUTION
Enter the maximum current in [A] at input "rCurrentNormalizeFactor" as fixed value, or

interconnect the maximum current with this input in the user program (refer to the
SINAMICS S List Manual, parameter p2002). The block does not work correctly otherwise.
Basic Technology
Figure 5-6 Principle of current distribution monitoring based on the example of synchronous
operation
Connections

type setting
rMasterCurrent IN MCC REAL Master current setpoint [A]
rSlaveCurrent IN MCC REAL Slave current setpoint [A]
boEnableCurrentMon IN True BOOL Enables the current comparison monitoring
rDelayTime IN 1000 SDTIME Deceleration time [ms]; if a deviation occurs
between the master and slave current, the
output "boFaultCurrentMonitoring" is only set
if the deceleration time has expired.
rParameterLimit IN 20.0 REAL Deviation threshold [%; relative to
rCurrentNominal]. The master and the slave
current are subtracted and then compared
with the deviation threshold.
rCurrentNominal IN MCC REAL Reference current [A]
boMasterSlaveOperationMo IN MCC BOOL Master-slave operating mode or synchronous
operation is active. Current distribution is only
monitored in master-slave operation or in
synchronous operation.
Basic Technology

type setting
boFaultCurrentMonitoring OUT MCC BOOL The master and the slave current deviate
from one another too significantly.
rCurrentDifference OUT 0.0 REAL Actual result of the subtraction between
master and slave [A]
5.2.7 DCC_CurrentEqualControl
Symbol
Short description
The DCC block DCC_CurrentEqualControl is required by the closing gear to distribute the
necessary hoisting power optimally between holding gear and closing gear.
Basic Technology
Mode of operation
A basic distinction is made between two current compensatory controller modes, i.e.
"orange-peel bucket mode" and "normal mode". The current compensatory controller (load
compensation controller) also features a speed droop feedback. The value of the droop can
be selected with "rPGainFactorDroop" (Kp of the P controller) and "rEvaluationStaticFactor"
and monitored with "rDroopFunction" or "rStaticSetpoint".
This function is needed on every grab crane.
When the load is raised or lowered with the grab bucket closed, the tension levels in the
holding and closing ropes should be approximately the same. This means that the hoisting
power is optimally distributed between the two hoisting motors. This requirement is fulfilled
by a compensatory control between the two drives.
The current setpoints generated by the speed controllers of the hoisting gear (holding gear
and closing gear) are compared and the difference between them is applied to the closing
gear speed setpoint via a controller; see the figure below.
The highest rope torque occurs when the grab closes almost completely. The positioning
data is falsified by the unavoidable rope elongation, i.e. the closing process is automatically
terminated when the grab is not quite fully closed.
This falsification is also corrected by enabling the current compensatory control in response
to the message "Grab closed".
In the case of multi-functional grab cranes (used for container, spreader beam, and hook
operation), it may be necessary to activate the current compensatory controller depending
on the application and mechanical construction of the crane.
Orange-peel bucket mode
In this operating mode, the grabs generally require a higher tension level in the closing rope
than in the holding rope. A supplementary circuit in the current compensatory control allows
the current to be divided asymmetrically in the required ratio.
This capability is required, for example, when compacted scrap, tree trunks and other bulky
loads are handled. When loads of this type are handled by pronged grabs (orange-peel
buckets), the grabs are only partially closed and the material is held only by the prong tips.
To prevent the load from slipping out of the grab, the highest possible closing force must be
achieved. For this purpose, the current compensatory controller distributes the load
asymmetrically.
Basic Technology
Figure 5-7 Circuit diagram of the current compensatory controller
Note
The current compensatory controller is a PI controller. At the beginning, the kp gain factor
(rPGainCurrentEqualCtrl) should be a low value and the integral time
(rIntegrCurrentEqualCtrl) a high value, see default setting. The fundamental principles of
closed-loop control and the properties of a PI controller must be taken into account.
NOTICE
Both "Start Pulse" and "Current compensatory control" functions are used for Closing Gear.
As both blocks DCC_StartPulse and DCC_CurrentEqualControl act on the shared
supplementary speed setpoint in SINAMICS, the output of block "DCC_StartPulse" must be
connected to input "rInVelocitySetpoint".
For technical reasons, only one of the two "StartPulse" or "CurrentEqualControl" functions
may be active at any one time.
A setpoint applied at input "rInVelocitySetpoint" is switched through directly to output
"rOutVelocitySetpoint" as long as input "boEnableCurrentEqualCtrl" is not set. In this case,
the current compensatory controller is disabled and does not specify a setpoint.
A setpoint applied at input "rInVelocitySetpoint" is not switched through directly to output
"rOutVelocitySetpoint" as long as input "boEnableCurrentEqualCtrl" is set. In this case, the
current compensatory controller is enabled and does specify a setpoint.
Basic Technology
NOTICE
Enter the maximum current in [A] at input "rCurrentNominal" as fixed value, or interconnect
the maximum current with this input in the user program (refer to the SINAMICS parameter
p2002).
interconnect the maximum velocity with this input in the user program. (refer to e.g.
Technology Object: D4x5.ClosingGear_1.TypeOfAxis.MaxVelocity.maximum or function
Connections

type setting
rCurrentHoldingGear IN MCC REAL Holding Gear setpoint current [A]
rCurrentClosingGear IN MCC REAL Closing gear setpoint current [A]
rCurrentSmoothHG IN 10 SDTIME Smoothing time for the holding gear current
[ms]
rCurrentSmoothCG IN 10 SDTIME Smoothing time for the closing gear current
[ms]
boEnableCurrentEqualCtrl IN MCC BOOL Enable current compensatory controller
FALSE: rOutVelocitySetpoint =
rInVelocitySetpoint
TRUE: rOutVelocitySetpoint = velocity of
current compensatory controller
rEvaluationCurrentSetpHG IN 100.0 REAL Current setpoint evaluation [%] of holding
gear for current compensatory controller
rEvaluationCurrentSetpCG IN 100.0 REAL Current setpoint evaluation [%] of closing
rEvaluationCurrentPoly_1 IN 50.0 REAL Current setpoint evaluation [%] of holding
gear for current compensatory controller in
orange-peel bucket mode for torque
direction 1
rEvaluationCurrentPoly_2 IN 50.0 REAL Current setpoint evaluation [%] of closing
direction 2
boEnablePolyp IN MCC BOOL Enable orange-peel bucket mode
rVelocitySmoothTime IN 20 SDTIME Smoothing time for the setpoint velocity
[ms]
Basic Technology

type setting
rPGainFactorDroop IN 0.0 REAL P gain for P droop current compensatory
controller [%]
rPGainCurrentEqualCtrl IN 1.0 REAL P gain current compensatory controller [%]
rIntegrCurrentEqualCtrl IN 500 SDTIME Integral time current compensatory
controller [ms]
boHoldIntegration IN True BOOL Hold the integrator time of the current
compensatory controller
rEvaluationStaticFactor IN 0.0 REAL Evaluation factor for P droop feedback on
current compensatory controller [%]
rUpLimitoutVelocity IN 30.0 REAL Upper speed limiting value [%] for the P
controller output. The value must lie
between 0 and 100%.
rLowLimitoutVelocity IN -30.0 REAL Lower speed limiting value [%] for the P
between 0 and -100%.
rOutVelocitySetpoint OUT MCC REAL Setpoint velocity of the current
compensatory controller [mm/s]
rDroopFunction OUT 0.0 REAL Effective P droop [%]
rCurrentEvalHG OUT 0.0 REAL Holding gear effective current setpoint [%]
rCurrentEvalCG OUT 0.0 REAL Closing gear effective current setpoint [%]
rEqualControlOutput OUT 0.0 REAL Effective output value from current
compensatory controller [%]
rEvalSpeedSetpoint OUT 0.0 REAL Evaluated setpoint velocity [mm/s]
rStaticSetpoint OUT 0.0 REAL Evaluated droop feedback [%]
Basic Technology
5.2.8 DCC_CurrentEqualControl_1
Symbol
Brief description
This DCC block is functionally identical with the DCC_CurrentEqualControl block, only that
input "rInVelocitySetpoint" has been removed. This input was originally added to switch
through from the setpoint channel of the start pulse. However, in the future, the setpoint
channel of the start pulse will be externally connected in parallel; refer to the standard
application software. In addition, the "rVelocitySmoothTimeOnOff" input has been added.
Connections

type setting
rCurrentHoldingGear IN MCC REAL Holding Gear setpoint current [A]
rCurrentClosingGear IN MCC REAL Closing gear setpoint current [A]
rCurrentSmoothHG IN 10 SDTIME Smoothing time for the holding gear current
[ms]
rCurrentSmoothCG IN 10 SDTIME Smoothing time for the closing gear current
[ms]
Basic Technology

type setting
boEnableCurrentEqualCtrl IN MCC BOOL Enable current compensatory controller
rInVelocitySetpoint
TRUE: rOutVelocitySetpoint = velocity of
current compensatory controller
rEvaluationCurrentSetpHG IN 100.0 REAL Current setpoint evaluation [%] of holding
rEvaluationCurrentSetpCG IN 100.0 REAL Current setpoint evaluation [%] of closing
rEvaluationCurrentPoly_1 IN 50.0 REAL Current setpoint evaluation [%] of holding
direction 1
rEvaluationCurrentPoly_2 IN 50.0 REAL Current setpoint evaluation [%] of closing
direction 2
boEnablePolyp IN MCC BOOL Enable orange-peel bucket mode
[ms]
rVelSmoothTimeOnOff IN 500 SDTIME Smoothing time during on/off [ms]
rPGainFactorDroop IN 0.0 REAL P gain for P droop current compensatory
controller [%]
rPGainCurrentEqualCtrl IN 1.0 REAL P gain current compensatory controller [%]
rIntegrCurrentEqualCtrl IN 500 SDTIME Integral time current compensatory
controller [ms]
boHoldIntegration IN True BOOL Hold the integrator time of the current
compensatory controller
rEvaluationStaticFactor IN 0.0 REAL Evaluation factor for P droop feedback on
current compensatory controller [%]
rUpLimitoutVelocity IN 30.0 REAL Upper speed limiting value [%] for the P
between 0 and 100%.
rLowLimitoutVelocity IN -30.0 REAL Lower speed limiting value [%] for the P
rOutVelocitySetpoint OUT MCC REAL Setpoint velocity of the current
compensatory controller [mm/s]
rDroopFunction OUT 0.0 REAL Effective P droop [%]
rCurrentEvalHG OUT 0.0 REAL Holding gear effective current setpoint [%]
rCurrentEvalCG OUT 0.0 REAL Closing gear effective current setpoint [%]
rEqualControlOutput OUT 0.0 REAL Effective output value from current
compensatory controller [%]
rEvalSpeedSetpoint OUT 0.0 REAL Evaluated setpoint velocity [mm/s]
rStaticSetpoint OUT 0.0 REAL Evaluated droop feedback [%]
Basic Technology
Note
The "rVelSmoothTimeOnOff" input is a PT1 element that applies only during switch-on and
off. When switching off, the inverse function of the PT 1 element is used so there is no jump
for either switch-on or switch-off. The time value entered in the "rVelSmoothTimeOnOff"
corresponds to 1 Tau (1 τ).
5.2.9 DCC_GrabMonitor
Symbol
Short description
The DCC block DCC_GrabMonitor can be used to detect bulky load material in the closing
gear.
Mode of operation
When the grab of the closing gear attempts to close around bulky material (wood, for
example), it may not be able to close completely. The message "boMaxTorqueReached" is
generated if an adjustable torque value is exceeded as the grab closes.
Figure 5-8 Overview of GrabMonitor
Note
The reference torque in unit [Nm] at input "rTorqueNominal" must be entered as a fixed
value, or the nominal torque must be interconnected at this input in the user program (refer
to the SINAMICS parameter p2003).
The block does not work correctly otherwise.
Basic Technology
Connections

type setting
rTorqueSetpoint IN MCC REAL Setpoint torque [Nm]
rTorqueSmoothTime IN 0 SDTIME Smoothing time for setpoint
torque [ms]
rTorqueInterval IN 0.0 REAL Interval limit [%]
rTorqueHysteresis IN 0.0 REAL Hysteresis [%]
boPositiveMasterSwitch IN MCC BOOL Close grab
boMaxTorqueReached OUT MCC BOOL Rough timber
5.2.10 DCC_HeavyDuty
Symbol
Short description
Using the DCC block DCC_HeavyDuty the drive also allows heavy duty operation
(HeavyDuty) by changing the velocity, or operation with constant field weakening
(FieldWeak).
Basic Technology
Mode of operation
This function is required, if with Hoist, loads greater than the rated load are to be raised. In
heavy duty operation, loads exceeding the rated load can be raised. However, this is
generally only possible with reduced velocity due to the crane mechanical system (static).
This is the reason that for this operating mode, the master switch setpoint is multiplied by a
selectable factor <1. This means that the deflection range is fully utilized with reduced
setpoint input.
Note
Enter the rated velocity in [mm/s] at input "rNominalVelocity" as fixed value, or interconnect
the rated velocity with this input in the user program (e.g.:
Technology Object: D4x5.Hoist_1.TypeOfAxis.MaxVelocity.maximum or function block
FB_OperationMode output variable r64maximumVelocity).
Figure 5-9 Principle of the changeover for heavy loads
Basic Technology
Connections

type setting
rInVelocitySetpointHDFW IN DCC REAL Velocity input value [mm/s]
rNominalVelocity IN MCC REAL Rated velocity [mm/s]
boSelectionHeavyDuty IN MCC BOOL Selects heavy duty operation. When heavy
duty operation is selected, the heavy duty
factor is evaluated with the velocity input
value.
boEnableFieldWeak IN False BOOL Enables constant field weakening. If field
weakening and the selection of field
weakening are enabled, then the velocity
input value is evaluated with the field-
weakening operating factor.
boSelectionFieldWeak IN False BOOL Selects constant field weakening. This
must be set so that when enable is set,
then constant field-weakening operation is
also active.
rFieldWeakFactorVelocity IN 100.0 REAL Evaluation factor for constant field-
weakening operation. This should lie in the
range between 40 % and 100 [%].
rHeavyDutyFactorVelocity IN 50.0 REAL Evaluation factor for heavy duty operation.
This should lie in the range between 0 %
and 50 [%].
rOutVelocitySetpointHDFW OUT DCC REAL Velocity output value [mm/s]
Basic Technology
5.2.11 DCC_LoadDependingFieldWeak
Symbol
Brief description
A supplementary speed setpoint is calculated, depending on the load, using the DCC block
DCC_LoadDependingFieldWeak. This speed increase for partial loads above the rated
speed is required for cranes to increase the handling capacity. This is realized using the
motor curve that should be saved.
Basic Technology
Mode of operation
When selecting field weakening, e.g. using the master switch, depending on the load, in
addition to the maximum value for the rated speed range specified from the master switch, a
supplementary speed setpoint for field weakening, which is permissible for the actual load, is
generated.
The load actual value is calculated from the torque-generating current and the acceleration
torque, which is determined using the speed actual value. The values for current and
acceleration are integrated over several sampling times to obtain a more precise figure. An
arithmetic average value is formed from this.
During the acceleration phase, the torque-generating current is measured, which in the rated
speed range, is directly proportional to the total torque MM provided by the motor (refer to the
formula and its description below). The acceleration torque of the rotating masses (moment
of inertia J), the acceleration torque of the load and the friction torque are subtracted from
this total torque.
The steady-state load current is calculated using the following torque equation:
MM = MLoad + MALoad + MArot + MFriction
MM: Motor torque

MLoad: Load torque
MALoad: Load acceleration torque
MArot: Acceleration torque of the rotating masses
MFriction: Frictional torque
After the steady-state load actual value has been calculated (steady-state torque ML of the
load), depending on the calculated torque, the permissible supplementary speed setpoint for
constant power P = PN for field weakening is generated (using the drive PLI, implemented as
programmable polygon).
The calculated load-dependent speed limiting value is then incorporated into the setpoint
input for the velocity. Once acceleration is over, the total speed setpoint is limited to the
calculated load-dependent speed limiting value.
Note
For a detailed description of this block, refer to Chapter Field weakening (LDFW)
(Page 414). This chapter also describes how a second gear stage is integrated.
Basic Technology
Error messages
The block only supplies one error message that indicates if the current actual value lies
above the rated current value. The block output boIact_greater_In then signals a False.
WARNING
This setting should only be carried out by qualified personnel. Particular attention must be
paid to the reduced breakdown torque of the drive within the field weakening range.
Allowances must be made for appropriate safety reserve in terms of the data provided by
the machine manufacturer.
WARNING
p2002).
interconnect the maximum velocity with this input in the user program. (e.g. refer to
Figure 5-10 Speed – torque profile
Basic Technology
Figure 5-11 Principle when calculating the supplementary speed setpoint
WARNING
"rX1PolygonParameter" to "rX10PolygonParameter" must be assigned in ascending
sequence. Proper operation of the block cannot be guaranteed if you do not set the
parameters correctly.
Connections

type setting
rInVelocitySetpoint IN DCC REAL Velocity setpoint [mm/s]
rActualVelocity IN MCC REAL Velocity actual value [mm/s]
boEnableFieldWeak IN MCC BOOL Activates field weakening
rLoadNormFactor IN 1.0 REAL Load conversion factor from current
value to the physical unit tons
rVelocityNominal IN MCC REAL Rated velocity (base velocity) [mm/s]
rRampUpTimeNominal IN 0.0 REAL Ramp-up time (to the maximum
velocity) [ms]
rMaximumVelocity IN MCC REAL Maximum velocity (base velocity +
element.
Basic Technology

type setting
rUpLimitMeasRange IN 90.0 REAL Upper measuring window limit (speed
up to which the measuring series is
performed) [%]
rLowLimitMeasRange IN 40.0 REAL Lower measuring window limit (speed
from which the measuring series is
carried out) [%]
rCurrentSetpoint IN MCC REAL Current setpoint [A]
rCurrentSmoothTime IN 120 SDTIME Smoothing time for the current [ms]
rAddCurrentBeforePLI IN 0.0 REAL Offset [%] of the rated load current
before PLI
rAddSetpointAfterPLI IN 0.0 REAL Offset [%] for the velocity setpoint after
PLI
boResetLoadCurrent IN MCC BOOL Resets the load current measurement
boConstantMovement IN MCC BOOL Constant velocity travel
rFact_AccCurrent_RotMass IN 0.0 REAL Evaluation for acceleration current of
the rot. masses [%]
rFact_AccCurrent_Load IN 0.0 REAL Evaluation for the load acceleration
current [%]
rEfficiency_eta IN 100.0 REAL 1/η2; (efficiency correction between
hoisting and lowering) [%]
rFrictionCurrent IN 0.0 REAL Current due to friction [%]
rX1PolygonParameter IN 0.0 REAL Polygon, load value X1
rY1PolygonParameter IN 0.0 REAL Polygon velocity Y1 [%] with reference
to rMaximumVelocity
to rMaximumVelocity
to rMaximumVelocity
to rMaximumVelocity
to rMaximumVelocity
to rMaximumVelocity
to rMaximumVelocity
to rMaximumVelocity
Basic Technology

type setting
to rMaximumVelocity
rY10PolygonParameter IN 0.0 REAL Polygon velocity Y10 [%] with
reference to rMaximumVelocity
rDelayTimeConstantMove IN 2000 SDTIME Switch-in delay for current monitoring
for constant velocity motion [ms]
rSmoothTimeCurrentAbsPer IN 20 SDTIME Smoothing time for the absolute
percentage current [ms]
rCurrentInterval IN 105.0 REAL Limit value for message I > IN [%]
relative to rCurrentNominal
rCurrentHysteresis IN 5.0 REAL Hysteresis for message I > IN [%]
boEnableCurrentMonitor IN True BOOL Decision, current monitoring (if the
current limit is violated, then the drive
is ramped down)
boEnableCompareValue_MS IN True BOOL Decision whether comparison value to
deactivate field weakening.
rComparableValueTo_MS IN 95.0 REAL Percentage as of which the master
switch setpoint (or deflection of the
master switch) activates field
weakening [%], relative to
rMaxVelocity. If the master switch
setpoint is lower, field weakening is
deactivated.
rUpLimit_RampGen IN 100.0 REAL Upper limit value for the determined
supplementary speed setpoint [%]
rRampDownTime_RampGen IN 12000 SDTIME Ramp-down time to reduce the
setpoint [ms]
boSpeedRampToLowLim IN True BOOL For true, the setpoint is reduced to the
rated velocity
boEnable_MS_100_Percent IN False BOOL Deflection of the master switch across
the entire range. No limit for
changeover response when reaching
the master switch setpoint
(rComparableValueTo_MS)
rOutSetpointVelocity OUT DCC REAL Effective overall velocity setpoint
[mm/s]
rLoadWithNormFactor OUT MCC REAL Evaluated actual position value [e.g. in
tons, depending on rLoadNormfactor]
boOutEnableFieldWeak OUT MCC BOOL Field weakening active (all
DCC measurements are valid)
rSetpointVelAfterRampGen OUT DCC REAL Effective speed setpoint in [%] relative
to rMaximumVelocity
rCountsMeasurRange OUT 0.0 REAL Number of sampling operations in the
measuring window
Basic Technology

type setting
rSmoothSetpointCurrent OUT 0.0 REAL Smoothed actual current [%] relative to
rCurrentNominal
rIntegralCurrent OUT 0.0 REAL Additive current setpoint [%] relative to
rCurrentNominal
rAverageSetpointCurrent OUT 0.0 REAL Arithmetic mean value of current
setpoint [%] relative to
rCurrentNominal
rDn_Dt OUT 0.0 REAL Actual dn / dt [%]
rIntegral_dn_dt OUT 0.0 REAL Summed dn / dt [%]
rAverage_dn_dt OUT 0.0 REAL Arithmetic average value dn / dt [%]
rJBrot OUT 0.0 REAL Acceleration current of the rot. masses
[%] relative to rCurrentNominal
rJBLoad OUT 0.0 REAL Acceleration current [%] relative to
rCurrentNominal
rMm_minusM_Friction OUT 0.0 REAL Itot – Ifriction (total current – frictional
current) [%] relative to
rCurrentNominal
rMm_minus_JBrot_Mf OUT 0.0 REAL Itot – Ifriction – IBrot (total current -
frictional component - rot. masses) [%]
rLoadCurrent_with_eta OUT 0.0 REAL Iload • 1/η2 load current with efficiency
correction [%] relative to
rCurrentNominal
rLoadCurrent_without_eta OUT 0.0 REAL Load current [%] relative to
rCurrentNominal
rLoadCurrent_plus_Frict OUT 0.0 REAL Iload + Ifriction (load current + frictional
rCurrentNominal
rLoadCurrent_before_PLI OUT 0.0 REAL Load current before PLI [%] relative to
rCurrentNominal
rSetpointAfter_PLI OUT 0.0 REAL Auxiliary speed setpoint in [%] relative
to rMaximumVelocity
rAddSetpoint_PLI OUT 0.0 REAL Offset in [%] relative to
rMaximumVelocity
boIact_greater_In OUT True BOOL Message I > IN signal 0 (for reason of
safety)
signal 1 if I < IN
boOutDisableFieldWeak OUT False BOOL Displays reset, field weakening
Basic Technology
5.2.12 DCC_LoadDependFieldWeak_1
Symbol
Brief description
A supplementary speed setpoint depending on the load is calculated using the DCC block
DCC_LoadDependFieldWeak_1. This speed increase for partial loads above the rated speed
is required for cranes to increase the handling capacity. This is realized using the motor
curve that should be saved.
The block has a 6-point polygon.
Basic Technology
Mode of operation
In principle, this block works in the same way as the DCC block
DCC_LoadDependingFieldWeak (refer to Chapter DCC_LoadDependingFieldWeak
(Page 106)). The 10-point polygon was reduced to 6 points so that the motor curve can be
mapped with 6 points.
In addition, it is now possible to connect the normalized value of a load measuring cell using
rExtLoadmeas and enable it using the boEnableExtLoadmeas input. By enabling the
external load measuring cell, the load calculated in the block is not forwarded immediately,
but compared with the value of the external load measuring cell. Only the maximum value is
forwarded and a setpoint depending on the motor curve is enabled only with this value.
The last change affects the behavior of the master switch when field weakening is enabled.
In this case, there were the following two variants in DCC_LoadDependingFieldWeak:
Variant 1:
boenable_MS_100_Percent = False
The master switch has two different reference speeds. At the start of a hoisting movement,
the reference speed is the rated speed. This means that the deflection (as percentage) is
multiplied with the rated speed provided the field weakening has not been enabled. After the
enable of the field weakening, the reference speed changes immediately from the rated
speed to the maximum speed. The deflection (as percentage) is now multiplied with the
maximum speed.
This switchover has the advantage that the velocity at the start can be set finer because the
full deflection of the master switch cannot exceed the rated speed.
Example: rCompareValueTo_MS = 95%, boEnableCompareValue_MS = True
Up to 95% of the master switch deflection means up to 95% of the rated speed. This gives a
large range of the master switch in order to set the velocity finely in the rated speed range.
As soon as the deflection exceeds 95% and the field weakening is enabled, the maximum
speed is the reference speed. The deflection of the master switch between 95 - 100% thus
causes a speed change of 0.95 * rated speed - maximum speed. If the value exceeds or
drops below the 95%, this causes an immediate setpoint change because the reference
speed changes immediately. This means the velocity transition from rated speed to field
weakening is not linear.
If the block, for example, releases 97% of the maximum velocity, a deflection of the final
three percent of the master switch does not change the velocity. This means the deflection
range 97-100% remains unused.
Variant 2:
boenable_MS_100_Percent = TRUE
The master switch always has the maximum speed as reference speed. The deflection of the
master switch between 0% and 100% causes a velocity change between 0 - maximum
speed without a switchover occurring. The velocity transition from rated speed to field
weakening remains linear.
If the block, for example, releases 97% of the maximum velocity, a deflection of the final
three percent of the master switch does not change the velocity. This means the deflection
range 97-100% remains unused.
DCC_LoadDependFieldWeak_1 has been given an additional option.
Basic Technology
Variant 3:
boenable_Auto_Scaling = TRUE, boenable_MS_100_Percent = FALSE
Like variant 1, the master switch has two reference speeds. Provided the field weakening is
not enabled, the rated speed is the reference speed. As soon as field weakening is enabled,
the reference speed changes immediately from the rated speed to the calculated maximum
speed. If the block, for example, releases 97% of the maximum velocity, the reference speed
is then 0.97 * maximum velocity.
This means a deflection between 0 - 100% causes a velocity change between 0 - 97%. This
means the deflection range of the master switch is fully utilized.
If boenable_Auto_Scaling and boenable_MS_100_Percent are both TRUE, variant 2 remains
active.
Note
In variant 3, the reference speed after the internal enabling of the field weakening is always
the calculated maximum speed. This means the velocity change for the deflection always
depends on the load. If the load measurement 90% of the maximum velocity permits, the
deflection range is then scaled to 90%. If the load measurement releases only 55%, the
deflection range is scaled to 55%. The same deflection but different load also results in
different setpoint velocities.
Note
For a detailed description of the commissioning for this block, refer to Chapter Field
weakening (LDFW) (Page 414). This chapter also describes how a second gear stage is
integrated.
Error messages
The block only supplies one error message that indicates if the current actual value lies
above the rated current value. The block output boIact_greater_In then signals a False.
WARNING
Basic Technology
WARNING
p2002).
Enter the rated velocity in [mm/s] at input "rVelocityNominal" as fixed value or interconnect
interconnect the maximum velocity with this input in the user program. (e.g. refer to
WARNING
"rX1PolygonParameter" to "rX6PolygonParameter" must be assigned in ascending
sequence. Proper operation of the block cannot be guaranteed if you do not set the
parameters correctly.
Connections

type setting
rInVelocitySetpoint IN DCC REAL Velocity setpoint [mm/s]
rActualVelocity IN MCC REAL Velocity actual value [mm/s]
boEnableFieldWeak IN MCC BOOL Activates field weakening
rLoadNormFactor IN 1.0 REAL Load conversion factor from current
value to the physical unit tons
rVelocityNominal IN MCC REAL Rated velocity (base velocity) [mm/s]
rRampUpTimeNominal IN 0.0 REAL Rated ramp-up time [ms]
rMaximumVelocity IN MCC REAL Maximum velocity (base velocity +
element.
rUpLimitMeasRange IN 90.0 REAL Upper measuring window limit (speed
performed) [%]
rLowLimitMeasRange IN 40.0 REAL Lower measuring window limit (speed
from which the measuring series is
carried out) [%]
Basic Technology

type setting
rAddCurrentBeforePLI IN 0.0 REAL Offset [%] of the rated load current
before PLI
rAddSetpointAfterPLI IN 0.0 REAL Offset [%] for the velocity setpoint after
PLI
boResetLoadCurrent IN MCC BOOL Resets the load current measurement
boConstantMovement IN MCC BOOL Constant velocity travel
rFact_AccCurrent_RotMass IN 0.0 REAL Evaluation for acceleration current of
the rot. masses [%]
rFact_AccCurrent_Load IN 0.0 REAL Evaluation for the load acceleration
current [%]
rEfficiency_eta IN 100.0 REAL 1/η2; (efficiency correction between
hoisting and lowering) [%]
rFrictionCurrent IN 0.0 REAL Current due to friction [%]
to rMaximumVelocity
to rMaximumVelocity
to rMaximumVelocity
to rMaximumVelocity
to rMaximumVelocity
to rMaximumVelocity
to rMaximumVelocity
to rMaximumVelocity
to rMaximumVelocity
rY10PolygonParameter IN 0.0 REAL Polygon velocity Y10 [%] with
reference to rMaximumVelocity
Basic Technology

type setting
rDelayTimeConstantMove IN 2000 SDTIME Switch-in delay for current monitoring
for constant velocity motion [ms]
rSmoothTimeCurrentAbsPer IN 20 SDTIME Smoothing time for the absolute
percentage current [ms]
rCurrentInterval IN 105.0 REAL Limit value for message I > IN [%]
rCurrentHysteresis IN 5.0 REAL Hysteresis for message I > IN [%]
boEnableCurrentMonitor IN True BOOL Decision, current monitoring (if the
current limit is violated, then the drive
is ramped down)
boEnableCompareValue_MS IN True BOOL Decision whether comparison value to
deactivate field weakening.
rComparableValueTo_MS IN 95.0 REAL Percentage as of which the master
switch setpoint (or deflection of the
master switch) activates field
weakening [%], relative to
rMaxVelocity. If the master switch
setpoint is lower, field weakening is
deactivated.
rUpLimit_RampGen IN 100.0 REAL Upper limit value for the determined
supplementary speed setpoint [%]
rRampDownTime_RampGen IN 12000 SDTIME Ramp-down time to reduce the
setpoint [ms]
boSpeedRampToLowLim IN True BOOL For true, the setpoint is reduced to the
rated velocity
boEnable_MS_100_Percent IN False BOOL Deflection of the master switch across
the entire range. No limit for
changeover response when reaching
the master switch setpoint
(rComparableValueTo_MS)
boEnable_MS_Auto_Scaling IN False BOOL Deflection range of the master switch
is scaled to the calculated maximum
speed.
boEnableExtLoadMeas IN False BOOL External load measuring cell is
enabled.
rExtLoadMeas IN 0.0 REAL Input for normalized value from the
load measuring cell
rOutSetpointVelocity OUT DCC REAL Effective overall velocity setpoint
[mm/s]
rLoadWithNormFactor OUT MCC REAL Evaluated actual position value [e.g. in
tons, depending on rLoadNormfactor]
boOutEnableFieldWeak OUT MCC BOOL Field weakening active (all
DCC measurements are valid)
rSetpointVelAfterRampGen OUT DCC REAL Effective speed setpoint in [%] relative
to rMaximumVelocity
rCountsMeasurRange OUT 0.0 REAL Number of sampling operations in the
measuring window
Basic Technology

type setting
rSmoothSetpointCurrent OUT 0.0 REAL Smoothed actual current [%] relative to
rCurrentNominal
rIntegralCurrent OUT 0.0 REAL Additive current setpoint [%] relative to
rCurrentNominal
rAverageSetpointCurrent OUT 0.0 REAL Arithmetic mean value of current
setpoint [%] relative to
rCurrentNominal
rDn_Dt OUT 0.0 REAL Actual dn / dt [%]
rIntegral_dn_dt OUT 0.0 REAL Summed dn / dt [%]
rAverage_dn_dt OUT 0.0 REAL Arithmetic average value dn / dt [%]
rJBrot OUT 0.0 REAL Acceleration current of the rot. masses
[%] relative to rCurrentNominal
rJBLoad OUT 0.0 REAL Acceleration current [%] relative to
rCurrentNominal
rMm_minusM_Friction OUT 0.0 REAL Itot – Ifriction (total current – frictional
rCurrentNominal
rMm_minus_JBrot_Mf OUT 0.0 REAL Itot – Ifriction – IBrot (total current -
frictional component - rot. masses) [%]
rLoadCurrent_with_eta OUT 0.0 REAL Iload • 1/η2 load current with efficiency
correction [%] relative to
rCurrentNominal
rLoadCurrent_without_eta OUT 0.0 REAL Load current [%] relative to
rCurrentNominal
rLoadCurrent_plus_Frict OUT 0.0 REAL Iload + Ifriction (load current + frictional
rCurrentNominal
rLoadCurrent_before_PLI OUT 0.0 REAL Load current before PLI [%] relative to
rCurrentNominal
rSetpointAfter_PLI OUT 0.0 REAL Auxiliary speed setpoint in [%] relative
to rMaximumVelocity
rAddSetpoint_PLI OUT 0.0 REAL Offset in [%] relative to
rMaximumVelocity
boIact_greater_In OUT True BOOL Message I > IN signal 0 (for reason of
safety)
signal 1 if I < IN
boOutDisableFieldWeak OUT False BOOL Displays reset, field weakening
Basic Technology
5.2.13 DCC_MasterSwitch
Symbol
Brief description
Using this DCC block DCC_MasterSwitch, the drive can be moved with a fine sensitivity
using the master switch for manual positioning.
Basic Technology
Mode of operation
Often, the master switch supplies a setpoint that is directly proportional to its angle of
deflection. In order that for low deflection angles lower speed setpoints are obtained than
those that correspond linearly to the deflection angle, the master switch setpoint is passed
through a non-linear function. This allows the drive to be precisely positioned in the manual
mode. For low deflection angles, this results in lower speed changes than for the same
change of the deflection angle in the medium and higher deflection range. The non-linear
function is realized in quadrants I and III using 20 adjustable straight line sections.
Figure 5-12 Non-linear simulation of the master switch
NOTICE
The maximum speed [mm/s] is either entered at the "rMaximumVelocity" parameter, or

"rMaximumVelocity" is linked with the corresponding program variable. Output
"rOutVelocitySetpointMS" is limited to "± rMaximumVelocity".
Basic Technology
WARNING
"rX1PolygonParameter" to "rX20PolygonParameter" and "rY1PolygonParameter" to
"rY20PolygonParameter" must be assigned in ascending sequence. Proper operation of the
block cannot be guaranteed if you do not set the parameters correctly.
The master switch curve is invalid in AUTOMATIC mode. In this case, the value of
"rInVelocitySetpointMS" bypasses the stored curve.
The value converted from word to integer must be set at the X polygon parameters in all
other operating modes. The percentage of maximum velocity is entered at the Y polygon
parameters.
Connections

type setting
rInVelocitySetpointMS IN MCC REAL Master switch input value, implementation
deflection angle, input word to integer [-]
boModeAutomatic IN MCC BOOL AUTOMATIC mode is active and the
master switch function is enabled.
If AUTOMATIC is active, the master switch
does not change the setpoint without being
deflected.
The setpoint is influenced by the master
switch curve or an operating mode change
as soon as the master switch is deflected.
boEnableMasterSwitch IN False BOOL Enables the master switch function. After
this function is enabled, the master switch
curve influences the master switch setpoint
in all operating modes except in
AUTOMATIC mode. There is a special
feature in this mode; refer to the meaning of
input "boModeAutomatic".
boPosMasterSwitch IN MCC BOOL Master switch deflected in the positive
direction.
boNegMasterSwitch IN MCC BOOL Master switch deflected in the negative
direction.
rX1PolygonParameter IN 0.0 REAL Polygon, value X1
rY1PolygonParameter IN 0.0 REAL Polygon velocity Y1 [%] with reference to
rMaximumVelocity
rMaximumVelocity
Basic Technology

type setting
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
Basic Technology

type setting
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rOutVelocitySetpointMS OUT DCC REAL Master switch output value [mm/s]
5.2.14 DCC_MasterSwitch_1
Symbol
Brief description
The DCC block DCC_ContLoadMeasurement_1 has a 6-point polygon. Using this DCC block
DCC_MasterSwitch_1, the drive can be moved with a fine sensitivity using the master switch
for manual positioning.
Basic Technology
Mode of operation
The mode of operation of the DCC_MasterSwitch_1 block essentially corresponds to the
mode of operation of the DCC_MasterSwitch block (refer to Chapter DCC_MasterSwitch
(Page 120)). The 20 point polygon DCC_MasterSwitch block for speed characteristic is
however simplified for DCC_MasterSwitch_1 to a 6-point polygon, whereby the zero point is
given. In so doing, the negative component of the characteristic is generated by mirroring
quadrant I.
Further, "boPosMasterSwitch" and "boNegMasterSwitch" direction bits are read in. In this
case, only one bit may be active. If both bits are simultaneously active, then the block
outputs a velocity setpoint of ZERO.
Figure 5-13 Non-linear simulation of the master switch
The master switch curve is invalid in AUTOMATIC mode. In this case, the value of
"rInVelocitySetpointMS" bypasses the stored curve.
Basic Technology
The value converted from word to integer must be set at the X polygon parameters in all
other operating modes. The percentage of maximum velocity is entered at the Y polygon
parameters.
NOTICE
The maximum speed [mm/s] is either entered at the "rMaximumVelocity" parameter, or

"rMaximumVelocity" is linked with the corresponding program variable. Output
"rOutVelocitySetpointMS" is limited to "± rMaximumVelocity".
WARNING
"rX1PolygonParameter" to "rX6PolygonParameter" and "rY1PolygonParameter" to
"rY6PolygonParameter" must be assigned in ascending sequence. Proper operation of the
block cannot be guaranteed if you do not set the parameters correctly.
Basic Technology
Connections

type setting
rInVelocitySetpointMS IN MCC REAL Master switch input value, implementation
deflection angle, input word to integer [-]
boModeAutomatic IN MCC BOOL AUTOMATIC operating mode active and
the master switch function is enabled.
If the AUTOMATIC operating mode is
active, and the master switch is not
deflected, then the setpoint is not
influenced by the master switch curve.
As soon as the master switch is deflected,
the setpoint is influenced by the master
switch curve.
boEnableMasterSwitch IN False BOOL Enables the master switch function. After
this function is enabled, the master switch
curve influences the master switch setpoint
in all operating modes except in
AUTOMATIC mode. There is a special
feature in this mode; refer to the meaning of
input "boModeAutomatic".
boPosMasterSwitch IN MCC BOOL Master switch deflected in the positive
direction.
boNegMasterSwitch IN MCC BOOL Master switch deflected in the negative
direction.
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rMaximumVelocity
rOutVelocitySetpointMS OUT DCC REAL Master switch output value [mm/s]
Basic Technology
5.2.15 DCC_Monitoring
Symbol
Short description
The DCC block DCC_Monitoring is used to monitor as to whether the velocity, acceleration
or deceleration have been reduced. Further, it is monitored as to whether the drive is in field
weakening.
Method of operation
This function is used to identify whether the velocity, acceleration or deceleration has been
reduced. The values sent from the control are read-in and compared with the values that go
to the technology object. If a deviation occurs, "Message a/v reduction" is transferred to the
control in application status word_2_S7, bit 3.
Further, it is monitored as to whether the drive is in field weakening. The actual velocity is
compared with the rated speed. If the actual velocity is greater than the rated speed, then
the drive is in field weakening.
Note
the rated velocity with this input in the user program.
The block will otherwise not work correctly.
Basic Technology
Figure 5-14 Principle of the monitoring function
Connections

type setting
rFirstVelocitySetpoint IN MCC REAL Velocity setpoint from the control "S7" [mm/s]
rLastVelocitySetpoint IN DCC REAL Velocity setpoint to the technology object "TO"
[mm/s]
rFirstAccSetpoint IN MCC REAL Acceleration setpoint from the control "S7" [mm/s2]
rLastAccSetpoint IN DCC REAL Acceleration setpoint to the technology object
"TO" [mm/s2]
rFirstDecSetpoint IN MCC REAL Deceleration setpoint from the control "S7"
[mm/s2]
rLastDecSetpoint IN DCC REAL Deceleration setpoint to the technology object
"TO" [mm/s2]
rInActualVelocity IN MCC REAL Actual velocity from the drive [mm/s]
rInNominalVelocity IN MCC REAL Base velocity from the drive [mm/s]
boReduceAccOrVelOrDe OUT MCC BOOL Velocity, acceleration or deceleration reduction
c active
boFieldWeakReached OUT DCC BOOL Drive operates in the field-weakening range.
Basic Technology
5.2.16 DCC_OverSpeed
Symbol
Brief description
For hoisting applications, the overspeed can be monitored (in the rated speed range and
also in the field weakening range) using the DCC block DCC_OverSpeed, or a setpoint-
actual value deviation is detected.
Note
The overspeed monitoring can also be handled in SINAMICS; see Overspeed signal from
SINAMICS (Page 338)
Mode of operation
Using this function, either the actual velocity can be monitored for an overspeed condition or
a setpoint-actual value deviation detected. These two functions cannot be simultaneously
activated.
A limit is defined for the setpoint-actual value deviation. If the actual velocity exceeds this
limit for the parameterized delay time "rDelayTime", then output "boOverSpeed" is set. The
limit comprises the sum of the setpoint velocity and offset. The setpoint-actual value
monitoring is activated using the "boSetpointActMonitoring" input.
The overspeed detection is implemented in the software for various velocities (field
weakening range and rated velocity). If the specified offset is exceeded for one of the two
velocities longer than the parameterized delay time, then this is signaled using the
"boOverSpeed" output.
The setpoint velocity of the load-dependent field weakening is only used as comparison
value if the drive is operating in the field-weakening range and field-weakening operation
was enabled for the drive. The comparison value of the load-dependent field weakening is
used until the determined load is reset.
Basic Technology
The overspeed monitoring signal is sent from SIMOTION D to SINAMICS via PROFIBUS
Integrated in control word 1 bit 15. In SINAMICS, the signal is connected to the onboard I/O
by means of BICO technology, see the table below. The SIMATIC S7 is connected to the
SINAMICS CU onboard I/Os via a wire connection, reads this signal in and evaluates the
signal status.
Table 5- 3 STS/GSU interconnection of the overspeed signal on SINAMICS Integrated CU
Drives Terminal CU output

Hoist 1 / Holding Gear 1 -X122.10 DO 9
Boom -X132.9 DO 12
Table 5- 4 Tandem STS/GSU interconnection of the overspeed signal on SINAMICS Integrated CU

Hoist 3 -X132.10 DO 13
Hoist 4 -X132.13 DO 15
Table 5- 5 Tandem STS/GSU interconnection of the overspeed signal on SINAMICS CX32-2 CU

Boom -X122.13 DO 11
Note
If there is a fault (boOverSpeed = True), then this is only acknowledged if the condition is
fulfilled, so that the fault can no longer occur. Only then is the fault acknowledged.
For DCC_OverSpeed, setting a fault dominates over a reset.
Basic Technology
Figure 5-15 Signals to DCC_OverSpeed, variable "boSetpointActMonitoring" = FALSE
CAUTION
interconnect the maximum velocity with this input in the user program•(e.g.: refer to
Basic Technology
Figure 5-16 Signals to DCC_OverSpeed, variable "boSetpointActualMonitoring" = TRUE
Note
"rOffset_Overspeed" is relative to "rMaximumVelocity" and not to "rSetpointVelocity".
Basic Technology
Connections

type setting
rSetpointVelocity IN MCC REAL Setpoint velocity [mm/s]
rActualVelocity IN MCC REAL Actual velocity of the drive [mm/s]
rNominalVelocity IN MCC REAL Rated velocity [mm/s]
rOffset_OverSpeed IN 5.0 REAL Permissible deviation between the actual velocity
and setpoint velocity before an overspeed
condition is identified [as %, based on
"rMaximumVelocity"]
rAfterRampGenVelocity IN DCC REAL Velocity setpoint for the load-dependent field
weakening
rDelayTime IN MCC SDTIME Delay time [ms]
boEnableFieldWeak IN DCC BOOL Field weakening active
boResetLoadCurrent IN MCC BOOL Load is reset from the load-dependent field
weakening.
boAcknowledge IN MCC BOOL Output "boOverSpeed" is reset
boSetpointActMonitoring IN MCC BOOL Activating the setpoint-actual value deviation
boOverSpeed OUT MCC BOOL Overspeed active
5.2.17 DCC_PreLimitSwitch
Symbol
Short description
Using the DCC block DCC_PreLimitSwitch, when a pre-defined pre-limit switch is reached,
the drive velocity can be influenced.
Basic Technology
Mode of operation
This function prevents that the drive moves with full velocity to the limit switch or to the safety
buffer. A total of five different velocity limits can be configured.
Interconnect the maximum velocity with velocity limit 1. This limits velocity to the maximum
value.
This means that effectively there are four velocity limits available. Velocity limits 2 to 4 are
controlled through the combination of inputs "Bit1LimitVelocity" and "Bit2LimitVelocity".
Velocity limiting 5 (prelimit switch limit) is controlled using the input "boPrelimitSwitch".
Selecting the velocity limit Bit1Limit- Bit2Limit- PreLimitSwitch

Velocity Velocity
rLimit 1 FALSE FALSE FALSE
rLimit 2 TRUE FALSE FALSE
rLimit 3 FALSE TRUE FALSE
rLimit 4 TRUE TRUE FALSE
rLimit 5 (prelimit switch limit) no influence no influence TRUE
Setting the velocity limits:

The velocity limits should be set as follows:
1. Velocity limit 1 > velocity limit 2
(prelimit switch limit)
Setting tip:
Velocity limit 1 = Maximum velocity

Velocity limit 2 = 50 % of the maximum velocity
NOTICE

Technology Object: D4x5.Gantry_1.TypeOfAxis.MaxVelocity.maximum or function block
Basic Technology
Figure 5-17 Method of operation of the DCC_PreLimitSwitch
Connections

type setting
rInVelocitySetpointPLS IN DCC REAL Velocity input value [mm/s]
boBit1LimitVelocity IN MCC BOOL Select velocity limit, bit 1
boBit2LimitVelocity IN MCC BOOL Selects, velocity limit bit 2
boPreLimitSwitch IN MCC BOOL Selects prelimit switch limiting
rLimit1 IN 100.0 REAL Velocity limit 1.
This limit should be set as maximum velocity
[%].
rLimit2 IN 50.0 REAL Velocity limit 2 [%]
rLimit5 IN 5.0 REAL Velocity limit 5 [%] (prelimit)
rOutVelocitySetpointPLS OUT MCC REAL Velocity output value [mm/s]
DCC
rOutPositiveMaxVelPLS OUT 0.0 REAL Active positive velocity [mm/s]
rOutNegativeMaxVelPLS OUT 0.0 REAL Active negative velocity [mm/s]
Basic Technology
5.2.18 DCC_SlackRopeControl
Symbol
Brief description
The DCC block DCC_SlackRopeControl is needed by the holding gear to tighten a slack
rope if required.
Basic Technology
Mode of operation
If the holding gear brake is simply closed when the grab closes, the grab cannot dig into the
material to be lifted and the bucket cannot fill sufficiently.
On the other hand, if the brake on the holding gear (holding winch) is simply released when
the grab closes, there is a risk that the taut rope will cause the drum on the holding gear to
accelerate in the lower direction and cause and undesirable slack rope.
The slack rope control prevents both these problems. The slack rope controller can prevent
slackness from developing in the rope when the grab is closed. This function also ensures
that the grab can bury itself into the material – therefore ensuring the maximum filling level.
The speed setpoint for the holding gear is input as the closing gear begins to close by means
of a slack-rope block which specifies the speed characteristics as illustrated in the diagram
below.
When the grab closes, the brake is opened and the holding rope is held with slight tension by
the slack rope control. Any rope slack is coiled in at slow speed. The holding gear drum then
remains under a residual tension, which is capable of keeping the rope tight enough to
prevent rope slack, but not so tight that the grab cannot bury itself into the material to be
moved. The grab submerges with the rope held under tension. This residual torque is
adjustable and must at least compensate for the weight of the longest holding rope that is
used.
If for any reason the grab starts to close in the air, the slack rope control also prevents the
grab from sagging quickly at an uncontrolled speed. In this instance, the grab attempts to
accelerate the holding gear in a vertical direction by its own weight. However, this speed is
likewise limited to a maximum sag speed (characteristic in diagram below) by the slack rope
control.
The DCC block SlackRopeControl is not a classic closed-loop control with setpoint/actual
value comparison. Instead, it is possible to choose between closed-loop control based on a
comparison value (for P controller, see note after connection table) or a stored curve
(polygon).
Two slack rope control options:

1. P controller active (boEnableP_Controller = True):
A current setpoint [%] can be entered for the P controller via the
"rCompareValueSetpointSRC" input. This is compared to input "rCurrentSetpoint" and
amplified according to the controller gain input "rP_Gain". This gain can be smoothed via
"rVelocitySmoothTime".
Basic Technology
2. Characteristic active (boEnableP_Controller = False):

20 interpolation points are available for the characteristic. The input "rCurrentSetpoint" is
controlled by the characteristic, as a result of which a speed setpoint that is dependent on
the actual current value (starting at instant "Close grab") is specified. This speed setpoint
can be smoothed via "rVelocitySmoothTime".
Figure 5-18 Characteristic of the slack rope controller; the blue "curve" represents the ideal curve
of the holding gear speed.
Basic Technology
NOTICE
The setpoint from the slack rope controller is transferred as a supplementary speed
setpoint from SIMOTION to SINAMICS via the same process word used for the start pulse.
The two blocks DCC_StartPulse and DCC_SlackRopeControl are used for the holding gear.
As both DCC blocks act on the common supplementary speed setpoint in SINAMICS, the
output of "DCC_StartPulse" must be connected to the input "rInVelocitySetpoint". For
technical reasons, these two DCC blocks must not be used or activated simultaneously.
A setpoint applied at input "rInVelocitySetpoint" is switched through directly to output
"rOutVelocitySetpoint" as long as input "boEnableSlackRopeControl" is not set. In this
case, the slack rope controller is disabled and does not specify a setpoint.
A setpoint applied at input "rInVelocitySetpoint" is not switched through directly to output
"rOutVelocitySetpoint" as long as input "boEnableSlackRopeControl" is set. In this case,
the slack rope controller is enabled and does specify a setpoint.
The ramp-function generator enable (control word 1, bit 4) must be reset before the slack
rope controller is activated.
WARNING
"rX1CurrentValue" to "rX20CurrentValue" must be assigned in ascending sequence. Proper
operation of the block cannot be guaranteed if you do not set the parameters correctly.
NOTICE
p2002).
Basic Technology
Connections

type setting
[ms]
boEnableSlackRopeControl IN MCC BOOL Enable slack rope controller
rInVelocitySetpoint
TRUE: rOutVelocitySetpoint = setpoint
velocity of the slack rope controller
rCompareValueSetpointSRC IN 2.0 REAL Comparison value for the P controller
(current setpoint) [%] relative to
rCurrentNominal
rP_Gain IN 0.0 REAL Gain factor for the P controller
boEnableP_Controller IN False BOOL P controller enable instead of polygon
enable
TRUE: P controller active
FALSE: Characteristic active
rUpLimitP_Controller IN 30.0 REAL Upper speed limiting value [%] for the P
between 0 and 100%.
rLowLimitP_Controller IN -30.0 REAL Lower speed limiting value [%] for the P
rX1CurrentValue IN 0.0 REAL Polygon current value X1 [%] of
rCurrentNominal
rY1SpeedValue IN 0.0 REAL Polygon velocity Y1 [%] of
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
Basic Technology

type setting
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
Basic Technology

type setting
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rOutVelocitySetpoint OUT MCC REAL Setpoint velocity of the slack rope controller
[mm/s]
Note
The P controller can be used via input "boEnableP_Controller" instead of the value specified
via the polygon. Input "boEnableSlackRopeControl" and input "boEnableP_Controller" must
both be set to True before this function can be enabled.
The polygon function and the P controller can never be active at the same time.
Note
All input values (rX1CurrentValue to rX20CurrentValue) are relative to the input value of
"rCurrentNominal".
All input values (rY1SpeedValue to rY20SpeedValue) are relative to the input value of
"rMaximumVelocity".
Basic Technology
5.2.19 DCC_SlackRopeControl_1
Symbol
Brief description
The block DCC_SlackRopeControl_1 has a 6-point polygon. This evaluates the holding
current and allows a slack rope to be avoided. In addition, the block offers three options of
the slack rope control, the EasyClosing function and adaptation to several types of material.
Basic Technology
Mode of operation
The mode of operation of the DCC_SlackRopeControl_1 block essentially corresponds to the
mode of operation of the DCC_SlackRopeControl block (refer to Chapter
DCC_SlackRopeControl (Page 137)). The 20-point polygon DCC_SlackRopeControl block
for speed characteristic is however simplified for DCC_SlackRopeControl_1 to a 6-point
polygon.
In addition, the "rInVelocitySetpoint" input is removed. This input was originally added to
switch through from the setpoint channel of the start pulse. However, in the future, the
setpoint channel will be externally connected in parallel; refer to the standard application
software. In addition, the "rVelocitySmoothTimeOff" and "rCompareValueSmoothTime"
inputs have been added.
The DCC_SlackRopeControl_1 block does not concern a classic closed-loop control with
setpoint-actual value comparison, but includes the three options that can be selected:
● Closed-loop control using a setpoint value (P controller)
● Closed-loop control using a saved characteristic (polygon)
● Specifying a torque limit (from S7)
Three slack rope control options:

1. The P control (boEnableP_Controller = True) operates as follows:
A current setpoint [%] can be entered for the P controller via the
"rCompareValueSetpointSRC" input. This is compared to the input "rCurrentSetpoint" and
amplified according to the controller gain input "rP_Gain". This gain can be smoothed via
"rVelocitySmoothTime".
2. The characteristic (boEnableP_Controller = False) operates as follows:
Six interpolation points are available for the characteristic. The input "rCurrentSetpoint" is
controlled by the characteristic, as a result of which a speed setpoint that is dependent on
the actual current value (starting at instant "Close grab") is specified. This speed setpoint
can be smoothed via "rVelocitySmoothTime".
Basic Technology
Figure 5-19 Characteristic of the slack rope controller; the blue "curve" represents the ideal curve
of the holding gear speed.
In order to avoid a setpoint step (jump) when activating/deactivating the slack rope
control from the two methods described above, a PT1 filter "rSmoothTimeOutput" is
implemented after the slack rope control or before the signal output.
3. Using the input variable "boEnableTorqueLimit", in addition, the drive torque limits can be
connected from the higher-level control. These are entered via "rTorqueLimit". Besides,
as part of the user-engineered application software, the message "Motor blocked"
(p2144) must be deactivated using a bit in the drive. The "rOutTorqueLimit" output is
interconnected as a percentage to the torque limits of the drive.
Easy Closing function
When the grab is overfilled, the grab can be prevented from sinking into the material during
closing by either permanently activating the Easy Closing function or via the S7.
An additional 6-point polygon is made available to allow hoisting as a function of the closing
current. This function is enabled using "boEnableEasyClosing".
Adapting to material or grab types

An additional evaluation at the slack rope controller output is implemented for various
material types and grab types. A multiplier with the "rMaterialFactor" is enabled when
"boEnableMaterialFactor" is enabled. The S7 enters the material factor into the SIMOTION -
e.g. via PZD13.
Basic Technology
NOTICE
The ramp-function generator enable (control word 1, bit 4) must be reset before the slack
rope controller is activated.
WARNING
Ensure that you enter the correct values for the polygon parameters! Proper operation of
the block cannot be guaranteed if you do not set the parameters correctly.
NOTICE
Enter the maximum current in unit [A] at input "rCurrentNominal" as fixed value, or
interconnect the maximum current with this input in the user program (refer to the
SINAMICS parameter p2002).
Enter the maximum velocity in unit [mm/s] at input "rMaximumVelocity" as fixed value, or
The block does not work correctly otherwise.
Connections

type setting
rCurrentSetpoint IN MCC REAL Current setpoint for holding gear [A]
rCurrentSmoothTime IN 10 SDTIME Smoothing time for current, holding gear
[ms]
[ms]
rVelSmoothTimeOff IN 500 SDTIME Smoothing time during switch-off [ms]
rCompareValueSmoothTime IN 200 SDTIME Smoothing time of the setpoint or
comparison value [ms]
boEnableSlackRopeControl IN MCC BOOL Enable slack rope controller
rCompareValueSetpointSRC IN 2.0 REAL Comparison value for the P controller
(current setpoint) [%] relative to
rCurrentNominal
rP_Gain IN 0.5 REAL Gain factor for the P controller
Basic Technology

type setting
boEnableP_Controller IN False BOOL P controller enable instead of polygon
enable
TRUE: P controller active
FALSE: Characteristic active
rUpLimitP_Controller IN 30.0 REAL Upper speed limiting value [%] for the P
between 0 and 100%.
rLowLimitP_Controller IN -30.0 REAL Lower speed limiting value [%] for the P
rX1CurrentValue IN -20 REAL Polygon current value X1 [%] of
rCurrentNominal
rY1SpeedValue IN 10 REAL Polygon velocity Y1 [%] of
rMaximumVelocity
rX2CurrentValue IN 10 REAL Polygon current value X2 [%] of
rCurrentNominal
rMaximumVelocity
rX3CurrentValue IN -5 REAL Polygon current value X3 [%] of
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rY4SpeedValue IN -2 REAL Polygon velocity Y4 [%] of
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
rCurrentNominal
rMaximumVelocity
boEnableEasyClosing IN FALSE REAL Enable signal for the EasyClosing function
rCGCurrentSetpoint IN MCC REAL Current setpoint, closing gear [A]
rCGCurrentSmoothTime IN 0.0 SDTIME Smoothing time for current, closing gear
[ms]
rX1CGCurrentValue IN 60 REAL Polygon, current closing gear X1 [%]
rY1HGScalingValue IN 100 REAL Polygon for holding gear supplementary
speed setpoint Y1 [%]
Basic Technology

type setting
boEnableMaterialFactor IN FALSE BOOL Enable signal for material factor function
rMaterialFactor IN 100.0 REAL Material assessment factor [%]
boEnableTorqueLimit IN FALSE BOOL Enable of the torque limits in the drive
rTorqueLimit IN MCC REAL Torque for the torque limits in the drive
rOutTorqueLimit OUT 1.0 REAL Torque for the torque limits in the drive [%]
rOutVelocitySetpoint OUT MCC REAL Setpoint velocity of the slack rope controller
[mm/s]
Note
The "rVelSmoothTimeOnOff" input is a PT1 element that applies only during switch-on and
off. When switching off, the inverse function of the PT 1 element is used so there is no jump
for either switch-on or switch-off. The time value entered in the "rVelSmoothTimeOnOff"
corresponds to 1 Tau (1 τ).
Note
The P controller can be used via input "boEnableP_Controller" instead of the value specified
via the polygon. Input "boEnableSlackRopeControl" and input "boEnableP_Controller" must
both be set to True before this function can be enabled.
The polygon is then not effective. Either the polygon function, the P controller or the torque
limit input is active at any one time - never together.
Note
All input values (rX1HGCurrentValue to rX6HGCurrentValue or rX1CGCurrentValue to
rX6CGCurrentValue) are referred to the input value of "rCurrentNominal".
All input values (rY1HGSpeedValue to rY6HGSpeedValue) are referred to the input value of
"rMaximumVelocity".
Basic Technology
5.2.20 DCC_StartPulse
Symbol
Brief description
Using the block DCC_StartPulse, "load sag" can either be prevented or reduced when
starting hoists with suspended load.
Mode of operation
For hoists, when starting (i.e. opening the hoisting gear brake) with freely suspended load,
often the load undesirably sags. The reason for this is that the torque is not available when
starting; the torque is relatively slowly established once the travel command has been output
as a result of the processing time of the systems, the time constants of the control (closed-
loop) and the time constants of the control loop. However, when starting with a suspended
load, the torque must be quickly established. There are two methods for the start pulse.
1. Method
In order to prevent the load sagging, a start pulse that decays after a defined time is applied
as supplementary speed in front of the speed controller. This is done in the hoisting gear
when starting and when the hoist or lower command is enabled. The characteristic of this
start pulse is that of an inverse e function that is "discharged" when enabled. This start pulse
can be constant (via "rInStartPulseLoadValue") or load-dependent for the S7 (via
"rInStartPulseS7 ") as supplementary speed in front of the speed controller that decays after
a defined time is applied here.
The start pulse quickly establishes the torque and so prevents load sag. The direction of the
start pulse is always in the hoisting direction.
Basic Technology
The start pulse is optimized experimentally using pre-optimized speed control for the
subsequent trial with load. When starting from zero speed with an attached, freely-
suspended load, the control lever is set for a minimum speed setpoint and then the starting
behavior of the drive is monitored at the hook or at the rope drum.
When setting a start pulse with a constant load, you must make a compromise between the
start with rated load and the start with empty hook; the reason for this is that the set,
constant value is only optimally set for a single load. Then, for other loads, either the load will
slightly sag or the empty hook will move in the hoisting direction.
2. Method
● To save the I component of the speed controller when the "Close brake" command is
issued.
● To set the I component when the "Release brake" command is issued.
The close or open brake is indicated using the AppSTW2 bit 0 (save and set the I
component (start pulse)).
– If the brake is closed and the I component should be saved, the bit must change from
TRUE to FALSE.
– If the brake is opened and the I component should be set, the bit must change from
FALSE to TRUE;
see also Figure 5-21 Open and close the brake for DCC_StartPulse_1 (Page 155).
Note
Also refer to the detailed description in Chapter Start pulse (Page 451).
CAUTION
Set the enable of the "boEnableStartpulse" start pulse for only 50 ms.
The "rTimePositivStartpulse" or "rTimeNegativStartpulse" input corresponds to one Tau (1
τ). The length of the start pulse is entered via this input and cannot be specified from the
higher-level control.
WARNING
Incorrect start pulse settings may lead to injury and material damage.
WARNING
For method 1 and method 2, the pulse must not be too large or be present too long. The
pulse must be set correctly. Otherwise, the IGBTs can be damaged.
Method 2 is preferred.
Basic Technology
Figure 5-20 Mode of operation DCC_StartPulse
Connections

type setting
rInStartpulseS7 IN MCC REAL Start pulse value from the "S7" controller [mm/s]
boEnableStartpulseS7 IN False BOOL The "S7" controller enables the start pulse value
rInStartpulseLoadValue IN 0.0 REAL Configured start pulse value [mm/s]
boMasterSwitchNegativ IN MCC BOOL Deflection signal of the master switch in the
negative direction
boEnableStartpulse IN MCC BOOL Enable of the start pulse
rFactorPosStartpulseS7 IN 100.0 REAL Evaluation factor [%] of the start pulse in the
positive direction when the "S7" controller
issues the start pulse
rFactorNegStartpulseS7 IN 100.0 REAL Evaluation factor [%] of the start pulse in the
negative direction when the "S7" controller
rTimePositivStartpulse IN 500 SDTIME Decay time of the start pulse in the positive
direction [ms]
rTimeNegativStartpulse IN 500 SDTIME Decay time of the start pulse in the negative
direction [ms]
boInvertStartpulse IN False BOOL Inverts the start pulse
boEnableBrakeStoreValu IN False BOOL Activates the torque setpoint from the speed
e controller
rTorqueValueRetain IN MCC REAL I component of the speed controller
Basic Technology

type setting
boCommandOpenBrake IN False BOOL "Release brake" signal
boCommandCloseBrake IN False BOOL "Close brake" signal
boEnableFixedValue IN False BOOL Enables the fixed torque setpoint instead of the
speed controller I component
boSinamicsComReady IN MCC BOOL SINAMICS is ready to communicate
rFixedTorqueValue IN 0.0 REAL Fixed torque setpoint for speed controller I
component
boCheckbackBrakeOpen IN False BOOL Checkback signal "Brake released"
ed
boCheckBackbrakeClose IN False BOOL Checkback signal "Brake closed"
d
rPulseTime IN 0 SDTIME Longest application period for the boSetTorque
output signal
rOutStartpulse OUT MCC REAL Start pulse output [mm/s]
rSetTorqueValue OUT MCC REAL Torque setting value for speed controller I
component
boSetTorque OUT DCC BOOL "Set the rSetTorqueValue as an I component"
message
Note
The "rFactorPosStartPulseS7" and "rFactorNegStartPulseS7" input values are limited to
max. -200% and +200%.
The "boSinamicsComReady" input must be linked to the "DO-name_boCyclicinterface"
variable. If "boSinamicsComReady" = false, the I component of the speed controller cannot
be saved.
Basic Technology
5.2.21 DCC_StartPulse_1
Symbol
Brief description
This DCC block is functionally identical with the DCC_StartPulse block except that the block
inputs have been optimized with regard to the brakes.
Connections

type setting
rInStartpulseS7 IN MCC REAL Start pulse value from the "S7" controller [mm/s]
boEnableStartpulseS7 IN False BOOL The "S7" controller enables the start pulse value
rInStartpulseLoadValue IN 0.0 REAL Configured start pulse value [mm/s]
boMasterSwitchNegativ IN MCC BOOL Deflection signal of the master switch in the
negative direction
boEnableStartpulse IN MCC BOOL Enable of the start pulse
rFactorPosStartpulseS7 IN 100.0 REAL Evaluation factor [%] of the start pulse in the
positive direction when the "S7" controller
rFactorNegStartpulseS7 IN 100.0 REAL Evaluation factor [%] of the start pulse in the
negative direction when the "S7" controller
rTimePositivStartpulse IN 500 SDTIME Decay time of the start pulse in the positive
direction [ms]
rTimeNegativStartpulse IN 500 SDTIME Decay time of the start pulse in the negative
direction [ms]
boInvertStartpulse IN False BOOL Inverts the start pulse
Basic Technology

type setting
boEnableBrakeStoreValu IN False BOOL Activates the torque setpoint from the speed
e controller
rTorqueValueRetain IN MCC REAL I component of the speed controller
boCommandOpenBrake IN False BOOL "Release brake" signal
boEnableFixedValue IN False BOOL Enables the fixed torque setpoint instead of the
speed controller I component
boSinamicsComReady IN MCC BOOL SINAMICS is ready to communicate
rFixedTorqueValue IN 0.0 REAL Fixed torque setpoint for speed controller I
component
rPulseTime IN 0 SDTIME Longest application period for the boSetTorque
output signal
rOutStartpulse OUT MCC REAL Start pulse output [mm/s]
rSetTorqueValue OUT MCC REAL Torque setting value for speed controller I
component
boSetTorque OUT DCC BOOL "Set the rSetTorqueValue as an I component"
message
The following diagram shows a normal sequence for opening and closing the brake with the
following method:
● Save the I component of the speed controller for the reset (1→0) of
"boCommandOpenBreak" via AppSTW2 bit 0 because the brake is then applied.
● Set the I component for the "open brake" command via AppSTW2 bit 0 (0 → 1).
Figure 5-21 Open and close the brake for DCC_StartPulse_1
Basic Technology
5.2.22 DCC_TractionControl
Symbol
Short description
The velocity between the motor encoder and the external encoder is monitored using the
DCC block DCC_TractionControl. If an excessively high velocity deviation occurs, the
velocity of the acceleration is adapted.
Mode of operation
This function is used to compare the velocities from the motor encoder and external encoder.
If the velocity difference exceeds the configured velocity threshold, then while accelerating,
the acceleration is reduced step-by-step and in the constant velocity phase, the velocity is
reduced step-by-step. If the last reduction stage is reached, then this is signaled at the block
output.
Basic Technology
In the synchronous operation control type, the reduction in acceleration or velocity acts
directly on the master only, not directly on the slave.
Note
The acceleration and velocity stages must be configured as follows. Velocity reduction stage
1 should be 100 %; the following should be continually smaller up to the last velocity
reduction stage 8; this must be the smallest.
1. r1VelocityFactor = 100%
2. r2VelocityFactor < r1VelocityFactor
Velocity reduction stage 1 should be 100%. The following reduction stages should be
continually smaller up to the last acceleration reduction stage 8; this must be the smallest:
1. r1AccelerationFactor = 100%
2. r2AccelerationFactor < r1AccelerationFactor
This deceleration is not reduced.
Note
The pulse width [ms] for the changeover from the acceleration to the deceleration reduction
stages must be proportional to twice the defined time.
NOTICE

Technology Object: D4x5.Gantry_1.TypeOfAxis.MaxVelocity.maximum or function block
Basic Technology
Figure 5-22 Method of operation DCC_TractionControl
Connections

type setting
rInVelocitySetpointTC IN DCC REAL Velocity input value [mm/s]
rInAccSetpointTC IN DCC REAL Acceleration input value [mm/s2]
rVelocity_1MotorEnc IN MCC REAL Velocity of motor encoder 1 [mm/s]
rVelocity_1ExternalEnc IN MCC REAL Velocity of external encoder 1 [mm/s]
rVelocity_2MotorEnc IN 0.0 REAL Velocity of motor encoder 2 [mm/s]
rVelocity_2ExternalEnc IN 0.0 REAL Velocity of external encoder 2 [mm/s]
boEnableTC IN MCC BOOL Enables the traction control
boActualVelocityZero IN MCC BOOL Drive standstill;
FALSE = drive moving
TRUE = Drive at a standstill
Basic Technology

type setting
boConstantMovement IN MCC BOOL Constant movement, that is, the drive is moving at
constant velocity;
FALSE = drive is at a standstill, accelerating or
deceleration
TRUE = TRUE = drive moving at constant velocity
boEnableVelocityControl IN True BOOL Enables the traction monitoring in the constant
velocity phase
boEnableSynchronousOp IN MCC BOOL Synchronous operation control type is active
r1VelocityFactor IN 100.0 REAL Velocity reduction stage 1 [%] of
rInVelocitySetpointTC
rVelocityClockpulse IN 1000 SDTIME Pulse length [ms] to change over the velocity
reduction stages
rAccClockTime IN 1000 SDTIME Pulse length [ms] to change over the acceleration
reduction stages
rDelayTimeTC IN 500 SDTIME Delay time [ms] for a velocity difference greater
than the permissible velocity deviation
rIntervalLimitSpeed IN 10.0 REAL Valid velocity difference [%]; useful setting: 10% to
30%
rDelayTime_TimeOutTC IN 500 SDTIME Delay time before output "boTimeoutTC" is set.
[ms]
r1AccelerationFactor IN 100.0 REAL Acceleration reduction stage 1 [%] of
rInAccSetpointTC
rInAccSetpointTC
rInAccSetpointTC
rInAccSetpointTC
rInAccSetpointTC
rInAccSetpointTC
Basic Technology

type setting
rInAccSetpointTC
rInAccSetpointTC
rOutVelocitySetpointTC OUT DCC REAL Velocity output value [mm/s]
rOutAccTSCSetpoint OUT MCC REAL Velocity output value [mm/s2]
DCC
rVelocityFactor OUT 0.0 REAL Active velocity reduction factor [%]
rAccelerationFactor OUT 0.0 REAL Active acceleration reduction factor [%]
boMaxVelRedStep OUT False BOOL Maximum velocity reduction stage reached
boMaxAccRedStep OUT False BOOL Maximum acceleration reduction stage reached
boTimeoutTC OUT False BOOL Velocity difference greater than the permissible
deviation over the configured time
(rDelayTime_TimeoutTC)
rVelDifference OUT 0.0 REAL Actual velocity difference [mm/s]
5.2.23 DCC_VelocityChangeSlewGear
Symbol
Basic Technology
Note
For this DCC block, the term "velocity" refers to "angular velocity".
Brief description
The DCC block DCC_VelocityChangeSlewGear requests for slewing gear a peripheral
speed for the boom head which is independent of the working radius.
Mode of operation
This function is required to maintain the boom head at a constant peripheral speed on
slewable luffing jib cranes. Depending on the working radius (radius r) of the luffing gear, the
speed n (angular velocity ω) of the slewing gear is adjusted according to relation ω = v/r.
It is implemented using a hyperbolic function and a polygon.
For this purpose, the setpoint specified via the master switch (peripheral speed) is converted
into a speed setpoint (angular velocity) that is dependent on the working radius.
Figure 5-23 Characteristic of rotation speed dependent on working radius
Note
The effective velocity factor is limited to a range of maximum -200% to +200%.
NOTICE

interconnect the maximum velocity with this input in the user program refer to Technology
Object: D4x5.SlewingGear_1.TypeOfAxis.MaxVelocity.maximum or function block
FB_OperationMode output variable r64maximumVelocity). The block does not work
correctly otherwise.
Basic Technology
WARNING
"rX1ActualAngle" to "rX10ActualAngle" must be assigned in ascending sequence. Proper
operation of the block cannot be guaranteed if you do not set the parameters correctly.
The input parameters "rY1VelocityFactor" to "rY10VelocityFactor" must be assigned in
descending sequence.
WARNING
correctly.
Connections

type setting
rActualWorkingRadius IN MCC REAL Actual working radius [mm]
boEnableRadiusDepVel IN False BOOL Enable velocity dependent on working
radius:
rInVelocitySetpoint
TRUE: rOutVelocitySetpoint =
rInVelocitySetpoint x effective velocity
factor
rWorkingRadiusSmoothTime IN 0 SDTIME Smoothing time for actual working radius
[ms]
rY1VelocityFactor IN 100.0 REAL Polygon velocity factor Y1 [%]
rY4VelocityFactor IN 85.0 REAL Polygon velocity factor X4 [%]
Basic Technology
5.3 Crane FB library

type setting
rOutVelocitySetpoint OUT DCC REAL Effective setpoint velocity [mm/s]
rActiveVelocityFactor OUT 0.0 REAL Effective velocity factor [%]
5.3.1 General information

The source code of each block is open for customer-specific adaptation.
A description of how to update the Crane_FB_Library is provided in the chapter titled Setup
and version update for crane libraries (Page 289).
If not otherwise explained, the following statements apply to all ST function blocks.
Firmware version
● SIMOTION Drive Based (D4x5-2): Firmware as of V4.3 SP1
● SINAMICS: Firmware as of V4.5
Call
The function blocks must be called in a cyclic task as data is cyclically exchanged between
SIMOTION and SINAMICS.
Basic Technology
5.3.2 FB_TelegramSinamicsToSimotion
Task
The receive data words from SINAMICS are converted for further processing in SIMOTION
using the function block FB_TelegramSinamicsToSimotion.
Template for the call (FBD representation type)
Connections

type setting
b16CurrentSetpointSinamics IN 16#0 WORD Current setpoint, torque-generating
b16ActualCurrentSinamics IN 16#0 WORD Current actual value, total
b32SetActSpeedControllerSinamic IN 16#0 DWORD Actual speed
s
b16SpeedSetpointSinamics IN 16#0 WORD Speed setpoint
b16ActualTorqueSinamics IN 16#0 WORD Actual torque value
b16TorqueSetpointSinamics IN 16#0 WORD Torque setpoint
b16TorqueSetpointSpeedControl- IN 16#0 WORD I component of the speed controller
lerSinamics
b16SpeedControllerDeviationSina IN 16#0 WORD Speed deviation
mics
b16ActualVoltageSinamics IN 16#0 WORD Motor voltage actual value
b16ActualPowerSinamics IN 16#0 WORD Actual power value
b16ErrorNumberSinamics IN 16#0 WORD Actual fault code
b16WarningNumberSinamics IN 16#0 WORD Actual alarm code
Basic Technology

type setting
r64StandFactorCurrentSinamics IN 1.0 LREAL Standard factor to convert current
r64StandFactorVoltageSinamics IN 1.0 LREAL Standard factor to convert voltage
r64StandFactorVelocitySinamics IN 1.0 LREAL Standard factor to convert velocity
r64StandFactorTorqueSinamics IN 1.0 LREAL Standard factor to convert torque
r64StandFactorPowerSinamics IN 1.0 LREAL Standard factor for power conversion
b16CurrentSetpoint OUT 16#0 WORD Current setpoint, torque-generating
b16ActualCurrent OUT 16#0 WORD Current actual value, total
b16SetActSpeedController OUT 16#0 WORD Actual speed
b16SpeedSetpoint OUT 16#0 WORD Speed setpoint
b16ActualTorque OUT 16#0 WORD Actual torque value
b16TorqueSetpoint OUT 16#0 WORD Torque setpoint
b16SpeedControllerDeviation OUT 16#0 WORD Speed deviation
b16ActualVoltage OUT 16#0 WORD Motor voltage actual value
b16ActualPower OUT 16#0 WORD Actual power value
i16ErrorID OUT 0 DINT Actual fault code
i16WarningID OUT 0 DINT Actual alarm code
r64CurrentSetpoint OUT 0.0 LREAL Current setpoint, torque-generating
r64ActualCurrent OUT 0.0 LREAL Current actual value, total
r64SetActSpeedController OUT 0.0 LREAL Actual speed
r64SpeedSetpoint OUT 0.0 LREAL Speed setpoint
r64ActualTorque OUT 0.0 LREAL Actual torque value
r64TorqueSetpoint OUT 0.0 LREAL Torque setpoint
r64TorqueSetpointSpeedControl- OUT 0.0 LREAL I component of the speed controller
ler
r64SpeedControllerDeviation OUT 0.0 LREAL Speed deviation
r64ActualVoltage OUT 0.0 LREAL Motor voltage actual value
r64ActualPower OUT 0.0 LREAL Actual power value
Functionality
The data words to be connected at the inputs (e.g. b16ActualCurrentSinamics) are prepared
for further use and are available at the output as WORD (e.g. b16ActualCurrent) and as
LREAL value (e.g. r64ActualCurrent).
The LREAL variable r64ActualCurrent is formed from the current actual value
b16ActualCurrentSinamics using the following formula:
E$FWXDO&XUUHQW6LQDPLFV෬U6WDQG)DFWRU&XUUHQW6LQDPLFV
U$FWXDO&XUUHQW

Basic Technology
The current actual value is available as both an LREAL value and WORD for further
processing by various programs.
CAUTION
If current, voltage, power, torque or speed should be used in SIMOTION, the reference
data must be entered in the associated standard factors (refer to the SINAMICS S120,
S150 List Manual, p2000, p2001, p2002, p2003, r2004). Value 1 can otherwise be retained
as the standard factor.
Error messages
None
5.3.3 FB_TelegramSimotionToSinamics
Task
The set data words from SIMOTION to SINAMICS are processed using the function block
FB_TelegramSimotionToSinamics.
Basic Technology
Connections
Name Connection Default Data Meaning

type setting type
boEnableBitAddSpeedSetpointWord IN False BOOL Switchover from the LREAL input,
supplementary speed setpoint to word input
r64AdditionalSpeedSetpoint IN 0.0 LREAL Supplementary speed setpoint (start pulse)
b16AdditionalSpeedSetpoint IN 16#0 WORD Supplementary speed setpoint (start pulse)
boEnableBitTorqueLimitUpWord IN False BOOL Switchover from the LREAL input, torque
limiting (upper) to word input
r64TorqueLimitUp IN 0.0 LREAL Torque limiting (upper)
b16TorqueLimitUp IN 16#0 WORD Torque limiting (upper)
boEnableBitTorqueLimitDownWord IN False BOOL Switchover from the LREAL input, torque
limiting (lower) to word input
r64TorqueLimitDown IN 0.0 LREAL Torque limiting (lower)
b16TorqueLimitDown IN 16#0 WORD Torque limiting (lower)
boEnableBitTorqueSetpointWord IN False BOOL Enable additional torque
r64TorqueSetpoint IN 0.0 LREAL Additional torque value
b16TorqueSetpoint IN 16#0 WORD Additional torque value
b16AdditionalSTW IN 16#0 WORD Additional word for control functions in
Sinamics
Bit 1 : Set I component
boEnableBrakeTestTorqueLimits IN False BOOL Enable torque limits for the brake test
b16TorqueLimitSetpoint IN 16#0 WORD Torque limit for the brake test, e.g. PZD8
r64StandFactorTorqueSinamics IN 1.0 LREAL Standard factor to convert torque limit
r64StandFactorSpeedSinamics IN 1.0 LREAL Standard factor to convert supplementary
speed setpoint (start pulse)
b16AddSpeedSetpointSim OUT 16#0 WORD Supplementary speed setpoint (start pulse)
b16TorqueLimitUpSim OUT 16#0 WORD Torque limiting (upper)
b16TorqueLimitDownSim OUT 16#0 WORD Torque limiting (lower)
b16TorqueSetpointSim OUT 16#0 WORD Torque setpoint
b16AdditionalSTWSIM OUT 16#0 WORD Additional word for control functions in
Sinamics
Bit 1 : Set I component
Functionality
A switchover is made from the standard LREAL input (e.g. r64AdditionalSpeedSetpoint) to
the WORD input (b16AdditionalSpeedSetpoint) using a true signal of the boolean enable bits
(e.g. boEnableBitAddSpeedSetpointWord) - precisely the same as for the torque limits
(upper and lower).
The standard factors for the torque (r64StandFactorTorqueSetpoint) and the supplementary
speed setpoint (r64StandFactorAddSpeedSetpoint) are required for the conversion and must
therefore have as a minimum the value 1.0.
Basic Technology
The calculation of the corresponding data word for SINAMICS is explained here as an
example for the upper torque limiting (b16TorqueSetpointSim). The formula for the
calculation is as follows:
U7RUTXH6HWSRLQW෬
E7RUTXH6HWSRLQW6LP
U6WDQG)DFWRU7RUTXH6HWSRLQW
The calculated value is available at the function block output as data word for further
processing.
CAUTION
If the torque or speed are to be transferred from SIMOTION to SINAMICS, the reference
data must be entered in the default factors for torque (refer to the SINAMICS S List Manual,
p2003) and speed (refer to TO configuration parameter
TypeOfAxis.MaxVelocity.Maximum).
Error messages
None
Basic Technology
5.3.4 FB_TelegramS7ToSimotion
Task
The receive data words for S7 for further processing in SIMOTION are converted using the
function block FB_TelegramS7ToSimotion.
Basic Technology
Connections

type setting
b16Stw1S7 IN 16#0 WORD Control word 1 from the S7 module
b16VelocityS7 IN 16#0 WORD Setpoint for velocity [mm/s]
b16Stw2S7 IN 16#0 WORD Control word 2 from the S7 module
b16VelocityAutomaticS7 IN 16#0 WORD Setpoint for velocity in the AUTOMATIC
operating mode [mm/s]
b16RampUpTimeS7 IN 16#0 WORD Ramp-up time [ms]
b16RampDownTimeS7 IN 16#0 WORD Ramp-down time [ms]
b16StartImpulsS7 IN 16#0 WORD Setpoint for the start pulse [mm/s]
b16AppStw1S7 IN 16#0 WORD Application control word 1 from the S7
module
b16AppStw2S7 IN 16#0 WORD Application control word 2 from the S7
module
b16TargetPositionLS7 IN 16#0 WORD Target position L word [mm]
b16TargetPositionHS7 IN 16#0 WORD Target position H word [mm]
b16ActualWorkingRadius IN 16#0 WORD Current actual working radius
b16Materialfactor IN 16#0 WORD Material factor
b16TorqueLimitS7 IN 16#0 WORD Torque limit [0-100%]
b16SteeringSetpoint IN 16#0 WORD Steering setpoint [-100 to 100%]
b16StartJerk IN 16#0 WORD Initial rounding-off of the acceleration
b16EndJerk IN 16#0 WORD Final rounding-off of the delay
Basic Technology

type setting
r64StandFactorVelS7 IN 1.0 LREAL Standard factor to convert velocity
r64StandFactorTimeS7 IN 1.0 LREAL Standard factor to convert acceleration
and deceleration
r64StandFactorImpulsS7 IN 1.0 LREAL Standard factor to convert start pulse
r64StandFactorPositionS7 IN 1.0 LREAL Standard factor to convert position
r64StandFactorTorqueLimitS7 IN 1.0 LREAL Standard factor to convert torque limit
r64StandFactorWorkingRadius IN 1.0 LREAL Standard factor for actual working radius
r64MonitoringTimeS7 IN 100.0 LREAL Monitoring time [ms] of the S7 sign-of-life
signal (STW1, bit 10). All outputs are set
to 0 on timeout.
u16MinimumRampUpTime IN 1 UINT Minimum time is saved if the ramp-up time
should be zero [ms]
u16MinimumRampDownTime IN 1 UINT Minimum time is saved if the ramp-down
time should be zero [ms]
boMasterSwitchEnable IN False BOOL Using the bit, the DCC_MasterSwitch
block is used.
b16Stw1 OUT 16#0 WORD Control word 1
boStw1Bit0 OUT False BOOL On/ off 1
boStw1Bit1 OUT False BOOL Off 2
boStw1Bit2 OUT False BOOL Off 3
boStw1Bit3 OUT False BOOL Pulse enable
boStw1Bit4 OUT False BOOL Ramp-function generator enable
boStw1Bit5 OUT False BOOL Reserved
boStw1Bit6 OUT False BOOL Setpoint enable
boStw1Bit7 OUT False BOOL Acknowledge fault
boStw1Bit8 OUT False BOOL Speed controller enable
boStw1Bit10 OUT False BOOL Master control by PLC
boStw1Bit12 OUT False BOOL Used internally
boStw1Bit13 to boStw1Bit15 OUT False BOOL Reserved
r64Comvelocity OUT 0.0 LREAL Setpoint velocity [mm/s]
b16Stw2 OUT 16#0 WORD Control word 2
boStw2Bit0 OUT False BOOL PositiveSuperimpose
boStw2Bit1 OUT False BOOL NegativeSuperimpose
boStw2Bit2 OUT False BOOL TandemHoming
boStw2Bit3 OUT False BOOL TandemMode
boStw2Bit4 OUT False BOOL SlaveTandemMode
boStw2Bit5 OUT False BOOL DriveMasterSuperimpose
boStw2Bit6 OUT False BOOL SelectMasterAxis2
boStw2Bit7 OUT False BOOL SelectMasterAxis3
boStw2Bit8 OUT False BOOL SelectCheckbackSlave
boStw2Bit9 OUT False BOOL SelectCheckbackSlaveTandem
Basic Technology

type setting
boStw2Bit10 OUT False BOOL SelectCheckbackSlaveSlaveTandem
boStw2Bit11 OUT False BOOL boOffsetHoming
boStw2Bit12 OUT False BOOL boOffsetMode
boStw2Bit13 to boStw2Bit15 OUT False BOOL Reserved
r64Acceleration OUT 0.0 LREAL Acceleration [mm/s2]
r64Deceleration OUT 0.0 LREAL Deceleration [mm/s2]
r64StartImpuls OUT 0.0 LREAL Setpoint for the start pulse [mm/s]
b16AppStw1 OUT 16#0 WORD Application control word 1
boAppStw1Bit0 OUT False BOOL The bit is not used.
boAppStw1Bit2 OUT False BOOL Enable start pulse
boAppStw1Bit3 OUT False BOOL Select heavy-duty operation
boAppStw1Bit4 OUT False BOOL Enable field-weakening
boAppStw1Bit5 OUT False BOOL Reset load memory
boAppStw1Bit6 OUT False BOOL Selecting master-slave operation
boAppStw1Bit7 OUT False BOOL Selecting synchronous operation
boAppStw1Bit8 OUT False BOOL Save offset
boAppStw1Bit9 OUT False BOOL Start AUTOMATIC request
boAppStw1Bit10 OUT False BOOL AUTOMATIC operating mode
boAppStw1Bit11 OUT False BOOL MANUAL operating mode
boAppStw1Bit13 OUT False BOOL SPEED_CONTROLLED operating mode
boAppStw1Bit14 OUT False BOOL SENSORLESS EMERGENCY operating
mode
boAppStw1Bit15 OUT False BOOL SWAYCONTROL operating mode
b16AppStw2 OUT 16#0 WORD Application control word 2
boAppStw2Bit1 OUT False BOOL Select velocity limit, bit 1
boAppStw2Bit2 OUT False BOOL Select velocity limit, bit 2
boAppStw2Bit3 OUT False BOOL Selects prelimit switch
boAppStw2Bit4 OUT False BOOL Enable slack rope controller
boAppStw2Bit5 OUT False BOOL Command, save grab open
boAppStw2Bit6 OUT False BOOL Command, save grab closed
boAppStw2Bit7 OUT False BOOL Select orange-peel bucket
boAppStw2Bit8 OUT False BOOL Enable current equalization controller
boAppStw2Bit9 OUT False BOOL Select grab change
boAppStw2Bit10 OUT False BOOL Homing
boAppStw2Bit11 OUT False BOOL Select torque limiting
boAppStw2Bit12 OUT False BOOL Encoder switchover
boAppStw2Bit13 OUT False BOOL Selects slave operation, otherwise master
operation is active
boAppStw2Bit14 OUT False BOOL Select brake test
Basic Technology

type setting
boAppStw2Bit15 OUT False BOOL Select technology object active
boMS_CommandPositive OUT False BOOL Command, positive direction
boMS_CommandNegative OUT False BOOL Command, negative direction
r64TargetPosition OUT 0.0 LREAL Target position [mm]
r64StartJerk OUT 0.0 LREAL Initial rounding-off of the acceleration
r64EndJerk OUT 0.0 LREAL Final rounding-off of the delay
r64ActualWorkingRadius OUT 0.0 LREAL Current actual working radius
r32Materialfactor OUT 0.0 REAL Material factor
r64TorqueLimit OUT 0.0 LREAL Torque limit
r32SteeringSetpoint OUT 0.0 REAL Steering setpoint
Functionality
The control words (e.g. b16Stw2S7) to be connected to the inputs are conditioned for further
use and are available at the output as word (e.g. b16Stw2) and as boolean value (e.g.
boStw2Bit0 to boStw2Bit15).
The LREAL variable "r64ComVelocity" is generated from the setpoint velocity word
b16VelocityS7 under the following formula; this is available for further processing for various
programs:
E9HORFLW\6෬U6WDQG)DFWRU7LPH6
U&RP9HORFLW\

The same applies to the start pulse. For the ramp-up and ramp-down time from the S7 (e.g.
b16RampUpTimeS7), the LREAL variables are formed (e.g. r64Acceleration). If a value of
zero is in one of the two variables (e.g. b16RampUpTimeS7), then the zero is replaced by
the variable saved as minimum time (ms) (e.g. u16MinimumRampUpTime).
The target position "b16TargetPositionLS7" and "b16TargetPositionHS7" is formed using the
data words "r64TargetPosition".
NOTICE
The function block assigns zero to all outputs when the timer r64MonitoringtimeS7 has run
down and True is not applied to bit 10 in control word 1.
Basic Technology
CAUTION
The reference data for the speed and start pulse values transferred from the S7 to
SIMOTION must be entered in the standard factor (refer to TO configuration parameter
TypeOfAxis.MaxVelocity.Maximum).
If the DINT range of values is to be extended, the position standard factor must be adapted
accordingly (r64StandFactorPositionS7).
If the UINT range of values is to be extended, the time standard factor must be adapted
accordingly (r64StandFactorTimeS7).
Error messages
None
Basic Technology
5.3.5 FB_TelegramSimotionToS7
Task
The send data words of SIMOTION to S7 are processed using function block
FB_TelegramSimotionToS7.
Basic Technology
Connections

type setting
boEnableBitsZSW1 IN False BOOL Switchover from word to boolean input ZSW1
b16Zsw1 IN 16#0 WORD Status word 1
boZsw1Bit0 IN False BOOL Ready to switch-on
boZsw1Bit1 IN False BOOL Ready
boZsw1Bit2 IN False BOOL Enable operation
boZsw1Bit3 IN False BOOL Fault present
boZsw1Bit4 IN False BOOL Coasting down active (OFF2)
Basic Technology

type setting
boZsw1Bit5 IN False BOOL Fast stop active (OFF3)
boZsw1Bit6 IN False BOOL Power-on inhibit
boZsw1Bit7 IN False BOOL Alarm present
boZsw1Bit8 IN False BOOL Speed setpoint-actual value deviation in the
tolerance range
boZsw1Bit9 IN False BOOL Control requested to the PLC
boZsw1Bit10 IN False BOOL f or n comparison value reached or exceeded
boZsw1Bit11 IN False BOOL I, M or P limit reached or exceeded
boZsw1Bit12 IN False BOOL Holding brake open
boZsw1Bit13 IN False BOOL Interpolator active (ramp-function generator
active)
boZsw1Bit14 IN False BOOL n_act ≥ 0
boZsw1Bit15 IN False BOOL Alarm, drive converter thermal overload
boEnableBitActualSpeedWord IN False BOOL Switchover from the LREAL input, actual
velocity to word input actual velocity
r64ActualSpeed IN 0.0 LREAL Actual velocity [mm/s]
b16ActualSpeed IN 16#0 WORD Actual velocity [mm/s]
boEnableBitsZSW2 IN False BOOL Switchover from word to boolean input ZSW2
b16Zsw2 IN 16#0 WORD Status word 2
boZsw2Bit0 IN False BOOL The bit is not used.
boZsw2Bit1 IN False BOOL Safe Torque Off active
boZsw2Bit2 IN False BOOL TandemHoming active
boZsw2Bit3 IN False BOOL TandemMode active
boZsw2Bit4 IN False BOOL SlaveTandemMode active
boZsw2Bit5 IN False BOOL DriveMasterSuperimpose
boZsw2Bit6 IN False BOOL SelectMasterAxis2 active
boZsw2Bit7 IN False BOOL SelectMasterAxis3 active
boZsw2Bit8 IN False BOOL CheckbackSlave active
boZsw2Bit9 IN False BOOL CheckbackSlaveTandem active
boZsw2Bit10 IN False BOOL CheckbackSlaveSlaveTandem active
boZsw2Bit11 IN False BOOL boOffsetHomingActive
boZsw2Bit12 IN False BOOL boOffsetModeActive
boZsw2Bit13 to boZsw2Bit15 IN False BOOL The bits are not used.
b16AlarmNumber IN 16#0 WORD Fault and alarm numbers
boEnableBitActualCurrentWor IN False BOOL Switchover from the LREAL input, current
d actual value to word input current actual value
r64ActualCurrent IN 0.0 LREAL Current actual value [A]
b16ActualCurrent IN 16#0 WORD Current actual value [A]
boEnableBitActualLoadWord IN False BOOL Switchover from the LREAL input, load actual
value to word input load actual value
r64ActualLoad IN 0.0 LREAL Load actual value
b16ActualLoad IN 16#0 WORD Load actual value
Basic Technology

type setting
boEnableBitActualTorqueWor IN False BOOL Switchover from the LREAL input, torque
d actual value to word input torque actual value
r64ActualTorque IN 0.0 LREAL Torque actual value [Nm]
boEnableBitSetpointTorqueW IN False BOOL Switchover from the LREAL input, torque
ord setpoint to word input torque setpoint
r64SetpointTorque IN 0.0 LREAL Torque setpoint [Nm]
b16SetpointTorque IN 16#0 WORD Torque setpoint [Nm]
b16ActualTorque IN 16#0 WORD Torque actual value [Nm]
boEnableBitCommandSpeed IN False BOOL Switchover from the LREAL input, speed
Word setpoint to word input speed setpoint
r64CommandSpeed IN 0.0 LREAL Speed setpoint before the speed controller
[mm/s]
b16CommandSpeed IN 16#0 WORD Speed setpoint before the speed controller
[mm/s]
boEnableBitActualVoltageWor IN False BOOL Switchover from the LREAL input, voltage
d actual value to word input voltage actual
value
r64ActualVoltage IN 0.0 LREAL Voltage actual value [V]
b16ActualVoltage IN 16#0 WORD Voltage actual value [V]
boEnableBitsAppZSW1 IN False BOOL Switchover from word to boolean input
AppZSW1
b16AppZsw1 IN 16#0 WORD Application status word 1
boAppZsw1Bit0 IN False BOOL Axis moves in the positive direction (H)
boAppZsw1Bit1 IN False BOOL Axis moves in the negative direction (H)
boAppZsw1Bit2 IN False BOOL Message, drive stationary (H)
boAppZsw1Bit3 IN False BOOL Message, current distribution monitoring
responded (H)
boAppZsw1Bit4 IN False BOOL Message, field weakening enabled (H)
boAppZsw1Bit5 IN False BOOL Message, AUTOMATIC operating mode,
target position reached (H)
boAppZsw1Bit6 IN False BOOL Message, master-slave operation active (H)
boAppZsw1Bit7 IN False BOOL Message, synchronous operation active (H)
boAppZsw1Bit8 IN False BOOL Message, offset active (H)
boAppZsw1Bit9 IN False BOOL Message, AUTOMATIC request active (H)
boAppZsw1Bit10 IN False BOOL AUTOMATIC operating mode (H)
boAppZsw1Bit11 IN False BOOL MANUAL operating mode (H)
boAppZsw1Bit12 IN False BOOL The bit is not used.
boAppZsw1Bit13 IN False BOOL SPEED_CONTROLLED (H) operating mode
boAppZsw1Bit14 IN False BOOL Operating mode SENSORLESS
EMERGENCY (H)
boAppZsw1Bit15 IN False BOOL SwayControl operating mode
boEnableBitsAppZSW2 IN False BOOL Switchover from word to boolean input
AppZSW2
b16AppZsw2 IN 16#0 WORD Application status word 2
Basic Technology

type setting
boAppZsw2Bit0 IN False BOOL Closed-loop torque control active (H) or grab
½ open (H)
boAppZsw2Bit1 IN False BOOL Speed control active (H)
boAppZsw2Bit2 IN False BOOL Closed-loop position control active (H) or grab
2/3 closed (H)
boAppZsw2Bit3 IN False BOOL Message a/v reduction (H)
boAppZsw2Bit4 IN False BOOL Message, grab open (H)
boAppZsw2Bit5 IN False BOOL Message, grab closed (H)
boAppZsw2Bit6 IN False BOOL SIMOTION fault (H)
boAppZsw2Bit7 IN False BOOL SINAMICS fault (H)
boAppZsw2Bit8 IN False BOOL Function block fault (H)
boAppZsw2Bit9 IN False BOOL Message, torque limiting active
boAppZsw2Bit10 IN False BOOL Message, homed (H)
boAppZsw2Bit11 IN False BOOL Position difference outside tolerance
boAppZsw2Bit12 IN False BOOL Encoder switchover active
boAppZsw2Bit13 IN False BOOL Slave operation active, otherwise master
operation is active
boAppZsw2Bit14 IN False BOOL Brake test active
boAppZsw2Bit15 IN False BOOL Technology object is active (H) or message
"Grab touchdown" (H)
boEnableBitActualPosWord IN False BOOL Switchover from the LREAL input, position
actual value to word input position actual
value
r64ActualPosition IN 0.0 LREAL Position actual value [mm]
b32ActualPosition IN 16#0 DWORD Position actual value [mm]
r64SetpointAcceleration IN 1.0 LREAL Acceleration setpoint [mm/s²]
r64StandFactorCurrent IN 1.0 LREAL Standard factor to convert current
r64StandFactorTorque IN 1.0 LREAL Standard factor to convert torque
r64StandFactorSpeed IN 1.0 LREAL Standard factor for convert speed setpoint
r64StandFactorLoad IN 1.0 LREAL Standard factor to convert load
r64StandFactorPosition IN 1.0 LREAL Standard factor to convert position actual
value
r64StandFactorActualSpeed IN 1.0 LREAL Standard factor to convert actual velocity
r64StandFactorVoltage IN 1.0 LREAL Standard factor to convert voltage actual
value
r64StandFactorAcceleration IN 1.0 LREAL Standard factor to convert the acceleration
setpoint
b16Zsw1Sim OUT 16#0 WORD Status word 1 SIMOTION
b16ActualSpeedSim OUT 16#0 WORD Speed setpoint SIMOTION [mm/s]
b16Zsw2Sim OUT 16#0 WORD Status word 2 SIMOTION
b16AlarmNumberSim OUT 16#0 WORD Fault and alarm numbers
b16ActualCurrentSim OUT 16#0 WORD Smoothed accumulated actual current
SIMOTION [A]
b16ActualLoadSim OUT 16#0 WORD Actual load SIMOTION
Basic Technology

type setting
b16ActualTorqueSim OUT 16#0 WORD Smoothed actual torque SIMOTION [N/m]
b16SetpointTorqueSim OUT 16#0 WORD SIMOTION torque setpoint [Nm]
b16AppZsw1Sim OUT 16#0 WORD Application status word 1 SIMOTION
b16AppZsw2Sim OUT 16#0 WORD Application status word 2 SIMOTION
b16ActualpositionLSim OUT 16#0 WORD Actual position SIMOTION Low Word [mm/s]
b16ActualpositionHSim OUT 16#0 WORD Actual position SIMOTION High Word [mm/s]
b16CommandSpeedSim OUT 16#0 WORD Speed setpoint before the speed controller
SIMOTION [mm/s]
b16ActualVoltageSim OUT 16#0 WORD Voltage actual value SIMOTION [V]
b16SetpointAcceleration OUT 16#0 WORD Acceleration setpoint [mm/s²]
Functionality
Using the various Bool enable bits of the status words (e.g. boEnableBitsZSW1) it can be
selected whether the corresponding status word is created as bit or as data word. With a
True at the input of a Bool enable bit, inputs (e.g. boZsw1Bit0 to boZsw1Bit15 of ZSW1) are
fetched, otherwise the corresponding data word (here, b16zsw1) is evaluated.
Using the boolean inputs (e.g. boEnableBitActualSpeedWord), with a true, the data transfer
into the block can be activated as data word and not as LREAL. The corresponding is true
for the speed setpoint as well as the actual values of current, load, position and torque.
The standard factors for current, torque, velocity, load, position, actual velocity are required
for the conversion and must therefore have, as a minimum, a value of 1.0.
The calculation of the corresponding data words for the S7 are explained here using as an
example the speed actual value (b16ActualSpeedSim):
U$FWXDO6SHHG෬
E$FWXDO6SHHG6LP
U6WDQGIDFWRU$FWXDO6SHHG
CAUTION
The standard factors for current, torque, velocity, load, position and actual velocity are
required for the conversion and must therefore have, as a minimum, a value of 1.0. If an
absolute value is to be transferred from SIMOTION to the S7, the reference value must be
entered in the corresponding standard factor.
Error messages
None
Basic Technology
5.3.6 FB_ControlAxis
Task
Control words 1 and 2 are controlled using function block FB_ControlAxis. The function block
supplies status words 1 and 2 at the output.
Basic Technology
Connections

type setting
TO_Name IN - ANYOBJECT Technology object name
boSTW1bit0 IN False BOOL On / Off1; see table "Control_word_1_S7"

in Chapter SIMATIC S7 → SIMOTION
(Page 307) to boSTW1bit15
boSTW1bit1 IN False BOOL Off 2
boSTW1bit2 IN False BOOL Off 3
boSTW1bit3 IN False BOOL Pulse enable
boSTW1bit4 IN False BOOL Ramp-function generator enable
boSTW1bit5 IN False BOOL Reserved
boSTW1bit6 IN False BOOL Enable setpoint
boSTW1bit7 IN False BOOL Acknowledge fault
boSTW1bit8 IN False BOOL Enable speed controller
boSTW1bit10 IN False BOOL Master control by programmable controller
boSTW1bit12 IN False BOOL Select closed-loop torque control
boSTW1bit13 to boSTW1bit14 IN False BOOL Reserved
boSTW1bit15 IN False BOOL Intelligent overspeed signal
boServoCommandToActualVa IN False BOOL The bit switches into the follow-up mode.
lueIn As a result of the follow-up mode, the
position controller is switched out and the
setpoint position tracks the actual position.
boSTW2bit0 IN False BOOL Selects drive data set DDS bit 0
boSTW2bit3 to boSTW2bit6 IN False BOOL Reserved for internal use
boSTW2bit7 IN False BOOL Acknowledge SINAMICS fault
boSTW2bit8 to boSTW2bit11 IN False BOOL Reserved
boSTW2bit12 to boSTW2bit15 IN False BOOL Reserved for internal use
boPositionControlled IN False Bool Using the bit, the axis is enabled, closed-
loop position controlled, otherwise only
closed-loop speed controlled.
This input must be connected to the
"boPositionControlled" output of
FB_OperationMode.
boErrorFunctionBlock OUT False BOOL Display, fault present
i32ErrorIDFunctionBlock OUT 0 DINT Display, error number
boZSW1bit0 OUT False BOOL Ready to power up
see table "Status_word_1_SINAMICS" in
Chapter SINAMICS → SIMOTION
(Page 328) to boZSW1bit15
Basic Technology

type setting
boZSW1bit1 OUT False BOOL Ready
boZSW1bit2 OUT False BOOL Enable operation
boZSW1bit3 OUT False BOOL Fault present
boZSW1bit4 OUT False BOOL Coasting down active (OFF2)
boZSW1bit5 OUT False BOOL Fast stop active (OFF3)
boZSW1bit6 OUT False BOOL Power-on inhibit
boZSW1bit7 OUT False BOOL Alarm present
boZSW1bit8 OUT False BOOL Speed setpoint-actual value deviation in the
tolerance range
boZSW1bit9 OUT False BOOL Control requested from the automation
system
boZSW1bit10 OUT False BOOL f or n comparison value reached or
exceeded
boZSW1bit11 OUT False BOOL I, M or P limit reached or exceeded
boZSW1bit12 OUT False BOOL Holding brake closed
boZSW1bit13 OUT False BOOL Alarm overtemperature motor
boZSW1bit14 OUT False BOOL n_act >= 0
boZSW1bit15 OUT False BOOL Alarm, drive converter thermal overload
boPower OUT False BOOL If this bit has a high signal, this means that
the power enable is set.
boDriveState OUT False BOOL If this bit has a high signal, this means that
the drive enable is set.
boSetpointEnable OUT False BOOL If this bit has a high signal, this means that
the setpoint enable is set.
boServoCommandToActualVa OUT False BOOL If this bit has a high signal, this means that
lue the follow-up mode is active.
This means that a position controller is
switched out.
boSpeedControllerActive OUT False BOOL If this bit has a high signal, this means that
the speed controller is active.
boPositionControllerActive OUT False BOOL If this bit has a high signal, this means that
the position controller is active.
boZSW2bit0 OUT False BOOL Drive data set DDS effective
Bit 0; see table
"Status_word_2_SINAMICS" in
Chapter"SINAMICS → SIMOTION"
(Page 328) to boZSW2bit15
boZSW2bit1 OUT False BOOL Drive data set DDS active, bit 1
boZSW2bit2 OUT False BOOL Drive data set DDS active, bit 2
boZSW2bit3 to boZSW2bit4 OUT False BOOL Reserved
boZSW2bit5 OUT False BOOL Safe Torque Off (was: Safe Standstill)
Control Unit active
boZSW2bit6 OUT False BOOL Safe Torque Off (was: Safe Standstill)
Motor Module active
boZSW2bit7 OUT False BOOL Reserved
Basic Technology

type setting
boZSW2bit8 OUT False BOOL V/f control active
boZSW2bit9 OUT False BOOL Closed-loop torque control active
boZSW2bit10 OUT False BOOL Closed-loop speed control active
boZSW2bit11 OUT False BOOL Reserved
boZSW2bit12 OUT False BOOL Bits 12 to 15 are used in status word 2 to
boZSW2bit13 OUT False BOOL generate the slave sign-of-life character
and therefore cannot be used.
boZSW2bit14 OUT False BOOL
boZSW2bit15 OUT False BOOL
boAcknowledgeControl OUT False BOOL Acknowledge an error for the
FB_OperationMode block
Description of the individual bits (refer to the previous table)
Table 5- 6 Connection description of the FB_ControlAxis
Name STW2 bit 0 STW2 bit 1 STW2 bit 2 Meaning

Drive data set 0 FALSE FALSE FALSE Drive data set 0 is active
Drive data set 1 TRUE FALSE FALSE Drive data set 1 is active
Drive data set 2 FALSE TRUE FALSE Drive data set 2 is active
Drive data set 3 TRUE TRUE FALSE Drive data set 3 is active
Drive data set 4 FALSE FALSE TRUE Drive data set 4 is active
Drive data set 5 TRUE FALSE TRUE Drive data set 5 is active
Note
The input "boPositionControlled" must be connected with the "boPositionControlled" output
at function block FB_OperationMode. Only then is it ensured that the drive is also enabled,
closed-loop position controlled.
Functionality
The function block has the task of controlling control words 1 and 2. Status words 1 and 2
are output at the block output. When controlling bits 0 to 6, PROFIdrive V3.1 must be
carefully taken into consideration (see below, General State Diagram).
The following control bits cannot be used because these are already internally influenced by
the technology object:
Basic Technology
Table 5- 7 Bits that the user cannot use
Bit for technology object PROFIdrive V3.1

Control word 1, bit 10 Master control by programmable controller
Control word 2, bit 12 Generation of master sign-of-life character bit 12
Basic Technology
Power supply on
power = inactive S1: Switching On Inhibited

ZSW1 bit 6=true; 0,1,2,"p.e." 1) = false
Standstill detected
STW1 bit0=false STW1 bit1=false Coast Stop OR
enableAxis POWER AND STW1 bit1=true OR STW1 bit1=false STW1 bit3=false
OR AND STW1 bit2=true STW1 bit2=false
enableAxis ALL
S5:Switching Off Quick Stop

S2: Ready For Switching On ZSW1 bit 0,1=true
ZSW1 bit 0=true; 1,2,6,"p.e."=false bit 2,6=false
Standstill detected "p.e." =true
OR
Quick Stop
STW1 bit3=false
STW1 bit1=false STW1 bit2=false
STW1 bit0=true STW1 bit0=false
OR
STW1 bit2=false
S3: Switched On Ramp stop

disableAxis POWER ZSW1 bit 0,1=true; 2,6,"p.e."=false
OR
disableAxis ALL
OR
Coast Stop
Ramp Stop Quick Stop
STW1 bit1=false STW1 bit3=true STW1 bit3=false STW1 bit0=true STW1 bit0=false STW1 bit2=false
Simotion: State POWER S4: Operation

ZSW1 bit 0,1,2=true
bit 6= false
power = active "p.e."=true
ZSW1 bit10=false
enableAxis DRIVE disableAxis DRIVE
OR OR
STW1 bit4=true AND STW1 bit4=false OR
STW1 bit5=true AND STW1 bit5=false OR
Simotion: Waiting for STW1 bit6=true STW1 bit6=false
ZSW1.bit10=false
(n=0)
disableAxis ALL Simotion: State ALL

RELEASE_DISABLE with
all enables removed; system removes STW1 bit4, bit5, and bit6.
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Figure 5-24 PROFIdrive V3.1 General State Diagram
Basic Technology
Error messages
If an error occurs, output "boErrorFunctionBlock" is set and an error number is issued at
output "i32ErrorIDFunctionBlock"; see the Chapter Alarm, error and system messages
(Page 333).
5.3.7 FB_ErrorPriority
Task
Errors from function blocks SIMOTION technology objects, SINAMICS drive objects and
alarms from SINAMICS drive objects and function blocks are compiled and assigned
priorities using the function block FB_ErrorPriority.
Connections

type setting
boFB_OutErrorBool_1 IN False BOOL Error bit from the function block
i32FB_OutErrorID_1 IN 0 DINT Error number from the function block
Basic Technology

type setting
boTO_ErrorBool IN False BOOL Error bit from the SIMOTION technology
object
i32TO_ErrorID IN 0 DINT Error number from the SIMOTION
technology object
boDO_ErrorBool IN False BOOL Error bit from the SINAMICS drive object
i32DO_ErrorID IN 0 DINT Error number from the SINAMICS drive
object
boDO_WarningBool IN False BOOL Alarm bit from the SINAMICS drive object
i32DO_WarningID IN 0 DINT Alarm number from the SINAMICS drive
object
boFB_OutWarningBool_1 IN False BOOL Alarm bit from the function block
i32FB_OutWarningID_1 IN 0 DINT Alarm number from the function block
boDO_Error OUT False BOOL SINAMICS drive object error is active.
boTO_Error OUT False BOOL SIMOTION technology object error is
active.
boFB_Error OUT False BOOL Function block error is active.
boDO_Warning OUT False BOOL SINAMICS drive object alarm is active.
boFB_Warning OUT False BOOL Function block alarm is active.
b16ErrorID OUT 16#0 WORD Outputs the error number / alarm number
Basic Technology
Functionality
The following priority assignment is defined:
1st priority: Fault, SINAMICS

2nd priority: SIMOTION fault
3rd priority: Fault, function block
4th priority: SINAMICS alarm
5th priority: Alarm, function block
Active fault or alarm numbers at the function block input are reported to the S7 controller in
accordance with the priority defined above. The function block does not output any internal
fault numbers.
The SINAMICS drive object returns fault or alarm numbers. The SIMOTION technology
object and the function blocks only return fault numbers. Up to six function block faults can
be evaluated at the block input.
These error messages are described in chapter Alarm, error and system messages
(Page 333).
Error messages
none
5.3.8 FB_Monitoring
Task
The master-slave connection or synchronous relationship is monitored using the function
block FB_Monitoring. The synchronous relationship also includes tandem mode. For a
master-slave connection, the actual velocity of the master and that of the slave are
monitored. For synchronous operation, the system monitors for an excessively high velocity
difference or an excessively high position deviation. A fault signal is generated if the
difference of the velocity or the position is higher than the set tolerance.
Furthermore, input "boEnableActualActualSpeedMonitoring" can also be used to monitor the
actual-actual speed of a drive equipped with actual speed and position encoders.
Basic Technology
Connections

type setting
TO_Master IN - AnyObject Enter the technology object name of the
master (master object)
TO_Slave IN - AnyObject Enter the technology object name of the
slave (slave object)
r64Masteractualcurrent IN 0.0 LREAL Actual current of the master (master
object) in [A]
r64Slaveactualcurrent IN 0.0 LREAL Actual current of the slave (slave object) in
[A]
r64ToleranceCurrentMonitoring IN 0.0 LREAL In synchronous or master-slave operation,
the maximum current difference [A] is set.
r64DelayTime IN 500.0 LREAL Delay time [ms]; the velocity or position
deviation must lie outside the tolerance
range for the configured time before an
error is initiated.
boSynchronousOffsetSaveActive IN False BOOL Feedback signal from block
FB_OperationMode of the slave indicating
that an offset is active in synchronous
operation.
r64SynchronousOffsetSave IN 0.0 LREAL Offset value [mm] from block
FB_OperationMode of the slave
Basic Technology

type setting
r64ToleranceVelocityMonitoring IN 5.0 LREAL In synchronous (closed-loop speed
controlled) or master-slave operation, the
maximum velocity difference [mm/s] is set
between the master (master object) and
slave (slave object).
r64TolerancePositionMonitoring IN 5.0 LREAL In synchronous operation (closed-loop
position controlled), the maximum position
deviation [mm] between the master
(master object) and slave (slave object) is
set.
boEnableActualActualSpeedMon IN False BOOL Activates the actual-actual speed
itoring_M monitoring function between the (master)
motor encoder and the external encoder.
boEnableActualActualSpeedMon IN False BOOL Activates the actual-actual speed
itoring_S monitoring function between the (slave)
motor encoder and the external encoder.
r64GearRatio_M IN 1.0 LREAL Gear ratio (motor encoder/external
encoder) for master
r64GearSpeedTolerance_M IN 1.0 LREAL Permissible tolerance between the two
encoders [as a percentage of maximum
velocity] (master drive)
r64GearRatio_S IN 1.0 LREAL Gear ratio (motor encoder/external
encoder) for slave
r64GearSpeedTolerance_S IN 1.0 LREAL Permissible tolerance between the two
encoders [as a percentage of maximum
velocity] (slave drive)
boSyncOperation IN False BOOL Feedback signal from block
that synchronous operation is active.
boMasterSlaveOperation IN False BOOL Feedback signal from block
that the master-slave mode is active.
boPositionControlled IN False BOOL Feedback signal from block
FB_OperationMode of the master
indicating that the closed-loop position
controlled mode is active.
boAcknowledge IN False BOOL Acknowledge error
r64TandemOffsetspeed IN 0.0 LREAL Supplementary velocity of tandem or offset
operation
boError OUT False BOOL Error bit
i32ErrorID OUT 0 DINT Outputs the error number
Basic Technology
Functionality
The function block must be cyclically called in the interpolator 1 or interpolator 2 task. The
function block has the task:
● In master-slave operation, to monitor the velocity between the master and the slave.
● In synchronous operation, in the AUTOMATIC or MANUAL operating mode, to monitor
the position between the master (leading axis) and the slave (following axis) and to only
monitor the velocity in all other operating modes.
● An offset can also be taken into account in the AUTOMATIC or MANUAL operating
mode.
● The actual current between the master and the slave is monitored in synchronous and
master-slave operation.
● If a drive is equipped with a pulse generator for the actual speed and also features a
pulse generator for the actual position, which is mounted on the drum rather than on the
motor, for example, a monitoring mechanism can be implemented by evaluating the
speed of both encoders. This functionality can be used, for example, for gear fracture and
coupling monitoring on two drives with rigid coupling. The gear factors "r64GearRatio_M"
and "r64GearRatio_S" are also effective for the second encoder. The gear difference
between the first and second encoder must be entered in this. If there is no difference, a
"1" must be entered.
● For master and slave monitoring, all that is required is one subroutine call of the
monitoring block. Gear monitoring of master and slave is also performed in this same
subroutine call.
● A total of three subroutine calls are needed for tandem mode.
– The first subroutine call is needed to compare the first master (tandem master) and its
slave (e.g. Hoist_1 and Hoist_2).
– The second subroutine call is needed to compare the second master (tandem slave)
and its slave (e.g. Hoist_3 and Hoist_4).
– The third subroutine call is needed to compare the tandem master and tandem slave
(Hoist_1 and Hoist_3).
There are also other points to consider in terms of interconnection for tandem mode:
● The two variables "TO_tolerancevelocitymonitoring" and
"TO_tolerancepositionmonitoring", which are only available for the slave drives in the
interface of the MCC unit, must be inserted here for the master drive which is operated as
the tandem slave in the interface of the MCC unit. These tolerances are required for
comparing the tandem master with the tandem slave.
Continuing with our example from above (Hoist_1 = tandem master and Hoist_3 =
tandem slave), the variables have to be inserted for Hoist_3 in the interface of the MCC
unit.
● In tandem mode, the two variables (Hoist_3_tolerancevelocitymonitoring and
Hoist_3_tolerancepositionmonitoring) have to be connected with the input variables
"r64tolerancevelocitymonitoring" and "r64tolerancepositionmonitoring" in the subroutine
call (monitoring).
Basic Technology
● For the purpose of variable assignment after the subroutine call, two variables must be
created for the tandem master drive in the interface of the MCC unit. One of these
variables must be a Boolean variable, which transmits the error signal, and the other
must be a DINT variable, which transmits the error code. During variable assignment,
errors and error codes from the subroutine call for tandem mode are connected with
these two new variables.
● These two new variables then have to be connected to a free "bofb_outerrorbool" and
"bofb_outerrorid" position in the "Errorpriority" module of the tandem master in the
subroutine call.
A brief sequence when an error is detected is listed in the following graphic. In this example,
in master-slave operation, the velocity between the master and the slave is monitored. In
point 1, it is identified that the velocities between the master and slave lie outside the
permissible tolerance but the velocities lie again within the tolerance before the delay time
expires. This is the reason that an error is not output. In point 2, the velocities lie outside the
permissible tolerance - even after the delay time has expired. This is the reason that an error
is output.
Figure 5-25 Error detection sequence
Basic Technology
Error messages
If an error occurs, output "boError" is set and an error number is output at output
"i32ErrorID"; see Application error messages and alarm messages (Page 339).
5.3.9 FB_OperationMode
Task
The operating modes and travel motion are managed using the function block
FB_OperationMode.
Template for the call
Basic Technology
Basic Technology
Basic Technology
Connections

type setting
TO_Name IN - AnyObject Enter the name of the technology object
TO_GearPos IN - FixedGear Enter the name of the fixed gear object
Type position
TO_GearVel IN - FixedGear Enter the name of the fixed gear object
Type velocity
boChangeTechnologyObject IN False BOOL Selects Change technology object; True
means that the relevant technology object
is active, false means that it is deactivated.
boHoist IN False BOOL Selects the Hoist function module
boGantry IN False BOOL Selects Gantry function module
boTrolley IN False BOOL Selects Trolley function module
boBoom IN False BOOL Selects Boom function module
boHoldingGear IN False BOOL Selects Holding Gear function module
boClosingGear IN False BOOL Selects Closing Gear function module
boSlewGear IN False BOOL Selects Slewing Gear function module
boLuffingGear IN False BOOL Selects Luffing Gear function module
boSlaveMode IN False BOOL Selects slave operation, otherwise master
operation is active.
boSlaveTandemMode IN False BOOL Selects slave tandem mode, otherwise
master tandem mode is active.
boTandemMode IN False BOOL Selects tandem mode
boTandemHoming IN False BOOL Starts tandem homing
boOffsetMode IN False BOOL 0 = no offset mode,
1 = offset mode
Basic Technology

type setting
boOffsetHoming IN False BOOL The tandem slave starts the homing
process.
boChangeTO_Nr_1 IN False BOOL The technology object works with the drive
data set 0/1.
data set 2/3.
data set 4/5.
boInternalTOChange IN False BOOL Switchover of the drive data set with an
internal TO switchover.
boExternalTOChange IN False BOOL Switchover of the drive data set with an
external TO switchover.
r64TargetPosition IN 0.0 LREAL Target position input for the AUTOMATIC
and MANUAL operating modes [mm]
r64Velocity IN 0.0 LREAL Velocity setpoint [mm/s]
r64VelocitySensorlessEmergency IN 15.0 LREAL Velocity limiting SENSORLESS
EMERGENCY [mm/s]
r64Acceleration IN 0.0 LREAL Acceleration value [mm/s2]
r64Deceleration IN 0.0 LREAL Deceleration value [mm/s2]
r64DecelerationFactor IN 1.0 LREAL The deceleration factor can be used to
extend the deceleration time defined at
input r64Deceleration. This extension is
always active in AUTOMATIC operating
mode. In MANUAL operating mode it is
only active in the target approach phase.
The deceleration time set by the S7
controller is used for braking after the
master switch was released. The
deceleration factor can be set in the range
from 1.0 to 2.0. Lower or higher values are
rejected and are limited to 1.0 or 2.0. An
input value of 0.5 is limited to 1.0 and an
input value of 4.0 is limited to 2.0.
r64positiveAccelerationStartJerk IN 0.0 LREAL Initial jerk for the acceleration start [ms]
The jerk is specified by the higher-level
controller. [ms]
r64positiveAccelerationStartJerk IN 0.0 LREAL Final jerk for the acceleration end [ms]
The jerk is specified by the higher-level
controller. [ms]
r64negativeAccelerationStartJerk IN 0.0 LREAL Initial jerk for the start of deceleration [ms]
r64negativeAccelerationEndJerk IN 0.0 LREAL End jerk for the end of deceleration [ms]
r64MinimumVelocityAutoPositive IN 0.0 LREAL Minimum velocity in the AUTOMATIC
operating mode; if a value not equal to
zero is entered in this variable, then when
the target position is reached, the system
changes over to a crawl velocity [mm/s].
Basic Technology

type setting
r64MinimumVelocityAutoNegative IN 0.0 LREAL Minimum velocity in the AUTOMATIC
operating mode; if a value not equal to
r64MinimumVelocityManualPositiv IN 0.0 LREAL Minimum velocity in the MANUAL
e operating mode; if a value not equal to
r64MinimumVelocityManualNegativ IN 0.0 LREAL Minimum velocity in the MANUAL
e operating mode; if a value not equal to
r64MinimumVelocityEasy_Positioni IN 0.0 LREAL Minimum velocity in the
ngPositive EASY_POSITIONING operating mode; if a
value not equal to zero is entered in this
variable, the system changes over to a
crawl velocity [mm/s] when the target
position is reached.
r64MinimumVelocityEasy_Positioni IN 0.0 LREAL Minimum velocity in the
ngNegative EASY_POSITIONING operating mode; if a
value not equal to zero is entered in this
variable, the system changes over to a
crawl velocity [mm/s] when the target
position is reached.
r64ToleranceMinimumVelocity IN 0.0 LREAL Override point at which percentage (0 -
500 %) above the minimum velocity the
switchover to minimum velocity must be
triggered. This allows for constant velocity
transitions.
r64MinimumVelocityToleranceposit IN 200.0 LREAL Starting at this residual position, a switch is
ion made to the minimum velocity.
r64ToleranceMasterSlavePosition IN 100 LREAL Position difference that can be tolerated
[mm] between the master (master drive)
and slave (slave drive) (in closed-loop
position controlled operation).
r64HomingFixValue IN 0.0 LREAL Fixed homing position [mm]
boStop IN False BOOL Stops the axis
boSetpointEnable IN False BOOL Setpoint enable
boStartHoming IN False BOOL Starts the homing operation
boHomingValuePLC IN False BOOL S7 sets the homing position. If the input is
statically set to TRUE, the homing position
is derived from variable r64TargetPosition.
Otherwise, the homing position is taken
from input r64HomingFixValue.
boSelectExternalEncoder IN False BOOL Selects the encoder switchover from motor
encoder to external encoder
Basic Technology

type setting
boCommandPositive IN False BOOL Selects positive travel direction.
boCommandNegative IN False BOOL Selects negative travel direction.
boSelectMasterSlaveOperation IN False BOOL Selecting master-slave operation
boSelectSynchronousOperation IN False BOOL Selecting synchronous operation
boSelectSynchronousOffsetSave IN False BOOL Selects save offset
boStartAutomaticOrder IN False BOOL Starts the travel request in the
AUTOMATIC operating mode
boOperationModeAUTOMATIC IN False BOOL Selects AUTOMATIC operating mode
boOperationModeMANUAL IN False BOOL Selection MANUAL operating mode
boOperationModeEasy_Positioning IN False BOOL Selects EASY_POSTIONING mode
selection
boOperationModeSPEED_CONTR IN False BOOL Selects SPEED_CONTROLLED mode
OLLED
boOperationModeSENSORLESSE IN False BOOL Selects SENSORLESS EMERGENCY
MERGENCY operating mode
boOperationModeSWAYCONTRO IN False BOOL Selects SWAYCONTROL operating mode
L
boSaveGrabOpenPosition IN False BOOL Save position Grab Open
boSaveGrabClosedPosition IN False BOOL Save position Grab Closed
boSelectionGrabChange IN False BOOL Change Grab command
bocheckbackSlackRopeControllerA IN False BOOL Checkback signal from master indicating
ctive whether slack rope controller is active
r64PosToleranceGrabOpenPositio IN 100.0 LREAL Tolerance for message Grab Open [mm]
n
r64PosToleranceGrabClosedPositi IN 100.0 LREAL Tolerance for message Grab Closed [mm]
on
r64PosToleranceGrab1_2Position IN 100.0 LREAL Tolerance for message Grab 1/2 Open
[mm]
r64PosToleranceGrab2_3Position IN 100.0 LREAL Tolerance for message Grab 2/3 Closed
[mm]
r64GrapOpenPositionInit IN 0.0 LREAL Sets the position for the open state of the
grab [mm] for initialization once the
controller has been powered up.
r64GrapClosedPositionInit IN 0.0 LREAL Sets the position for the closed state of the
grab [mm] for initialization once the
controller has been powered up.
r64ActualPositionInit IN 0.0 LREAL Sets the actual position of the grab [mm]
for initialization once the controller has
been powered up.
boGrabOpenClosedInitPosition IN False BOOL When selected, the position of the grab
once the controller has been powered up
is initialized.
boPositionInit IN False BOOL When selected, the actual position of the
grab is initialized.
r64KP_ChangeOverPoint IN 0.5 LREAL Gain factor for changeover point delta s
Basic Technology

type setting
bocheckbackDriveDataSetBit0Activ IN False BOOL Feedback signal drive data set bit 0 active
e from this technology object.
bocheckbackDriveDataSetBit1Activ IN False BOOL Feedback signal drive data set bit 1 active
bocheckbackDriveDataSetBit2Activ IN False BOOL Checkback signal drive data set bit 2
e active from this technology object.
bocheckbackSpeedControllerActiv IN False BOOL Feedback signal speed controller active
bocheckbackTorqueControlActive IN False BOOL Feedback signal torque control active from
this technology object.
bocheckbackServoCommandToAct IN False BOOL Feedback signal position controller follow-
ualValueActive up mode active from this technology
object.
TO_checkbackMasterAxis IN - PosAxis TO master1 name for synchronous
operation
TO_checkbackMasterAxis2 IN - PosAxis TO master2 name for synchronous
operation
TO_checkbackMasterAxis3 IN - PosAxis TO master3 name for synchronous
operation
r64MasterAxis_1VelocityFactor IN 1.0 LREAL Velocity factor between master1 and its
slave
slave
slave
boSelectMasterAxis2 IN False BOOL Selection of the master
boSelectMasterAxis3 IN False BOOL
boFollowingDrive IN False BOOL When selected, the master-slave
connection is established; otherwise
synchronous operation is used, if selected.
boSelectcheckbackSlave IN False BOOL When selected, all of the slave checkback
signals are displayed.
boSelectcheckbackSlaveTandem IN False BOOL When selected, all of the slave tandem
checkback signals are displayed.
boSelectcheckbackSlaveSlaveTan IN False BOOL When selected, all of the slave slave
dem tandem checkback signals are displayed.
bocheckbackSlaveErrorTO IN False BOOL Feedback signal error present at the
technology object slave
bocheckbackSlaveErrorDO IN False BOOL Checkback signal error present at the drive
object slave
bocheckbackSlaveErrorFB IN False BOOL Checkback signal error present in a
function block (slave)
bocheckbackSlavePowerActive IN False BOOL Feedback signal power enable active at
the technology object slave
bocheckbackSlaveDriveStateActiv IN False BOOL Feedback signal drive enable active at the
e technology object slave
Basic Technology

type setting
bocheckbackSlaveSetpointActive IN False BOOL Checkback signal setpoint enable active at
bocheckbackSynchronVelocityActi IN False BOOL Checkback signal velocity gearing active at
ve the technology object slave
bocheckbackSynchronPositionActi IN False BOOL Feedback signal position synchronous
ve operation active at the technology object
slave
bocheckbackSlaveModeAUTOMA IN False BOOL Feedback signal AUTOMATIC operating
TICActive mode active at the technology object slave
bocheckbackSlaveModeMANUALA IN False BOOL Feedback signal MANUAL operating mode
ctive active at the technology object slave
bocheckbackSlaveModeEASY_PO IN False BOOL EASY_POSITIONING operating mode
SITIONINGActive feedback signal active at the slave
technology object
bocheckbackSlaveModeSPEED_C IN False BOOL Feedback signal SPEED_CONTROLLED
ONTROLLEDActive operating mode active at the technology
object slave
bocheckbackSlaveModeSENSORL IN False BOOL Feedback signal SENSORLESS
ESSEMERGENCYActive EMERGENCY operating mode active at
bocheckbackSlaveModeSWAYCO IN False BOOL Checkback signal SWAYCONTROL
NTROLActive operating mode active at the technology
object slave
bocheckbackSlaveMasterSlaveOp IN False BOOL Feedback signal master-slave operation
erationActive active at the technology object slave
bocheckbackSlaveSynchronousOp IN False BOOL Checkback signal synchronous operation
erationActive active at the technology object slave
r64checkbackSlaveOffsetSave IN 0.0 LREAL Feedback value saved offset [mm] at the
technology object slave
bocheckbackSlaveTandemErrorTO IN False BOOL Feedback signal error present at the
technology object slave tandem
bocheckbackSlaveTandemErrorD IN False BOOL Checkback signal error present at the drive
O object slave tandem
bocheckbackSlaveTandemErrorFB IN False BOOL Checkback signal error present in a
function block (slave tandem)
bocheckbackSlaveTandemPowerA IN False BOOL Checkback signal power enable active at
ctive the technology object slave tandem
bocheckbackSlaveTandemDriveSt IN False BOOL Checkback signal drive enable active at
ateActive the technology object slave tandem
bocheckbackSlaveTandemSetpoint IN False BOOL Checkback signal setpoint enable active at
Active the technology object slave tandem
bocheckbackSlaveTandemSynchro IN False BOOL Checkback signal velocity gearing active at
nVelocityActive the technology object slave tandem
bocheckbackSlaveTandemSynchro IN False BOOL Checkback signal position synchronous
nPositionActive operation active at the technology object
slave tandem
Basic Technology

type setting
bocheckbackSlaveTandemModeA IN False BOOL Checkback signal AUTOMATIC operating
UTOMATICActive mode active at the technology object slave
tandem
bocheckbackSlaveTandemModeM IN False BOOL Checkback signal MANUAL operating
ANUALActive mode active at the technology object slave
tandem
bocheckbackSlaveTandemModeE IN False BOOL EASY_POSITIONING operating mode
ASY_POSITIONINGActive feedback signal active at the slave tandem
technology object
bocheckbackSlaveTandemModeS IN False BOOL Checkback signal SPEED_CONTROLLED
PEED_CONTROLLEDActive operating mode active at the technology
object slave tandem
bocheckbackSlaveTandemModeS IN False BOOL Checkback signal SENSORLESS
ENSORLESSEMERGENCYActive EMERGENCY operating mode active at
the technology object slave tandem
bocheckbackSlaveTandemModeS IN False BOOL Checkback signal SWAYCONTROL
WAYCONTROLActive operating mode active at the technology
object slave tandem
bocheckbackSlaveTandemMaster IN False BOOL Checkback signal master-slave operation
SlaveOperationActive active at the technology object slave
tandem
bocheckbackSlaveTandemSynchro IN False BOOL Checkback signal synchronous operation
nousOperationActive active at the technology object slave
tandem
r64checkbackSlaveTandemOffsetS IN 0.0 LREAL Checkback value saved offset [mm] at the
ave technology object slave tandem
bocheckbackSlaveSlaveTandemEr IN False BOOL Checkback signal error present at the
rorTO technology object slave slave tandem
bocheckbackSlaveSlaveTandemEr IN False BOOL Checkback signal error present at the drive
rorDO object slave slave tandem
bocheckbackSlaveSlaveTandemEr IN False BOOL Checkback signal error present in a
rorFB function block (slave slave tandem)
bocheckbackSlaveSlaveTandemP IN False BOOL Checkback signal power enable active at
owerActive the technology object slave slave tandem
bocheckbackSlaveSlaveTandemDr IN False BOOL Checkback signal drive enable active at
iveStateActive the technology object slave slave tandem
bocheckbackSlaveSlaveTandemS IN False BOOL Checkback signal setpoint enable active at
etpointActive the technology object slave slave tandem
bocheckbackSlaveSlaveTandemSy IN False BOOL Checkback signal velocity gearing active at
nchronVelocityActive the technology object slave slave tandem
bocheckbackSlaveSlaveTandemSy IN False BOOL Checkback signal position synchronous
nchronPositionActive operation active at the technology object
slave slave tandem
bocheckbackSlaveSlaveModeAUT IN False BOOL Checkback signal AUTOMATIC operating
OMATICActive mode active at the technology object slave
slave tandem
Basic Technology

type setting
bocheckbackSlaveSlaveTandemM IN False BOOL Checkback signal MANUAL operating
odeMANUALActive mode active at the technology object slave
slave tandem
bocheckbackSlaveSlaveTandemM IN False BOOL EASY_POSITIONING operating mode
odeEASY_POSITIONINGActive feedback signal active at the slave slave
tandem technology object
bocheckbackSlaveSlaveTandemM IN False BOOL Checkback signal SPEED_CONTROLLED
odeSPEED_CONTROLLEDActive operating mode active at the technology
object slave slave tandem
bocheckbackSlaveSlaveTandemM IN False BOOL Checkback signal SENSORLESS
odeSENSORLESSEMERGENCYA EMERGENCY operating mode active at
ctive the technology object slave slave tandem
bocheckbackSlaveSlaveTandemM IN False BOOL Checkback signal SWAYCONTROL
odeSWAYCONTROLActive operating mode active at the technology
object slave slave tandem
bocheckbackSlaveSlaveTandemM IN False BOOL Checkback signal master-slave operation
asterSlaveOperationActive active at the technology object slave slave
tandem
bocheckbackSlaveSlaveTandemSy IN False BOOL Checkback signal synchronous operation
nchronousOperationActive active at the technology object slave slave
tandem
r64checkbackSlaveSlaveTandemO IN 0.0 LREAL Checkback value saved offset [mm] at the
ffsetSave technology object slave slave tandem
r64TandemSlaveSpeed IN 0.0 LREAL Velocity [%] for tandem-slave from the
MaximumVelocity up to max. 50 %
r64kp_ChangeOverPoint_Tandem IN 0.5 LREAL Gain factor for changeover point delta s
r64maxTandemPositiondifference IN 0.0 LREAL Maximum position difference [mm]
between tandem master and tandem slave
r64AccDecFactorTandem IN 0.01 LREAL Acceleration and deceleration factor [%] for
the superimposed motion of the tandem
from the actual acceleration
r64OffsetSlaveSpeed IN 0.0 LREAL Velocity [%] of the slave with offset, if it
performs a superimposed motion - from
the MaximumVelocity up to max. 50%.
r64kp_ChangeOverPoint_Offset IN 0.5 LREAL Gain factor for the changeover point of the
clearance controller
r64maxOffsetPositiondifference IN 0.0 LREAL Maximum position deviation [mm] between
offset master and offset slave
r64AccDecFactorOffset IN 0.01 LREAL Acceleration and deceleration factor [%] for
the superimposed motion of the actual
acceleration
boDriveMasterSuperimpose IN False BOOL Must be set, if the master is also to be
moved with superimposition
boPositiveSuperimpose IN False BOOL Positive, superimposed travel
boNegativeSuperimpose IN False BOOL Negative, superimposed travel
r64ErrorDelayTime IN 2000.0 LREAL An error message becomes active after the
set time [ms].
boheavyduty IN False BOOL Heavy-duty operation is active.
Basic Technology

type setting
boSpeedlimitEmergency IN False BOOL Limits the setpoint of the position controller
boSwayControlPositionCompleted IN False BOOL A high signal indicates that positioning in
SwayControl mode is complete. This input
has to be linked to the Sway Control
block's corresponding "Positioning
completed" feedback signal on Hoist and
on Trolley.
boBrakeTest IN False BOOL Select brake test
boBrakeTest_Drive_1 IN False BOOL Brake test for the technology object can be
performed with drive data set 6.
boBrakeTest_Drive_2 IN False BOOL Brake test for the technology object can be
performed with drive data set 7.
boEnableBrakeControlSinamics IN False BOOL Note, select brake checkback signal
boSinamicsBrakeOpen IN False BOOL Brake checkback signal from SINAMICS
r64LDFWMaxAllowedSpeed IN 50.0 LREAL Maximum permissible velocity of the
LDFW block
boCheckLDFWLimitation IN True BOOL Enable of the tandem velocity for the
LDFW block
boDecelerationCheck IN False BOOL Collision protection is activated.
r32nominalvelocity IN 500.0 REAL Rated speed in the unit (mm/s)
boAcknowledgeControl IN False BOOL Error acknowledgment by the
FB_ControlAxis block.
boErrorFunctionBlock OUT False BOOL Error bit from the function block Mode
i32errorIDFunctionBlock OUT 0 DINT Error number from the function block Mode
boErrorTechnologyObject OUT False BOOL Error bit from the technology object
i32errorIDTechnologyObject OUT 0 DINT Error number from the technology object
boWarningfunctionblock OUT False BOOL Alarm bit from FB_OperationMode block
i32WarningIDfunctionblock OUT 0 DINT Alarm number from FB_OperationMode
block
boCyclicInterface OUT False BOOL The output variable indicates at the axis
that the drive is operating in cyclic mode.
boChangeTechnologyObjectActive OUT False BOOL Technology object active
boHoistActive OUT False BOOL Hoist module active
boGantryActive OUT False BOOL Gantry module active
boTrolleyActive OUT False BOOL Trolley module active
boBoomActive OUT False BOOL Boom module active
boHoldingGearActive OUT False BOOL Holding Gear module
boClosingGearActive OUT False BOOL Closing Gear module
boSlewGearActive OUT False BOOL Slewing Gear module
boLuffingGearActive OUT False BOOL Luffing Gear module
boSlaveModeActive OUT False BOOL Slave operation active, otherwise master
operation is active
boSlaveTandemModeActive OUT False BOOL A low signal indicates that the master
tandem is active, a high signal indicates
that the slave tandem is active.
Basic Technology

type setting
boTandemModeActive OUT False BOOL Tandem mode is activated.
boTandemHomingActive OUT False BOOL The tandem slave is currently performing a
homing operation.
boOffsetModeActive OUT False BOOL 0 = offset mode not active,
1 = offset mode active
boOffsetHomingActive OUT False BOOL The offset slave is currently performing a
homing operation.
boSynchOutOfPositionTolerance OUT False BOOL Synchronous operation, the position
between the master (master drive) and
slave (slave drive) lies outside the
permissible position tolerance.
boAcceleratingDecelerating OUT False BOOL Acceleration or deceleration is active.
boMovingPositive OUT False BOOL Technology object moves in the positive
direction.
boMovingNegative OUT False BOOL Technology object moves in the negative
direction.
boStandStill OUT False BOOL Technology object at a standstill, the axis
is stationary.
boAxisHomed OUT False BOOL Technology object is homed.
boAUTOMATICPositionReached OUT False BOOL Target of the AUTOMATIC travel request
reached.
boMasterSlaveOperationActive OUT False BOOL Master-slave operation active
boSynchronousOperationActive OUT False BOOL Synchronous operation active
boSelectSynchronousOffsetSaveA OUT False BOOL Saved offset active
ctive
boAUTOMATICOrderActive OUT False BOOL AUTOMATIC travel request being
processed
boOperationModeAUTOMATICActi OUT False BOOL AUTOMATIC operating mode active
ve
boOperationModeMANUALActive OUT False BOOL MANUAL operating mode active
boOperationModeEASY_POSTION OUT False BOOL EASY_POSITIONING operating mode
INGActive active
boOperationModeSPEED_CONTR OUT False BOOL SPEED_CONTROLLED operating mode
OLLEDActive active
boOperationModeSENSORLESSE OUT False BOOL SENSORLESS EMERGENCY operating
MERGENCYActive mode active
boOperationModeSWAYCONTRO OUT False BOOL SWAYCONTROL operating mode active
LActive
boDriveDataSetBit0 OUT False BOOL Drive data set bit 0
boExternalEncoderActive OUT False BOOL External encoder active
boSetservoCommandToActualValu OUT False BOOL Position controller follow-up mode active
e
boSpeedControllerActive OUT False BOOL Closed-loop speed control active
Basic Technology

type setting
boPositionControllerActive OUT False BOOL Closed-loop position control active
boTorqueControlActive OUT False BOOL Torque control active
boSynchronVelocityActive OUT False BOOL Velocity synchronous operation active
boSynchronPositionActive OUT False BOOL Position synchronous operation active
boGrabOpen OUT False BOOL Message, grab open
boGrabClosed OUT False BOOL Message, grab closed
boGrab_1_2_open OUT False BOOL Message, grab 1/2 open
boGrab_2_3_closed OUT False BOOL Message, grab 2/3 closed
r64offsetSave OUT 0.0 LREAL Saved offset value
r64maximumVelocity OUT 0.0 LREAL Maximum velocity in the units mm/s
r64maximumSpeed OUT 0.0 LREAL Maximum velocity in the units revolutions
per minute [rpm]
r64ActualVelocity_rpm OUT 0.0 LREAL Actual velocity in the units revolutions per
minute [rpm]
r64ActualVelocity OUT 0.0 LREAL Actual velocity in the units mm/s
r64maximumTorque OUT 0.0 LREAL Maximum torque in the units Newton meter
[N/m]
r64ActualPosition OUT 0.0 LREAL Actual position in the units millimeters
[mm]
r64stopingDistance OUT 0.0 LREAL Braking distance is displayed
r64GrabOpenPosition OUT 0.0 LREAL Grab open position
r64GrabClosedPosition OUT 0.0 LREAL Grab closed position
r64ActualTandemSlaveSpeed OUT 0.0 LREAL Actual additional velocity [mm/s] of the
slave tandem for the superimposed motion
r64ActualOffsetSlaveSpeed OUT 0.0 LREAL Actual additional velocity of the
superimposed motion of the slave
r64SaveEasyPositioningOffset OUT 0.0 LREAL Saved offset position in tandem operation
in the EASY_POSITIONING operating
mode
boStopCompensation OUT False BOOL Stop superimposed traversing motion
boSelectMasterAxis2Active OUT False BOOL The setpoint of master2 is active.
boSelectMasterAxis3Active OUT False BOOL The setpoint of master3 is active.
bocheckbackSlaveActive OUT False BOOL Monitoring of checkback signals from
slave 1 is active.
bocheckbackSlaveTandemActive OUT False BOOL Monitoring of checkback signals from
slave 2 is active.
bocheckbackSlaveSlaveTandemAc OUT False BOOL Monitoring of checkback signals from
tive slave 3 is active.
boFollowingDriveActive OUT False BOOL Monitoring of checkback signals from the
following axis is active.
boSensorCyclic OUT False BOOL Cyclic communication with the encoder
bopositioncontrolled OUT False BOOL Closed-loop position controller active
boBrakeTestActive OUT False BOOL Brake test selection
i16GrabOpenStatus OUT 0 INT Status "Grab opened" as a %
Basic Technology

type setting
boBrakeCloseCommand OUT False BOOL "Close brake" command from SIMOTION,
if it does not come from the S7.
boSwayControlReadyToDrive OUT False BOOL Brake open for sway control
boDriveMasterSuperimposeActive OUT False BOOL Superimposed movement of the master is
selected.
boSlaveAvailableActive OUT False BOOL Technology object slave present active
boSlaveReadyActive OUT False BOOL Slave is okay.
CAUTION
The following generally applies to every function module:

For the external switchover, boChangeTechnologyObject = TRUE must be given so that
the setpoints can be passed to the technology object. If boChangeTechnologyObject is set
to False, the relevant technology object is deactivated and cannot accept any values for the
drive.
This does not apply to the internal data set switchover. In this case:
• boChangeTechnologyObject = False: 1. Drive is active.
• boChangeTechnologyObject = True: 2. Drive is active.
5.3.9.1 Functionality
SIMOTION technology object data sets

Two technology object data sets can be set up in SIMOTION when required for hoist, gantry,
trolley, etc. The data set switchover is required to be able to switch over between a motor
encoder and external encoder for the position actual value sensing at SIMOTION.
TO data set 1: Hoist, Gantry, Trolley, Boom, Holding Gear, Closing Gear, Slewing
Gear
The motor encoder evaluates the position actual value.
TO data set 2: Hoist, Gantry, Trolley, Holding Gear, Closing Gear, Slewing Gear
(when required): The external encoder evaluates the position actual value.
Note
TO data set 2 is used only when using an external encoder, if this encoder is directly
connected to SIMOTION / SINAMICS. The external encoder is used for positioning.
Basic Technology
Figure 5-26 External encoder in TO
SINAMICS drive object data sets

In SINAMICS, two drive object data sets must be set up for the Hoist, Gantry, etc. function
modules. The second data set (DO data set 1) is required only for drives without active load
for speed control in the SENSORLESS EMERGENCY operating mode.
"Active load" means that the load for opened brake accelerates automatically (Hoist, Boom,
Holding Gear, etc.).
DO data set 0: Hoist, Gantry, Holding Gear, Closing Gear, Slewing Gear
Closed-loop speed control with motor encoder
DO data set 1: Gantry, Trolley, Slewing Gear
Closed-loop speed control without motor encoder
Analog to this, further drive object data sets must be created in SINAMICS for the associated
switchover options. Where other switchover options are required, e.g. Gantry to Boom or
Gantry to Hoist, the relevant data sets must also be set up based on the example illustrated
here.
DO data set 0: Trolley

DO data set 1: Trolley
DO data set 2: Boom
DO data set 3: Boom
Closed-loop speed control with motor encoder (because active load)
DO data set 4: Gantry
DO data set 5: Gantry
Note
DO data sets 4 and 5 can be selected only for the external TO switchover (refer to Chapter
Technology object switchover (Page 214)). They cannot be selected for the internal TO
switchover. Data sets 4 and 5 must be created for both TO switchover variants when a brake
test is required. A brake test is possible only with data set 6 and/or data set 7.
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Note
DO data set 6 or 7 is used for the brake test.
The brake test is implemented in the standard "STS Crane" application, refer to STS crane
(ship-to-shore) (Page 498) ).
Figure 5-27 FB_OperationMode, SIMOTION and SINAMICS data sets
5.3.9.2 Selecting a function module

The function module must only be defined once in the commissioning phase and then it may
no longer be changed. At this point, it must be decided whether the module is a Hoist,
Gantry, Trolley, Boom, Holding Gear, Closing Gear or Slewing Gear.
Prerequisites for selection without function module changeover:
● The drive has no power enable signal (power = INACTIVE)
● The drive is stationary (boStandstill = TRUE)
● The plausibility check has been completed successfully
Table 5- 8 Selecting/deselecting function modules
①: Selection ②:
Deselection
Function module Connection type Name Feedback signal Feedback
signal
Hoist IN boHoist TRUE FALSE
OUT boHoistActive TRUE FALSE
Gantry IN boGantry TRUE FALSE
OUT boGantryActive TRUE FALSE
Trolley IN boTrolley TRUE FALSE
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①: Selection ②:
Deselection
Function module Connection type Name Feedback signal Feedback
signal
OUT boTrolleyActive TRUE FALSE
Boom IN boBoom TRUE FALSE
OUT boBoomActive TRUE FALSE
Holding Gear IN boHoldingGear TRUE FALSE
OUT boHoldingGearActive TRUE FALSE
Closing Gear IN boClosingGear TRUE FALSE
OUT boClosingGearActive TRUE FALSE
Slewing Gear IN boSlewGear TRUE FALSE
OUT boSlewGearActive TRUE FALSE
The Hoist and Gantry function modules will now be explained in more detail using an
example.
Hoist active
The control and feedback signals are shown in the following sequence diagram. You will see
the selection as case ① and de-selection as case ②.
Case 1:
Output "boHoistActive" is set, if, when selecting input "boHoist" the plausibility check is OK.
Case 2:
Output "boHoistActive" is reset if, when de-selecting the input "boHoist" the plausibility check
is OK.
Basic Technology
Figure 5-28 FB_OperationMode, Hoist active
Gantry active
The control and feedback signals are shown in the following sequence diagram. You will see
the selection as case ① and de-selection as case ②.
Case 1:
Output "boGantryActive" is set if, when selecting the input "boGantry" the plausibility check is
OK.
Case 2:
Output "boGantryActive" is reset if, when de-selecting the input "boGantry" the plausibility
check is OK.
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Figure 5-29 FB_OperationMode, Travel gear active
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5.3.9.3 Technology object switchover

The technology object switchover (TO switchover) enables different motors to be driven
alternately via one Motor Module, e.g. Trolley and Boom via the Trolley drive or Gantry and
Boom via the Gantry drive.
Prerequisites for all function modules:
● Power: INACTIVE
● boStandStill: TRUE
● boErrorFunctionBlock: FALSE
Note
General settings for the configuration data of the axes:
• Restart.behaviourInvalidSysvarAccess = 2
• Restart.restartActivationSetting = 0
• RestartCondition.restartAxisCondition = 0
• TypeOfAxis.DecodingConfig.transferSuperimposedPosition = 2
• TypeOfAxis.NumberofDataSets.changeMode = 7
• TypeOfAxis.DriveControlConfig.pulsesEnabled.bitNumber = 11
• TypeOfAxis.DriveControlConfig.pulsesEnabled.pzdNumber = 14
• TypeOfAxis.DriveControlConfig.releaseDisableMode = 7
There are two options for TO switchover:

● Internal TO data set switchover (1 TO, 1 DO)
● External TO switchover (up to 3 TOs, 1 DO)
Note
The "boChangeTechnologyObjectActive" feedback signal in AppZSW2 bit 15 = TRUE is
made for an internal switchover only when the switchover itself is active.
• Example: Switchover between TO data set 1 (Trolley) and TO data set 3 (Boom)
If "boChangeTechnologyObject" = FALSE, TO data set 1 becomes active and no
feedback occurs ("boChangeTechnologyObjectActive" = FALSE). If
"boChangeTechnologyObject" = TRUE, TO data set 3 becomes active and a feedback
occurs ("boChangeTechnologyObjectActive" = TRUE).
For external switchover, the feedback "boChangeTechnologyObjectActive" in AppZSW2
bit 15 = TRUE occurs once the TO becomes activated.
• Example:
TO Trolley "boChangeTechnologyObject" = FALSE →
"boChangeTechnologyObjectActive" = FALSE
"boChangeTechnologyObject" = TRUE → "boChangeTechnologyObjectActive" =
TRUE
Basic Technology
Internal TO switchover
With internal TO data set switchover the technology object does not change. An additional
TO data set is simply set up containing the configuration data for the second drive. However,
this data set is created as the third data set because the second data set is reserved for
external encoders.
A second DO data set is also set up for the second motor in the drive object (DO). The
internal TO data set switchover functions only between two drives:
Figure 5-30 Internal TO switchover
Please note the following:

● Which motor is being driven via which converter must be determined. Example for Trolley
and Boom: The Boom motor can be driven via the Trolley converter or the Trolley motor
via the Boom converter.
● The function of each drive must be indicated in the program.
Example: In the Boom drive, boBoomActive must be set to True. In the Trolley drive,
boTrolleyActive must be set to True.
● The "boInternalTOChange" input for the OperationMode block must be set to TRUE and
the "boExternalTOChange" input must not be selected.
Note
The external encoder is optional. If no external encoder is present: Create a dummy TO data
set as TO data set 2, otherwise an internal switchover cannot occur.
TO data set 4 is required only when an external encoder is actually present.
Example:
Boom is being driven via the Trolley converter. Under "Axes" in the SCOUT project tree
there is just one (1) axis or just one (1) "Trolley" TO. This axis is used to move Trolley and
Boom.
In the technology object, at least three data sets must be created in the "Trolley" axis:
● TO data set 1: Trolley drive with motor encoder
● TO data set 2: Trolley drive with external encoder (if none is present, set up the data set
all the same and do not use it any further)
● TO data set 3: Boom drive with motor encoder
Basic Technology
Three drive data sets must also be created in the drive object for the Trolley drive.
● DO data set 0: Trolley drive with motor encoder
● DO data set 1: Trolley drive without encoder
● DO data set 2: Boom drive with encoder
Note
With internal TO switchover, the options for adapting the configuration data to the second
motor are limited. Only the configuration data under TypeOfAxis.NumberOfDataSets and
TypeOfAxis.NumberOfEncoders can be adapted.
Other important variables, such as the maximum velocity or the leadscrew pitch, are fixed
(permanently stored) and, as such, are independent of individual data sets.
(TypeOfAxis.NumberOfEncoders: An encoder can be permanently allocated to a data set.)
Procedure:
Note
1. Operating modes must be deselected and may only be reactivated once the switchover
has been carried out.
2. There must be no errors present.
3. Drives must be at a standstill and switched-off.
4. Interconnections such as synchronous mode, master-slave operation or external encoder
selection have to be disconnected.
The control and feedback signals are shown in the sequence diagram below. Selection is
described in case ① and deselection in case ②.
● Case 1: Changeover from Trolley to Boom
1. For trolley: boInternalTOChange = TRUE
2. Deselect operating mode in Trolley: AppSTW1 bit 10 - 15 = FALSE (depending on the
selected operating mode)
Check whether the operating mode is deselected: AppZSW1 bit 10 – 15 = FALSE
3. Deselect pulse enable: STW1 bit 3 = FALSE
4. Select "boChangeTechnologyObject" in Trolley: AppSTW2 Bit 15 = TRUE
Check whether "boChangeTechnologyObjectActive" is selected: AppZSW2 bit 15 =
TRUE
5. Select operating mode in Trolley: AppSTW1 bit 10 - 15 = TRUE (depending on the
Check whether the operating mode is selected: AppZSW1 bit 10 - 15
6. Select pulse enable: STW1 bit 3 = TRUE
The internal TO switchover from Trolley to Boom is now complete.
Basic Technology
● Case 2: Changeover back from Boom to Trolley

1. Deselect operating mode in Trolley: AppSTW1 bit 10 - 15 = FALSE (depending on the
Check whether the operating mode is deselected: AppZSW1 bit 10 - 15 = FALSE
3. Deselect "boChangeTechnologyObject" in Trolley: AppSTW2 Bit 15 = FALLS
Check whether "boChangeTechnologyObjectActive" is deselected: AppZSW2 bit 15 =
FALSE
4. Select operating mode in Trolley: AppSTW1 bit 10 - 15 = TRUE (depending on the
Check whether the operating mode is selected: AppZSW1 bit 10 - 15
5. Select pulse enable: STW1 bit 3 = TRUE
The internal TO switchover from Boom to Trolley is now complete.
Figure 5-31 Internal TO switchover (case ①: selection; case ②: deselection)
Basic Technology
External TO switchover (default solution)

With external TO switchover, a changeover is performed between two technology objects.
There is no need for an additional data set in the technology object. The drive object still
contains just one (1) drive with several data sets for both technology objects.
Figure 5-32 External TO switchover
The following points must be taken into account for external TO switchover:
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● Which motor is being driven via which converter must be determined. The boom motor
via the trolley or gantry converter or the gantry motor via the hoist converter.
● The FB_OperationMode must specify for each drive the associated function and its TO.
Example:
In the drive, i.e. DO data set, the following order must be maintained:
– DO 0/1 = Hoist
– DO 2/3 = Trolley
– DO 4/5 = Boom
This means the following inputs must be set in the associated function modules in
FB_OperationMode:
– Hoist boChangeTO_NR_1 = TRUE
– Trolley boChangeTO_NR_2 = TRUE
– Boom boChangeTO_NR_3 = TRUE
In addition, the boExternalTOChange = TRUE and boInternalTOChange = FALSE inputs
must be set for all technology objects involved in the external switchover.
Example:
For the Gantry motor, boGantry must be set to TRUE; for the Trolley motor, boTrolley
must be set to TRUE.
Note
The setting for which technology object is active following power-up can be made in the
configuration data for the technology object, e.g.
D435.Trolley_1.TypeOfAxis.SetpointDriverInfo.interfaceAllocation
This setting can be made for each encoder under
D435.Trolley_1.TypeOfAxis.NumberOfEncoders.Encoder_XY.interfaceAllocation.
There are three options here:
• EXCLUSIVE (939):
If no switchover is performed between multiple technology objects, EXCLUSIVE must
be set.
• NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED (940):
This setting is selected for the appropriate technology objects that should be switched
(usually Boom, for example).
Bit 15 must be set in application control word 2 so that the drive evaluates status word 1,
bit 9. Otherwise, it does not evaluate status word 1, bit 9.
The application status word 2, bit 15 is set when application control word 2, bit ? and
status word 1, bit 9 are set.
Basic Technology
Example:
The Boom is being driven via the Trolley converter. Under "Axes" in the SCOUT project tree
there are two axes, "Trolley" and "Boom". This means that each axis represents a motor.
Nevertheless, there is only one drive object (DO), i.e. only one converter for both motors,
which are operated alternately.
Only one data set is needed in the "Trolley" technology object (without external encoder).
● Data set 1: Trolley drive with motor encoder
● Data set 2: Trolley drive with external encoder (only if required)
Only one data set is needed in the "Boom" technology object (without external encoder).
● Data set 1: Boom drive with motor encoder
● Data set 2: Boom drive with external encoder (only if required)
3 or 4 drive data sets are needed in the "Trolley" drive object.

● DO data set 0: Trolley drive with motor encoder
● DO data set 1: Trolley drive without encoder
● DO data set 2: Boom drive with motor encoder
● DO data set 3: Drive without encoder (exception: Drives with active load. They are always
operated with encoder.)
Note
With external TO switchover, every motor has its own TO axis. The configuration data can
be individually adapted in the technology objects.
Procedure:
Note
1. There must be no errors present.
2. Drives have to be switched off.
3. Interconnections such as synchronous mode, master-slave operation or external encoder
selection have to be disconnected.
Basic Technology
Note
The control of the external Trolley to Boom switchover and Boom to Trolley switchover with
the signal diagram for the S7 project are described in the Commissioning (Page 351).
Further, the changeover sequence is available in an S7 project on the CD that is supplied
when the system is shipped.
The control and feedback signals are shown in the sequence diagram below. Selection is
described in case ① and deselection in case ②.
● Case 1: Changeover from Trolley to Boom
2. Deselect "boChangeTechnologyObject" in Trolley: AppSTW2 bit 15 = FALSE
Check trolley drive: ZSW1 bit 9 = FALSE
3. Select new TO Boom "boChangeTechnologyObject": AppStw2 bit 15 = TRUE
Check Boom drive: ZSW1 bit 9 = TRUE
The external TO switchover from Trolley to Boom is now complete.
● Case 2: Changeover back from Boom to Trolley

2. Deselect "boChangeTechnologyObject" in Boom: AppSTW2 bit 15 = FALSE
Check Boom drive: ZSW1 bit 9 = FALSE
3. Select new TO Trolley "boChangeTechnologyObject": AppStw2 bit 15 = TRUE
Check trolley drive: ZSW1 bit 9 = TRUE
The external TO switchover from Boom to Trolley is now complete.
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Figure 5-33 External TO switchover (case ①: selection; case ②: deselection)
For a switchover between Boom and another drive (Gantry or Trolley), external TO
switchover with Trolley is usually performed. For this reason, both function modules are
contained in the project in full.
Basic Technology
If a different switchover is required, for example, between Gantry and Hoist, or if the
switchover should be extended to three, for example for Trolley and Boom to Trolley and
Boom and Hoist, the following must be taken into account:
All switchable technology objects ultimately operate on a drive object (DO) in the SINAMICS.
The data is transferred between a technology object and a drive object using a standard
telegram. Depending on which the drive object is active, the connection is established
automatically using the telegram. The user does not need to make any additions. Additional
information, however, is exchanged between technology object and drive object not using a
standard telegram but rather using the I/O interface or the address list of the SIMOTION.
This must be be adapted in the case a reconfiguration of the external switchover.
All technology objects that can be switched between each other access the I/O variables of
the master TO axis. If, therefore, the master TO axis is a Trolley, the other TOs involved in
the switchover access those I/O variables whose name other with "Trolley".
Example:
Switchover between Trolley, Boom and Hoist: → TO Trolley, TO Boom and TO Hoist work on
DO trolley (converter). The following figure summarizes the relationship. In our example, Xxx
would be Trolley.
Figure 5-34 Several technology objects on a drive object
If a switchover is to be made to TO Boom, TO Boom must access the same variables in the
I/O as the TO Trolley in order to also receive the additional information. If the switchover is
extended to the Hoist, TO Hoist must also access the same I/O variables as TO Trolley and
TO Boom. The following figure shows that the variable assignments for the Boom (right-hand
side) access the variables for the Trolley (left-hand side) . Observe the possible differences
between Trolley and Boom for the nominal values! The variable assignment for Hoist then
corresponds exactly to that for Boom.
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Figure 5-35 Technology object (TO) - drive object (DO) interconnections
5.3.9.4 Description of the operating modes

The following information and rules should be carefully observed:
Information and rules when using a master switch:
● If the master switch is deflected in the positive direction, then in the AUTOMATIC,
MANUAL and EASY_POSITIONING operating modes
– a target position larger than the actual position must be entered (target position >
actual position), and
– a positive velocity "r64Velocity" must be entered through the controller (S7).
● If the master switch is deflected in the negative direction, then in the AUTOMATIC,
MANUAL and EASY_POSITIONING operating modes
– a target position smaller than the actual position must be entered (target position <
actual position), and
– a negative velocity "r64Velocity" must be entered through the controller (S7).
Information on the minimum velocity:

● The minimum velocity in the positive direction for the AUTOMATIC, MANUAL and
EASY_POSITIONING operating modes must also be specified as positive values
(r64MinimumVelocityAUTOPositive or r64MinimumVelocityManualPositive or
r64MinimumVelocityEASY_POSITIONINGPositive).
● The minimum velocity in the negative direction for the AUTOMATIC, MANUAL and
EASY_POSITIONING operating modes must also be specified as negative values
r64MinimumVelocityAUTONegative or r64MinimumVelocityManualNegative or
r64MinimumVelocityEASY_POSITIONINGPositive).
Basic Technology
Change of the velocity setpoint, acceleration time, delay time, initial rounding-off and final
rounding-off:
● Velocity, acceleration and deceleration can be changed at any time in the
SPEED_CONTROLLED operating mode.
● In the AUTOMATIC, EASY_POSITIONING and MANUAL operating modes, velocity,
acceleration and deceleration can be changed at any time:
In the delay phase, a longer delay time is not accepted although a shorter delay time is
accepted. If the delay time is reduced, the target position is no longer approached, but
rather the drive is braked with the shorter delay time.
● In the SENSORLESS EMERGENCY operating mode, the velocity can only be changed
up to the parameterizable limit "r64VelocitySensorlessEmergency". Acceleration and
deceleration can be changed at any time.
● In all operating modes, a change of the initial rounding-off and the final rounding-off is
applied only with a deflected master switch. The exception is the AUTOMATIC operating
mode. In this case, the change is applied immediately.
Operating mode: AUTOMATIC

control type: Closed-loop position controlled with/without synchronous operation
The AUTOMATIC operating mode is only accepted if the prerequisites for "selecting
operating modes" are fulfilled.
In the AUTOMATIC operating mode, the drive moves position-controlled to the specified
position (with the specified values for velocity, ramp-up time and ramp-down time). The
request is started with the specified values of the S7 using the control bit "start automatic
operation". If the master switch is deflected during automatic operation, the request is
interrupted and the master switch specifies the velocity setpoint.
If the master switch is deflected in the positive direction, then a positive velocity (r64Velocity)
and a target position (r64TargetPosition) that is greater than the actual position, must be
entered.
If the master switch is deflected in the negative direction, then a negative velocity
(r64Velocity) and a target position (r64TargetPosition) that is less than the actual position,
must be entered.
The target position is precisely approached if a minimum velocity is not configured. A
configured minimum velocity not equal to zero for a positive or negative direction (e.g.
r64MinimumVelocityAutoPositive) and if the master switch is not deflected, then when the
specified target position is reached, then the drive continues to move with the minimum
velocity (crawl) until the S7 specifically stops axis motion).
Basic Technology
AUTOMATIC request
In the AUTOMATIC operating mode, the controller (S7) specifies the target position, velocity,
acceleration and deceleration. Then, by starting the automatic request, the target position is
executed with the specified, dynamic values.
The various sequences of an automatic request are shown in the following sequence
diagram. The following should be observed regarding this sequence diagram:
● The operating mode was already correctly selected, i.e. the plausibility check is OK.
● Velocity, acceleration and deceleration are not changed in this sequence diagram.
● The master switch is not deflected.
Note
AUTOMATIC requests can only be executed if the module is in MasterMode
(boSlaveModeActive = FALSE).
Section 1:
In the first section of the sequence diagram, a target position of 20,000 mm is specified.
Then, the AUTOMATIC request is started with a positive edge of the input signal
"boStartAutomaticOrder". The feedback signal "boAutomaticOrderActive" is set as soon as
the request is executed. When the specified target position is reached, the feedback signal
"boAutomaticOrderActive" is reset and the feedback signal "boAutomaticPositionReached" is
set.
Section 2:
In the second section of the sequence diagram, a target position of 40,000 mm is specified.
As soon as the request is executed, the checkback signal "boAutomaticPositionReached" is
set. The same sequence as in section 1 is executed.
Section 3:
In the third section of the sequence diagram, a target position of 60,000 mm is specified. The
same sequence as in section 2 is executed. During an automatic request that is running, the
target position is changed from 60,000 mm to 0 mm. The new target position is accepted
immediately, i.e. the old target position is rejected and the new target position is approached.
When the specified target position is reached, the feedback signal "boAutomaticOrderActive"
is reset and the feedback signal "boAutomaticPositionReached" is set.
Basic Technology
Figure 5-36 FB_OperationMode, AUTOMATIC request
Minimum velocity for the AUTOMATIC operating mode

The minimum velocity should be separately configured for the positive and negative
directions. If a minimum velocity is configured, the specified target position is not precisely
approached, but the axis moves past the target position with the configured minimum
velocity. When approaching the target position, the drive transitions from constant velocity
into the deceleration phase. The override point of the AUTOMATIC request is a percentage
value above the configured minimum velocity and an absolute value before the target
position. The minimum velocity can be set using the r64toleranceMinimumVelocity input
between 0-500% based on the minimum velocity; the target position is set using the
r64MinimumVelocityTolerancePosition input. This means that a continuous velocity transition
is achieved. The drive must be stopped from the higher-level controller (S7).
Use: Minimum velocity
As soon as the target positions are not precisely known - e.g. due to different heights of the
containers or trucks, the minimum velocity should be used.
Sequence diagram
● Various sequences of an AUTOMATIC request - with and without configured minimum
velocity - are shown in the following sequence diagram. The same secondary conditions
and constraints apply as in the diagram above.
Basic Technology
Section 1:
In the first section of the sequence diagram, a positive minimum velocity is not configured. A
target position of 10,000 mm is specified. Then, the AUTOMATIC request is started with a
positive edge of the input signal "boStartAutomaticOrder". The feedback signal
"boAutomaticOrderActive" is set as soon as the request is executed. When the specified
target position is reached, the feedback signal "boAutomaticOrderActive" is reset and the
feedback signal "boAutomaticPositionReached" is set.
Section 2:
In the second section of the sequence diagram, a positive minimum velocity is configured. A
target position of 20,000 mm is specified. The same sequence as in section 1 is started. The
AUTOMATIC request is cut-out in the deceleration phase as soon as the actual velocity
reaches the configured minimum velocity. The "boAutomaticOrderActive" feedback signal is
then reset. The drive continues with the configured minimum velocity until the power-down
command comes from the controller.
Figure 5-37 FB_OperationMode, AUTOMATIC operating mode, minimum velocity
Basic Technology
Deflecting the master switch in the AUTOMATIC operating mode

An AUTOMATIC request is started or executed if the master switch is not deflected. The
crane driver can however, intervene in an AUTOMATIC request that is running at any time
by deflecting the master switch. When the master switch is deflected, then the active
AUTOMATIC request is interrupted and the crane driver can control the crane. The
intervention of the crane driver is only intended for emergencies and does not change the
operating mode. After intervening, the crane driver can restart the AUTOMATIC request. It
should be noted that the velocity for AUTOMATIC is sent via PZD4 and the velocity of the
deflection is sent via PZD2 - as is usually the case in the MANUAL and
SPEED_CONTROLLED operating modes.
Note
As soon as the master switch is deflected in the AUTOMATIC operating mode, the control
(S7) must issue the following:
positive velocity setpoint in PZD2 and target position > actual position, or
negative velocity setpoint in PZD2 and target position < actual position
Sequence diagram
Various sequences of an AUTOMATIC request without deflected master switch and with
deflected master are shown in the following sequence diagram. It should be noted that
acceleration and deceleration are not changed in this sequence diagram.
Section 1:
In the first section of the sequence diagram, the master switch is not configured. A target
position of 10,000 mm is specified. The AUTOMATIC request then runs as shown in the
diagram "FB_OperationMode, AUTOMATIC request" (refer above).
Section 2:
In the second section of the sequence diagram, the master switch is deflected during an
AUTOMATIC request. A target position of 20,000 mm is specified. The AUTOMATIC request
is then started with a positive edge of the input signal "boStartAutomaticOrder" and the
feedback signal "boAutomaticOrderActive" is set. While the automatic request is being
processed, the master switch is deflected in the positive direction. The AUTOMATIC request
is interrupted and the control (S7) specifies a new maximum, positive target position. Using
his master switch, the crane driver has control over his crane.
Basic Technology
Figure 5-38 FB_OperationMode, AUTOMATIC operating mode, interrupt by the master switch
Change in the AUTOMATIC operating mode

A target position change in the AUTOMATIC operating mode is only accepted if the target
position has still not been reached. Velocity and acceleration can be changed at any time.
Deceleration can only be changed and accepted in the following cases:
1. The drive is stationary.
2. The drive is in the acceleration phase.
3. The drive is in the constant velocity phase.
4. The drive is in the constant velocity phase and the remaining distance (r64distanceToGo)
is greater than the braking distance (r64StopingDistance).
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As soon as the remaining distance (r64distanceToGo) is less than the braking distance
(r64Stoping Distance) and the drive is in the deceleration phase, it is no longer possible to
change the deceleration time. The drive is braked with the last valid deceleration time. This
safety function has been incorporated so that if the deceleration ramp is
unfavorably/incorrectly set, then the drive does not move past the target.
Sequence diagram
Various sequences of an AUTOMATIC request where the deceleration time is changed are
shown in the following sequence diagram. In the sequence diagram, a differentiation is made
between the specified deceleration (r64Deceleration) from the control (S7) and the accepted
deceleration (r64Deceleration_internal). It should be noted that acceleration and velocity are
not changed in this sequence diagram.
Section 1:
In the first section of the sequence diagram, a target position of 20,000 mm is specified and
a deceleration time of 9,000 ms. Then, a normal sequence of the AUTOMATIC request
starts. During the constant-velocity travel, the delay time is changed from 9,000 ms to 7,000
ms. This change is also accepted as the drive is in the constant-velocity phase. When the
specified target position is reached, the feedback signal "boAutomaticOrderActive" is reset
and the feedback signal "boAutomaticPositionReached" is set.
Section 2:
In the second section of the sequence diagram, a target position of 40,000 mm and a
deceleration time of 7,000 ms are specified. Then, an AUTOMATIC process starts. The
distance to go (r64distanceToGo) is less than the braking distance (r64Stopping Distance)
and the drive is decelerating. In this phase, the delay time is changed from 7,000 ms to
5,000 ms. This change is not accepted as the remaining distance is less than the braking
distance and the drive is decelerating, i.e. the drive decelerates with the last valid
deceleration time. When the specified target position is reached, the feedback signal
"boAutomaticOrderActive" is reset and the "boAutomaticPositionReached" is set.
Section 3:
In the third section of the sequence diagram, a target position of 60,000 mm is specified and
a deceleration time of 9,000 ms. The AUTOMATIC request is then started. While
accelerating, the deceleration time is changed from 9,000 ms to 10,000 ms. This change is
accepted because the drive is accelerating. When the specified target position is reached,
the feedback signal "boAutomaticOrderActive" is reset and the feedback signal
"boAutomaticPositionReached" is set.
Basic Technology
Figure 5-39 FB_OperationMode, deceleration ramp in the AUTOMATIC operating mode
Basic Technology
Operating mode: MANUAL

control mode: Closed-loop position controlled with/without synchronous operation
The MANUAL operating mode is only accepted if the prerequisites for "select operating
modes" are fulfilled.
In the MANUAL operating mode, the axis moves closed-loop position controlled. In so doing,
the S7 specifies the target position, velocity, ramp-up time and ramp-down time. The travel
direction is specified by the master switch via the velocity. If the master switch is deflected in
the positive direction, then a positive velocity (r64Velocity) and a target position
(r64TargetPosition) that is greater than the actual position, must be entered.
If the master switch is deflected in the negative direction, then a negative velocity
(r64Velocity) and a target position (r64TargetPosition) that is less than the actual position,
must be entered.
The target position is precisely approached if a minimum velocity is not configured. Once the
preset ramp-down time has elapsed, a velocity limit is applied shortly before the target
position (smart slow-down). A configured minimum velocity not equal to zero for a positive or
negative direction (e.g. "r64MinimumVelocityManualPositive") and deflected master switch
means that when the specified target position is reached, then the axis continues to move
with the minimum velocity (crawl).
Sequence diagram
In the following sequence diagram, various sequences associated with the MANUAL
operating mode are shown without configured minimum velocity and with configured
minimum velocity. It should be noted that acceleration and deceleration are not changed in
this sequence diagram.
Section 1:
In the first section of the sequence diagram, a positive minimum velocity is not configured.
The master switch is deflected in the positive direction. In so doing, the maximum positive
target position (r64TargetPosition) of 120,000 mm is specified. The velocity (r64Velocity) is
defined by the degree of deflection of the master switch. The velocity is slowly reduced down
to standstill (zero speed) using the master switch.
Section 2:
In the second section of the sequence diagram, a positive minimum velocity is configured.
target position (r64TargetPosition) of 120,000 mm is specified. When the maximum positive
target position is reached and therefore the actual velocity reaches the configured minimum
velocity, then in the deceleration phase a changeover is made to the minimum velocity. The
drive continues to move with the configured minimum velocity until the master switch is no
longer deflected or the power-down command comes from the control.
Basic Technology
Figure 5-40 FB_OperationMode, MANUAL operating mode, minimum velocity
Operating mode: EASY_POSITIONING control type: Closed-loop position controlled with/without

synchronous operation
The EASY_POSITIONING operating mode is accepted only when the prerequisites for
"selecting operating modes" are fulfilled.
In the EASY_POSITIONING operating mode, controlled movement is made to the target
position. In so doing, the S7 specifies the target position, velocity, ramp-up time and ramp-
down time. The travel direction is specified by the master switch via the velocity. If the
master switch is deflected in the positive direction, a positive velocity (r64Velocity) and a
target position (r64TargetPosition) that is greater than the actual position must be entered.
If the master switch is deflected in the negative direction, a negative velocity (r64Velocity)
and a target position (r64TargetPosition) that is less than the actual position must be
entered.
The target position is precisely approached if a minimum velocity is not configured.
A velocity limit is applied shortly before the target position after the predefined ramp-down
time. A configured minimum velocity not equal to zero for a positive or negative direction
(e.g. r64MinimumVelocityEASY_POSITIONINGPositive) and deflected master switch means
that when the specified target position is reached the axis continues to move with the
minimum velocity (crawl).
Basic Technology
For EASY_POSITIONING, the r64KP_ChangeOverPoint gain must be set for positioning.

This sets the deceleration ramp and therefore the approach.
The gain has the default value of 0.5. This results in a slow approach (depending on the
acceleration and the maximum velocity). Increasing the gain can achieve a steeper
deceleration.
Note
During the first commissioning, a positioning must ensure that the gain is set correctly and
no overshoot occurs. The positioning must be tested again after every change of the gain,
deceleration or jerk.
Setting the positioning

The positioning is controlled using the "r64KP_ChangeOverPoint" variable. The positioning
generally controls the maximum permissible velocity setpoint until the end position is
approached (grab open or closed). The velocity setpoint can be limited at any time by
deflecting the master switch. Shortly before the end position is reached, the
"r64KP_ChangeOverPoint" variable accepts the velocity setpoint and approaches the end
position.
"r64KP_ChangeOverPoint" is required for the P element. The root function keeps the
setpoint lower than with a P element in the event of significant positional differences. When
the end position is reached and the positional difference is, therefore, minor, the route
function is replaced by the P element, since its characteristic gets very steep towards the
end. Here, the P element becomes active and ensures a linear path.
The maximum gain near to the target point is set by the KP factor.
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Figure 5-41 Theoretical characteristic of KP variables and results
Basic Technology
Note
Experience has shown that the value 0.5 (default value for "r64KP_ChangeOverPoint")
works very well in practice.
The gain factor defines the length of the constant velocity phase and the start of the
deceleration phase. The specified ramp-up time is not changed, but only the ramp-down
time. As a consequence, the total delay time can be influenced.
NOTICE
The slope of the deceleration ramp determined by the KP variable must be set so that the
predefined ramp-down time (set by the higher-level controller, e.g. S7) is not undershot.
This is to stop the drive overshooting the target.
If "r64KP_ChangeOverPoint" is too small, the drive will go straight into the deceleration
phase during ramp-up without having reached the constant velocity phase because the KP
factor is too weak and the drive must start to brake earlier.
Figure 5-42 KP factor too weak → long delay time
A delay time close to requirements with reserves can be achieved by increasing

"r64KP_ChangeOverPoint". The ramp-down time is somewhat longer than the ramp-up time.
The delay time could be reduced further. The purpose of a reserve is to allow the predefined
ramp-down time (set by the higher-level controller) to be increased without having to adapt
the KP factor.
Figure 5-43 Increased KP factor with reserves → good delay time
Basic Technology
If the KP factor is optimized in terms of time, the deceleration ramp will match the predefined
deceleration ramp. In this context, it is important that the predefined deceleration is not
undershot. This is to stop the drive overshooting the target. The predefined ramp-down time
cannot be increased further without adapting the KP factor accordingly.
Figure 5-44 Time-optimized KP setting
Setting a KP factor which is too high shortens the ramp-down time and makes the ramp
steeper than would be the case with the predefined ramp-down time. The drive will
overshoot the target in this case.
Figure 5-45 KP factor too high → target overshot
Note
Ensure when positioning that the target is not overshot, not even briefly. The positioning
should be tested again after every change of the maximum velocity, gain, deceleration or
jerk. The target position for testing should be set so that an overshoot will not cause any
damage; otherwise the KP factor is too large.
Sequence diagram
In the following sequence diagram, various sequences associated with the
EASY_POSITIONING operating mode are shown without configured minimum velocity and
with configured minimum velocity. It should be noted that acceleration and deceleration are
not changed in this sequence diagram.
Basic Technology
Section 1:
No positive minimum velocity is configured in the first section of the sequence diagram. The
master switch is deflected in the positive direction. In so doing, the maximum positive target
position (r64TargetPosition) of 120000 mm is specified. The velocity (r64Velocity) is defined
by the degree of deflection of the master switch. The velocity is slowly reduced down to
standstill (zero speed) using the master switch.
Section 2:
A positive minimum velocity is configured in the second section of the sequence diagram.
target position (r64TargetPosition) of 120000 mm is specified. When the maximum positive
target position is reached and therefore the actual velocity reaches the configured minimum
velocity, then in the deceleration phase a changeover is made to the minimum velocity. The
drive continues to move with the configured minimum velocity until the master switch is no
longer deflected or the power-down command comes from the controller.
Figure 5-46 FB_OperationMode, EASY_POSITIONING operating mode, minimum velocity
Basic Technology
Operating mode: SPEED_CONTROLLED

Control mode: Closed-loop speed controlled with/without synchronous operation
Note
The SPEED_CONTROLLED operating mode can be used instead of the previous JOGGING
operating mode; however, the limitation to the required velocity must be realized in the PLC.
The SPEED_CONTROLLED operating mode is accepted only if the prerequisites for

"selecting operating modes" are fulfilled.
In the SPEED_CONTROLLED operating mode, the axis moves with the velocity, ramp-up
and ramp-down times specified from the S7. The travel direction is specified using the
setpoint (PZD2). If the master switch is deflected in the positive direction, then a positive
velocity must be specified (r64Velocity). If the master switch is deflected in the negative
direction, then a negative velocity must be specified (r64Velocity).
Sequence diagram
Various sequences of SPEED_CONTROLLED operation are shown in the following
sequence diagram. It should be noted that acceleration and deceleration are not changed in
this sequence diagram.
Section 1:
In the first section of the sequence diagram, the master switch is deflected in the positive
direction. The velocity (r64Velocity) is defined by the degree of deflection of the master
switch. The master switch is slowly deflected in the positive direction up to approx. 50% and
after a short constant-velocity phase is again slowly returned to standstill.
Section 2:
In the second section of the sequence diagram, the master switch is deflected in the
negative direction. The velocity (r64Velocity) is defined by the degree of deflection of the
master switch. The master switch is slowly deflected in the negative direction up to approx. -
50 % and after a short constant-velocity phase is again slowly returned to standstill.
Basic Technology
Figure 5-47 FB_OperationMode, SPEED_CONTROLLED operating mode
Operating mode: SENSORLESS EMERGENCY

Control mode: Closed-loop speed controlled without encoder or V/f control
The SENSORLESS EMERGENCY operating mode is only accepted if the prerequisites for
"select operating modes" are fulfilled.
In the SENSORLESS EMERGENCY operating mode, the axis moves with the velocity and
ramp-up and ramp-down times specified from the S7. S7 limits the velocity setpoint to a
value that can be configured (r64VelocitySensorlessEmergency). The travel direction and
velocity is defined by the deflection of the master switch.
Note
The V/f control is permissible only in the SENSORLESS EMERGENCY operating mode.
WARNING
When using the V/f control type, the technology object (TO) must not be deleted and
created as the V/f drive. The technology object (TO) must not be deleted. The p1300
parameter only needs to be parameterized in the drive object (DO) in the correct drive data
set (DDS) for speed control with or without encoder on V/f control.
Basic Technology
WARNING
Active loads must not be operated without an encoder. "Active load" means that the load for
opened brake accelerates automatically (Hoist, Boom, Holding Gear, etc.).
Sequence diagram
Various sequences of SENSORLESS EMERGENCY are shown in the following sequence
diagram. It should be noted that acceleration and deceleration are not changed in this
sequence diagram.
Section 1:
In the first section of the sequence diagram, the master switch is deflected in the positive
direction. The velocity (r64Velocity) is defined by the degree of deflection of the master
switch and by the velocity configured for SENSORLESS EMERGENCY. The master switch
is slowly deflected in the positive direction up to approx. 50% but the velocity is limited to the
velocity configured for SENSORLESS EMERGENCY and after a short constant-velocity
phase is again slowly returned to standstill.
Section 2:
In the second section of the sequence diagram, the master switch is deflected in the
negative direction. The velocity (r64Velocity) is defined by the degree of deflection of the
master switch and by the velocity configured for SENSORLESS EMERGENCY
(r64VelocitySENSORLESSEMERGENCY). The master switch is slowly deflected in the
negative direction up to approx. -50%, but the velocity is limited to the velocity configured for
SENSORLESS EMERGENCY and after a short constant-velocity phase is again slowly
returned to standstill.
Basic Technology
Figure 5-48 FB_OperationMode, SENSORLESS EMERGENCY operating mode
Operating mode: SWAYCONTROL

Control mode: Speed-controlled with encoder
The SWAYCONTROL operating mode is accepted only if the prerequisites for "selecting
operating modes" are fulfilled.
In the SWAYCONTROL mode, all of the motion control tasks associated with the drive are
performed by the Advanced Technology (sway control) and no longer by Basic Technology
(refer to the figure below). The velocity defined by the S7 is forwarded to the relevant Sway
Control block. The ramp-up and ramp-down times are fixed (permanently stored) using the
CeComm calculation tool. For detailed information, refer to the SIMOCRANE Sway Control
Operating Instructions (Ref. [12]).
In SWAYCONTROL operating mode, all DCC blocks are calculated, i.e. including the Basic
Technology blocks. However, only the blocks described below are used in SWAYCONTROL
operating mode, no others.
For hoisting gear applications, block DCC_LoadDependingFieldWeak is taken into account
for the permissible maximum velocity. Block DCC_StartPulse can always be used regardless
of the operating mode. For grabs, even more blocks (DCC_SlackRopeControl and
DCC_CurrentEqualControl) are used independent of the operating mode.
Heavy-duty operation cannot be selected in SWAYCONTROL operating mode.
Basic Technology
In SWAYCONTROL operating mode the technology object only checks the maximum
velocity and acceleration. The acceleration and velocity limits must not be exceeded in the
technology object if limits are in place. The technology object no longer carries out
positioning, standstill, or following error monitoring.
Figure 5-49 FB_OperationMode, SWAYCONTROL operating mode
5.3.9.5 Selecting operating modes

Prerequisites:
1. Only one operating mode is selected.
2. The drive is not being controlled (the drive is at standstill).
3. Activation of the technology object.
4. It is only necessary to home the axis when AUTOMATIC, MANUAL,
EASY_POSITIONING or SWAYCONTROL is selected.
Note
If the selection of the operating mode is not plausible, however, no error message is
output.
AUTOMATIC, MANUAL, EASY_POSITIONING or SWAYCONTROL operating mode can
only be selected if the drive has been homed in compliance with the conditions specified
above; in other words, if there is a clear reference between the measuring system and
the travel path.
Basic Technology
Table 5- 9 Checkback signal drive data set selection
Drive bocheckbackDriveDataSet- bocheckbackDriveDataSet- bocheckbackDriveDataSet- Encoder

data set Bit0active Bit1active Bit2active present
0 False False False Yes
1 True False False No
2 False True False Yes
3 True True False No
4 False False True Yes
5 True False True No
6 False True True Yes
7 True True True Yes
The control of the operating modes is shown in various case examples in the following
pages. The POWER signal indicates the power enable signal at the technology object.
AUTOMATIC operating mode

Case 1:
The drive is not homed, i.e. there is no reference between the measuring system and travel
path. The AUTOMATIC operating mode is selected. The AUTOMATIC operating mode is not
accepted because the drive has not been homed.
Case 2:
The SPEED_CONTROLLED operating mode is active and the axis moves. The
AUTOMATIC operating mode is selected. The AUTOMATIC operating mode is not accepted
because the drive is moving and is still in closed-loop control.
Case 3:
The OperationMode function block has an error. The AUTOMATIC operating mode is
selected. The AUTOMATIC operating mode is accepted.
Case 4:
The AUTOMATIC operating mode is selected. No other operating mode is selected, the
drive is stationary (zero speed), the drive is not being controlled, the OperationMode function
block does not have an error, and drive data set 0 or 2 is active. AUTOMATIC ACTIVE is
signaled back. This means that the operating mode was correctly accepted.
Basic Technology
Figure 5-50 FB_OperationMode, AUTOMATIC operating mode
MANUAL operating mode
Case 1:
The drive is not homed, i.e. there is no reference between the measuring system and the
travel path. The MANUAL operating mode is selected. The Manual operating mode is not
accepted because the drive has still not been homed.
Case 2:
The SPEED_CONTROLLED operating mode is active and the axis moves. The MANUAL
operating mode is selected. The MANUAL operating mode is not accepted because the drive
is moving and is still in closed-loop control.
Case 3:
The OperationMode function block has an error. The MANUAL operating mode is selected.
The MANUAL operating mode is accepted.
Basic Technology
Case 4:
The MANUAL operating mode is selected. No other operating mode is selected, the drive is
stationary (zero speed), the drive is not subject to closed-loop control, the OperationMode
function block does not have an error, and drive data set 0 or 2 is active. MANUAL Active is
signaled back. This means that the operating mode was correctly accepted.
Figure 5-51 FB_OperationMode, MANUAL operating mode
EASY_POSITIONING operating mode
Case 1:
The drive is not homed, i.e. there is no reference between the measuring system and the
travel path. The EASY_POSITIONING operating mode is selected. The
EASY_POSITIONING operating mode is not accepted because the drive has not been
homed.
Case 2:
EASY_POSITIONING operating mode is selected. The EASY_POSITIONING operating
mode is not accepted because the drive is moving and is still in closed-loop control.
Basic Technology
Case 3:
The OperationMode function block has an error. The EASY_POSITIONING operating mode
is selected. The EASY_POSITIONING operating mode is accepted.
Case 4:
The EASY_POSITIONING operating mode is selected. No other operating mode is selected,
the drive is stationary (zero speed), the drive is not subject to closed-loop control, the
OperationMode function block does not have an error, and drive data set 0 or 2 is active.
EASY_POSITIONING active is returned. This means that the operating mode was correctly
accepted.
Figure 5-52 FB_OperationMode, EASY_POSITIONING operating mode
SPEED_CONTROLLED operating mode

Case 1:
SENSORLESS EMERGENCY mode is active and the axis is moving. The
SPEED_CONTROLLED operating mode is selected. The SPEED_CONTROLLED operating
mode is not accepted because the drive is moving and is still in closed-loop control.
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Case 2:
The OperationMode function block has an error. The SPEED_CONTROLLED operating
mode is selected. The SPEED_CONTROLLED operating mode is accepted.
Case 3:
The SPEED_CONTROLLED operating mode is selected. No other operating mode is
selected, the drive is stationary (zero speed), the drive is not subject to closed-loop control,
the OperationMode function block does not have an error, and drive data set 0 or 2 is active.
Then, the SPEED_CONTROLLED ACTIVE feedback signal is output. This means that the
operating mode was correctly accepted.
Figure 5-53 FB_OperationMode, SPEED_CONTROLLED operating mode
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Operating mode SENSORLESS EMERGENCY

Case 1:
SENSORLESS EMERGENCY operating mode is selected. The SENSORLESS
EMERGENCY operating mode is not accepted because the drive is moving and is still in
closed-loop control.
Case 2:
The OperationMode function block has an error. The SENSORLESS EMERGENCY
operating mode is selected. The SENSORLESS EMERGENCY operating mode is accepted.
Case 3:
The SENSORLESS EMERGENCY operating mode is selected. No other operating mode is
selected, the drive is stationary (zero speed), the drive is not in closed-loop control, the
OperationMode function block does not have an error. A drive data set is switched over
internally (DDS 1 or DDS 3) and then the SENSORLESS EMERGENCY ACTIVE feedback
signal is output. This means that the operating mode was correctly accepted.
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Figure 5-54 FB_OperationMode, SENSORLESS EMERGENCY operating mode
SWAYCONTROL operating mode

Case 1:
The drive is not homed, i.e. there is no reference between the measuring system and travel
path. SWAYCONTROL mode is selected. SWAYCONTROL mode is not accepted because
the drive has not been homed.
Case 2:
The SPEED_CONTROLLED operating mode is active and the axis moves.
SWAYCONTROL mode is selected. SWAYCONTROL mode is not accepted because the
drive is moving and is still under control.
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Case 3:
The OperationMode function block has an error. SWAYCONTROL mode is selected. The
SWAYCONTROL operating mode is accepted.
Case 4:
Heavy-duty operation is active and SWAYCONTROL mode is selected. SWAYCONTROL
mode is not accepted because the drive is in heavy-duty operation.
Case 5:
SWAYCONTROL mode is selected. No other operating mode is selected, the drive is
stationary (zero speed) and referenced, the drive is not in closed-loop control and drive data
set 0 or 2 is active. SWAYCONTROL ACTIVE is fed back. This means that the operating
mode was correctly accepted.
Figure 5-55 FB_OperationMode, SWAYCONTROL operating mode
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5.3.9.6 Homing
When the power is switched in at the system, generally, the motor encoder and the travel
path are not referenced with one another - unless an absolute measuring system for
SIMOTION is being used. This means that the motor encoder transfers an actual position to
the controller that does not correspond to the actual position of the travel path. Homing is
mandatory in the AUTOMATIC, MANUAL, EASY_POSITIONING and SWAYCONTROL
operating modes for this reason. Without homing, these operating modes do not become
active.
Homing is only possible if the drive has no power enable (power is inactive). There are two
homing possibilities:
Possibility 1:
The homing position is specified by the "S7" controller by means of target position
"r64TargetPosition". The input "boHomingValuePLC" must be set. The homing position is
only accepted from the target position "r64TargetPosition" after this input has been set. The
input "boStartHoming" is then started with a positive edge. This means that the actual
position "r64ActualPosition" is set to the value of the target position. The output
"boAxisHomed" is set after the operation has been completed.
Possibility 2:
The homing position is permanently saved in the variable "r64HomingFixValue". It is not
permissible that the input "boHomingValuePLC" is set. The input "boStartHoming" is then
started with a positive edge. This means that the actual position "r64ActualPosition" is set to
a permanently saved value. The output "boAxisHomed" is set after the operation has been
completed.
Note
The input "boStartHoming" is only briefly set using a positive edge.
The input "boHomingValuePLC" is used to select whether the homing value should be taken
from the target position "r64targetPosition" of the "S7" controller or from the permanently
saved value "r64HomingFixValue".
The output "boAxisHomed" indicates whether a drive has been referenced or not.
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Figure 5-56 FB_OperationMode, homing
5.3.9.7 Master-slave operation control type

The master-slave operation control type is used if two motors are connected to a common
shaft (refer to the figure below). The master operates either closed-loop position controlled or
closed-loop speed controlled depending on the operating mode. The slave only operates
closed-loop torque controlled. The master sends the torque as torque setpoint to the slave.
The drive that operates either closed-loop position controlled or closed-loop speed controlled
is the master. The MasterMode must be selected in this module (boSlaveMode = FALSE).
For the master, input "boSelectMasterSlaveOperation" must be set and the output
"boMasterSlaveOperationActive" must be active. This means that the master does not
immediately start to operate, but waits for output signals from the slave. The following output
signals from the slave are checked:
1. The active operating mode of the slave is checked; the master and slave must have
identical operating modes.
2. The power enable from the slave is checked.
3. Master-slave operation must be active.
The drive that operates closed-loop torque controlled is the slave. The SlaveMode must be
selected in this module, i.e. input "boSlaveMode = TRUE" and the output
"boSlaveModeActive" must be active. This means that it is also possible to select master-
slave operation "boSelectMasterSlaveOperation".
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Figure 5-57 Master-slave operation control type
Selection and deselection in the master-slave operation control type for master and slave are
illustrated in the sequence diagrams below:
Selecting the master-slave operation control type
The selection is made, if
● there is no power enable (Power = FALSE, STW1 bit 3).
● the drive is at a standstill (zero speed) (boStandStill = TRUE, AppZSW1 bit 2).
● the master and slave operating modes are the same.
Control word / Bit Designation Master SLAVE

status word (Hoist_1) (Hoist_2)
Appl_STW1 6 Selecting master-slave operation TRUE TRUE
7 Selecting synchronous operation FALSE FALSE
Appl_STW2 13 SlaveMode FALSE TRUE
Appl_ZSW1 6 Message, master-slave operation active TRUE TRUE

7 Message, synchronous operation active FALSE FALSE
Appl_ZSW2 13 SlaveModeActive FALSE TRUE
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Master-slave operation selection is now active, i.e. the two drives now operate in this mode.
The master is normally controlled as in the operating modes that have already been
described.
Note
For the slave, no setpoint may be specified and the STW1 must be set as for the master.
The "boSelectMasterSlaveOperation" input must be set for the master and slave.
Note
For master-slave operation, the control by the control word 1 must remain active until both
drives have come to a standstill.
The setpoint enable (STW1, bit 6) must not be reset if the drives are in motion.
Figure 5-58 Selecting the master-slave operation control type
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Deselecting the master-slave operation control type

Master-slave operation is deactivated if there is no power enable (Power = FALSE) and the
drive is at a standstill (zero speed). Input "boSelectMasterSlaveOperation" is reset for both
the master and slave. Then, the output "boMasterSlaveOperationActive" must be inactive. In
addition, for the slave the "boSlaveMode" input must be reset. This means that master-slave
operation is de-selected.
Note
If the master needs to be moved by itself after the master-slave operation control type has
been deselected, the "boSelectMasterSlaveOperation" input must be reset. The master can
only move alone if the output "boSelectMasterSlaveOperationActive" has been reset (the
output signals from the slave are no longer checked).
NOTICE
In the master-slave operation control mode, the setpoint and the position may be defined at
the master only. The setpoint that is entered must match the position. If this requirement is
not met, the drive command will be withdrawn.
The torque setpoint of the slave (p1503) is permanently connected to the torque setpoint of
the master (r0079). However, this does not have any effect on the selection of master-slave
operation.
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Figure 5-59 Deselecting the master-slave operation control type
5.3.9.8 Synchronous operation control type

The synchronous operation control type (SynchronousOperation) is used if two motors are
connected to a common load (refer to the figure below). Depending on the operating mode,
the master and slave operate as a function of the operating modes "closed-loop position
controlled" or "closed-loop speed controlled". The slave receives from the master through a
gear (gear ratio 1 : 1) depending on the operating mode, either a speed or position setpoint.
Two fixed gears must be created for each synchronous mode coupling (Hoist, Gantry,
Trolley) in the SIMOTION SCOUT project "Technology". One of the fixed gears must be set
up for speed-controlled operation ("Ignore position" must be selected). The second fixed
gear must be set up for position-controlled operation.
Both fixed gears are configured only for the slave at the OperationMode block (TO_GearVel
and TO_GearPos) in the user program.
The fixed gears are interconnected as follows: The fixed gears are interconnected with the
master by way of setpoint coupling. The motion output of the corresponding fixed gear is
used to connect the slave as the motion input (see Ref. [9], Chapter 1.1).
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Synchronous operation operates as a function of the operating mode either as closed-loop

speed controlled synchronous operation or as closed-loop position controlled synchronous
operation.
In closed-loop speed controlled synchronous operation, the master transfers the velocity to
the slave via a gear (gear ratio of 1 : 1).
In closed-loop position controlled synchronous operation, the master transfers the position
value to the slave via a gear (gear ratio of 1 : 1).
The master module must be in the master mode, i.e. it is not permissible that input
"boSlaveMode" is set and it is not permissible that the output "boSlaveModeActive" is active.
For the master, the input "boSelectSynchronousOperation" must be set and the output
"boSynchronousOperationActive" must be active. This means that the master does not
immediately start to operate, but waits for output signals from the slave. The following output
signals from the slave are checked:
1. The active operating mode of the slave is checked; the master and slave must have
identical operating modes.
2. The power enable from the slave is checked.
3. Synchronous operation must be active.
The slave module must be in the slave mode, i.e. the input "boSlaveMode" must be set and
the output "boSlaveModeActive" must be active. This means that it is also possible to select
synchronous operation "boSelectSynchronousOperation".
Figure 5-60 Synchronous operation control type
A parameter in the slave – e.g. hoist 2 – is configured for the permissible position difference
for synchronous operation.
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Parameter threshold 1 (r64toleranceMasterSlavePosition):

Position difference between master and slave within parameter threshold 1. Synchronous
operation can then be started.
Position difference between the master and slave outside parameter threshold 1.
Synchronous operation must then not be started. AppZSW2 bit 11 signals back whether the
position difference is outside the tolerance of "r64ToleranceMasterSlavePosition".
Figure 5-61 Synchronous operation control type – parameters
Selection and deselection for the master-slave operation for master and slave are shown in
the sequence diagrams:
Selecting the synchronous operation control type
Synchronous operation control type is selected, if
● there is no power enable (Power = FALSE, STW1 bit 3).
● the drive is at a standstill (zero speed) (boStandStill = TRUE, AppZSW1 bit 2).
● the master and slave operating modes are the same.
Control word / Bit Designation Master SLAVE

status word (Hoist_1) (Hoist_2)
Appl_STW1 6 Selecting master-slave operation FALSE FALSE
7 Selecting synchronous operation TRUE TRUE
Appl_STW2 13 SlaveMode FALSE TRUE
Appl_ZSW1 6 Message, master-slave operation active FALSE FALSE

7 Message, synchronous operation active TRUE TRUE
Appl_ZSW2 13 SlaveModeActive FALSE TRUE
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The selection of the synchronous operation control type is now active, i.e. both drives now
operate with this control type. The master is normally controlled as in the operating modes
that have already been described.
Note
Synchronous operation is closed-loop position controlled in the AUTOMATIC and MANUAL
operating modes.
Synchronous operation is controlled in a closed speed loop in the SPEED_CONTROLLED
and EASY_POSITIONING operating modes.
Synchronous operation should not be activated in the SENSORLESS EMERGENCY
operating mode.
Input "boSelectSynchronousOperation" must be set for both the master and slave.
For the master, it must be ensured in FB_OperationMode that the checkback signals of the
slave (bocheckbackSlave...) are correctly connected.
For the slave, the technology object Fixed Gear "TO_GearPos" / "TO_GearVel" must be
configured in FB_OperationMode.
Note
In the EASY_POSITIONING operating mode, the synchronous operation is speed-controlled
and so the positions of the two drives not equalized using TO_GearVel. If a position
synchronous operation is required in EASY_POSITIONING operating mode, the
FB_ReferenceMode block must also be made operational. This block is used to equalize the
positions taking into account of the desired offset; refer to FB_ReferenceMode (Page 273),
"Functionality" section.
Note
For synchronous coupling, control by the control word 1 must remain active until both drives
have come to a standstill.
The setpoint enable (STW1, bit 6) must not be reset when the drives are in motion.
If the control by the control word 1 is reset during the motion of the drives, an offset between
the master and the slave would occur.
NOTICE
In the synchronous operation control mode, the setpoint and the position may be defined at
the master only - and the STW1 must be set for both the slave and the master.
The setpoint that is entered must match the position. If this requirement is not met, the drive
command will be withdrawn.
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Figure 5-62 Selecting synchronous operation (position controlled)
Deselecting the synchronous operation control type

The synchronous operation control type is deselected if there is no power enable "Power =
FALSE" and the drives are at a standstill "boStandStill = TRUE". Input
"boSelectSynchronousOperation" is reset for both the master and slave. The output
"boSynchronousOperationActive" must then be inactive. And finally, for the slave the
"boSlaveMode" must be reset. This means that the synchronous operation control type is
deselected.
Note
If the master should move alone after synchronous operation control has been deselected,
then the input "boSelectSynchronousOperation" must be reset. The master can only move
alone after the output "boSlaveAvailableActive" has been reset, i.e. the output signals from
the slave are no longer checked.
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Figure 5-63 De-selecting the synchronous operation control type (closed-loop speed controlled)
Selecting the synchronous operation control type with offset

In practice, there are applications where an offset must be established between the master
and slave. As a result of this offset, a container can then be lifted out of a ship even if the
ship is not in a horizontal position.
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Figure 5-64 Synchronous operation control type with offset
Move the required offset between the master and slave without synchronous operation.
Once the required offset has been reached, select synchronous operation as described
previously.
If synchronous operation at the master and slave is active, the input
"boSelectSynchronousOffsetSave" (AppSTW2 bit 8) at the slave must be set with a positive
edge. This means that the offset between the master and slave is determined and saved.
This offset is kept for the complete travel.
The target position is corrected if the slave is closer to the target position than the master.
Otherwise, the slave would travel beyond the target. Two cases for raising and lowering are
shown below:
Case 1: Raising: Target position = +10,000 mm
1. Master is located at the position = +5,000 mm
2. Slave is located at the position = +6,000 mm
→ Corrected target position = +9,000 mm
Case 2: Lowering: Target position = 10,000 mm
1. Master is located at the position = -5,000 mm
2. Slave is located at the position = -6,000 mm
→ Corrected target position = -9,000 mm
Deselecting the synchronous operation control type with offset
The offset value is only deleted if active synchronous operation is deselected
(boSynchronousOperationActive" = FALSE).
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The conditions for deselecting synchronous operation are described above.
Note
The offset can only be saved if synchronous operation is closed-loop position controlled - i.e.
only in the AUTOMATIC and MANUAL operating modes.
5.3.9.9 Switching over from a motor encoder to an external encoder

In many applications, an axis is not only controlled using a motor encoder, but also an
external encoder. In this case, the motor encoder is used for the closed-loop speed control
and the external encoder for the closed-loop position control. More precise positioning is
achieved using the external encoder. An external encoder can, for example, be mounted
onto a non-driven wheel or on a cable drum. This increases the redundancy of the drive - i.e.
if the external encoder does fail, then operation is possible using the motor encoder.
Figure 5-65 Switching over from a motor encoder to an external encoder
Note
Two data sets must be set up at the technology object.
1) TO data set 1: Position actual value from the motor encoder for the function modules
Gantry, Hoist, Trolley and Boom.
2) TO data set 2: Position actual value from an external encoder for the function modules
Gantry, Hoist, Trolley and Boom.
Using Gantry as an example

Sequence diagram
Various possibilities of changing over from a motor encoder to an external encoder and back
for the Gantry function module are shown in the following sequence diagram. In this case, it
should be noted that the power enable is not set in the sequence diagram (power = FALSE,
STW1 bit 3) and the drive is stationary (boStandStill = TRUE, AppZSW1 bit 2).
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Section 1:
In the first section of the sequence diagram, the input "boSelectExternalEncoder" (AppSTW2
bit 12) is set. This means that the technology object data set "actualdataset" is changed over
from 1 to 2. After the switchover, the output "boExternalEncoderActive" (AppZSW2 bit 12) is
set.
Section 2:
In the second section of the sequence diagram, the input "boSelectExternalEncoder"
(AppSTW2 bit 12) is reset. This means that the technology object data set "actualdataset" is
changed over from 2 to 1. After the switchover, the output "boExternalEncoderActive"
(AppZSW2 bit 12) is reset.
Figure 5-66 Changing over the position actual value from the motor encoder to an external encoder
of a gantry.
5.3.9.10 Tandem mode

This chapter describes tandem mode with four drives.
Two spreaders are installed on an STS crane. Each spreader can pick up either one 40-foot
or two 20-foot containers. Each spreader is driven by 2 motors and 2 converters, which
serve to hoist or lower it. In tandem mode, the two spreaders work in velocity or position
synchronous operation, depending on the selected operating mode.
The following rule applies to tandem mode:
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● Hoisting-gear motor 1: Master 1 (tandem master)

● Hoisting-gear motor 2: Slave 1
● Hoisting-gear motor 3: Master 2 (tandem slave)
● Hoisting-gear motor 4: Slave 2
Master 1 and slave 1 can be connected to one another via a rigid connection (master-slave
operation) or a flexible connection (synchronous operation). The same also applies to
master 2 and slave 2. For information on how to select synchronous or master-slave
operation for master 1 and slave 1 or master 2 and slave 2, refer to Master-slave operation
control type (Page 253) and Synchronous operation control type (Page 257).
In tandem mode, master 1 and master 2 run in synchronous operation. The slaves follow
their respective master. This ensures that both spreaders are hoisted and/or lowered at the
same time.
The other interconnections and also the traversing of offset in tandem mode are described in
more detail in Ship-to-shore tandem crane (STS tandem) (Page 470).
5.3.9.11 Offset mode

The offset mode functionality is comparable with that for the tandem mode. In tandem mode,
an offset is applied between the tandem master and the tandem slave. Both of these drives
act as masters. In the offset mode, however, an offset is applied between the master and the
slave that run with a synchronous-mode coupling. Unlike tandem mode, only the slave can
travel through an offset for offset mode.
For further information, refer to Chapter Offset mode between the master and the slave
(Page 479).
5.3.9.12 Shortening the distance-to-go

With Gantry, the target position can only be shortened during positioning (so that the new
target position is closer than the original one) in manual mode. It may be necessary to do
this for collision protection (e.g. several cranes on the same rail). A check is then made to
determine whether the maximum deceleration value is sufficient to ensure that the crane can
be decelerated within the new, shorter distance-to-go. If it is sufficient, the necessary
deceleration is defined automatically. However, if the maximum deceleration value is
inadequate for decelerating the crane within the available time, an error is generated and the
crane is decelerated immediately. The function does not have to be activated separately, as
it becomes active automatically when a shortened distance-to-go is detected with Gantry.
In addition, you must enter the maximum deceleration under Axis → Limiting→ Dynamic
behavior → Separation in mm/s2.
You can also shorten the distance-to-go for all other drives. However, the new shorter target
position is rejected and the original position is reinstated if the current deceleration is not
sufficient to brake the crane in time. Unlike with Gantry, no checks are made and it is not
possible to increase the deceleration value.
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5.3.9.13 Brake test

The mechanical brake function (e.g. hoisting gear) should be regularly checked using this
function. To do this, the axis moves against the closed brake with a certain torque setpoint in
order to check the braking capability of the brake.
Note
The brake test is implemented in the standard "STS Crane" application; refer to STS crane
(ship-to-shore) (Page 498).
The brake test sequence is as follows:

1. The SIMATIC S7 sends AppSTW2 bit 14 = True to SIMOTION. This selects the brake
test.
2. SIMOTION selects a new drive data set (Drive Data Set, DDS) in SINAMICS. In this drive
data set, the same motor data is saved as in DDS0 – or for converters that can be
switched over – the same as in DDS2. The monitoring times must be set longer in order
that SINAMICS does not output a fault (e.g. p2177 "motor blocked") or the
current/frequency must be reduced.
3. The complete brake test is carried out in the SPEED_CONTROLLED operating mode.
4. With the feedback that the correct drive data set is active, SIMOTION returns the signal
"brake test active" (AppZSW2 bit14).
5. The S7 then transfers the torque limit as a percentage – depending on SINAMICS
parameter p2003 – from the S7 to SIMOTION via PZD8. SIMOTION sends this value to
the master as upper and lower torque limit to SINAMICS.
6. The drive is then switched on and a velocity setpoint is entered. The torque limit is slowly
increased by the S7.
7. After limiting by SINAMICS, the torque setpoint is sent to SIMOTION and SIMATIC S7
(e.g. PZD13). This means that the S7 can check as to whether the drive is within the
torque limit.
8. The actual position and the actual velocity of the drives are also signaled to the S7. This
allows the S7 to check whether the drive is moving. When performing the brake test, it is
not permissible that the drive moves, as otherwise this would mean that the brake cannot
hold the motor.
9. After the brake test, the brake test must be deselected in the PLC (AppSTW2 bit 14 =
False). Depending on the selected operating mode, SIMOTION switches back to a valid
drive data set and sets the torque limits back to 100%.
The following must be observed depending on the whether an internal or external TO
changeover is active.
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If no TO changeover is active (neither internally nor externally), the following applies:

The activation of the brake test causes a changeover to DDS6.
Figure 5-67 Brake test without changeover
If an internal changeover is active, the following applies:

The activation of the brake test causes a changeover to DDS6 or DDS7, depending on
boChangeTechnologyObject.
● DDS6 → boChangeTechnologyObject = FALSE and boBreakTest = TRUE
● DDS7 → boChangeTechnologyObject = TRUE and boBreakTest = TRUE
Figure 5-68 Brake test with internal changeover
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If an external changeover is active, the following applies:

For the external changeover, three axes can be switched and work on a converter. However,
because only two data sets are available for the brake test, you can also only perform a
brake test on two technology objects. You can freely choose on which of the two technology
objects you want to perform the brake test. To do this, you must not only also activate the
brake test, but also activate the boBrakeTest_Drive_1 or boBrakeTest_Drive_2 input
(boBrakeTest_Drive_1 for DDS6 and boBrakeTest_Drive2 for DDS7).
● DDS6 → boBrakeTest = TRUE and boBrakeTest_Drive_1 (for TO1, TO2 or TO3)
● DDS7 → boBrakeTest = TRUE and boBrakeTest_Drive_2 (for TO1, TO2 or TO3)
Figure 5-69 Brake test with external changeover
5.3.9.14 Brake control with SINAMICS

The brake control in SINAMICS can be used as of version V2.0 SP2 of the Basic
Technology. To do this, in the particular drive when configuring the drive data set, select
extendedbrake control. In this case, set the SINAMICS parameter P1215 either to [1] for the
booksize format (motor holding brake just the same as the sequence control) or to [3] for the
chassis format (motor holding brake just the same as the sequence control, connection via
BICO). For the booksize format, the 24 V supply for the brake control is taken directly from
terminal strip X11; for chassis units, an external relay must be controlled via the BICO
interconnection.
Via the PLC, "open brake" is transferred to the SIMOTION (STW1 bit 9) - and is transferred
on to the SINAMICS. This is the reason that after configuring, the communication script must
also be called in the particular drive to ensure that the appropriate bits are interconnected.
ZSW1 bit 12 is used as feedback signal regarding the brake state.
Note
Set the brake opening time in parameter p1216 to 0 ms, otherwise a fault occurs (the drive
switches itself off). The brake opening time should be emulated in the PLC if it must be ruled
out that the drive moves against the brakes. No move command must be issued to
SIMOTION during the brake opening time.
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In the OperationMode block, input "boEnableBrakeControlSinamics" must be set to TRUE if

the extended brake control is to be used.
5.3.9.15 Alarms
The OperationMode function block also outputs alarms from version 2.0 SP2 and higher.
These should provide users with information as to how they should change the control so
that the required command / the required motion can be executed by SIMOTION, e.g. if
enable signals are missing or an operating mode has not been selected.
If there is no fault and no alarm from a drive or from SIMOTION, then the function block
alarms are sent to the PLC via PZD4, also see Chapter FB_ErrorPriority (Page 187) and
Application error messages and alarm messages (Page 339).
5.3.9.16 Error
The function block OperationMode monitors errors in the technology object and the errors
that can occur when starting a command. If an error occurs at the technology object, the
block outputs the "boErrorTechnologyObject" signal and the corresponding error ID of
technology object "i32ErrorIDTechnologyObject". If an error is caused by a command or
incorrect operator action, the block outputs an "boErrorFunctionBlock" signal and the
corresponding error ID of function block "i32ErrorIDFunctionBlock". As soon as an error
occurs, the drive brakes with an active travel motion with the last specified, valid deceleration
time. In the case of a fault, as soon as the drive is stationary, the S7 control must reset the
power enable and remove the fault; also see Chapters FB_ErrorPriority (Page 187) and
Sequence diagram
Two error cases are shown in the following sequence diagram
Section 1:
In the first section of the sequence diagram, an error at the function block is shown. The
block outputs the "boErrorFunctionBlock" signal and the corresponding error ID
"i32ErrorIDFunctionBlock". If the drive is moving, then the S7 control must stop it in a
controlled fashion. Errors can only be acknowledged if the drive is stationary. In this case,
the input "boAcknowledge" must be set for a short time using a positive edge. An error that is
present is acknowledged, the output "boErrorFunctionBlock" and the error number
"i32ErrorIDFunctionBlock" are reset.
Section 2:
In the second section of the sequence diagram, an error at the technology object is shown.
The output "boErrorTechnologyObject" must be active and the associated error number
"i32ErrorIDTechnologyObject" is output. If the drive is moving, it is stopped in a controlled
fashion. The "S7" control should then reset the power enable. Errors can only be
acknowledged if the drive is stationary. In this case, the input "boAcknowledge" must be set
for a short time using a positive edge. An error that is present is acknowledged, the output
"boErrorFunctionBlock" and the error number "i32ErrorIDTechnologyObject" are reset.
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Figure 5-70 Error
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5.3.10 FB_TractionControl
Task
The FB_TractionControl function block is used to read the current velocity of the motor
encoder or that of the external encoder from the master/slave technology object by means of
secure access; this information is then made available to the DCC_TractionControl function
block.
Connections
Name Connection De- Data type Meaning

type fault
TO_Master IN - DriveAxis Enter the technology object name of
the master (master object)
TO_Slave IN - DriveAxis Enter the technology object name of
the slave (slave object)
boEnableTractionControl IN False BOOL Enables the traction control
boSlaveAvailable IN False BOOL Technology object slave present
boSychronousOperationModeActiv IN False BOOL Synchronous operation between
e master and slave object active
boActivateTractionControl OUT False BOOL Activate traction control
boSynchronousOperationModeActi OUT False BOOL Activates synchronous operation
vate between the technology object
master and slave
boMasterMotorEncoderValid OUT False BOOL Motor encoder of the master
supplies valid values
boMasterExternalEncoderValid OUT False BOOL External encoder of the master
r32MasterMotorEncoderActualVelo OUT 0.0 REAL Actual velocity motor encoder of the
city master [mm/s]
Basic Technology

type fault
r32MasterExternalEncoderActualV OUT 0.0 REAL Actual velocity external encoder of
elocity the master [mm/s]
boSlaveMotorEncoderValid OUT False BOOL Motor encoder of the slave supplies
valid values
boSlaveExternalEncoderValid OUT False BOOL External encoder of the slave
r32SlaveMotorEncoderActualVeloci OUT 0.0 REAL Actual velocity motor encoder of the
ty slave [mm/s]
r32SlaveExternalEncoderActualVel OUT 0.0 REAL Actual velocity external encoder of
ocity the slave [mm/s]
Error messages
If an error occurs, output "boError" is set and an error number is returned at output
"i32ErrorID" as for the other blocks; refer to Application error messages and alarm messages
(Page 339).
5.3.11 FB_ReferenceMode
Task
The function block FB_ReferenceMode is used for flying homing and equalizing an offset
between two drives that operate in a synchronous coupling (position or speed synchronism).
To home the axis, the digital inputs from this block must be connected to the signal source,
e.g. the TM31. If one of the digital inputs of X520 or X530 (DI0 to DI7) on the TM31 is
activated, for example by means of a BERO, then the corresponding axis is homed to the
value that was stored for the relevant digital input. The positive edge of the BERO signal
triggers homing.
On the other hand, for rail-bound drives such as gantry and trolley, in some instances wheels
may slip, which will mean the crane no longer runs parallel to the rails. The function block
FB_ReferenceMode also offers the option of equalizing this offset between the master (e.g.
trolley 1) and the slave (e.g. trolley 2).
Basic Technology
Connections

type fault
TO_MasterAxis IN - PosAxis Enter the technology object name of
the master (master object)
TO_SlaveAxis IN - PosAxis Enter the technology object name of
the slave (slave object)
Gear_Pos IN - _FixedGear Enter the name of the fixed gear object
Type position
boPositioncontrolled IN False BOOL Closed-loop position controlled
operation active
boSynchronPositionActive IN False BOOL Synchronous positioning active at
slave
Basic Technology

type fault
boSynchronousOperationActive IN False BOOL Synchronous operation selected for
the slave
boTMReferenceValueMasterDi0 IN False BOOL Signal input for BERO 1 (for the
master)
master)
master)
master)
boTMReferenceValueSlaveDi4 IN False BOOL Signal input for BERO 1 (for the slave)
r64TMReferenceMasterValueDi0 IN 0.0 LREAL Reference value of digital input 0
(1st position for the master)
(2nd position for the master)
(3rd position for the master)
(4th position for the master)
r64TMReferenceSlaveValueDi4 IN 0.0 LREAL Reference value of digital input 4
(1st position for the slave)
(2nd position for the slave)
(3rd position for the slave)
(4th position for the slave)
r64additionalTimeComponent IN 0.0 LREAL Specification of additional times [ms]
such as periphery run times
r64VelocityFactor_Master IN 1.0 LREAL Evaluation factor [%] based on the
master base velocity; this specifies the
additional master compensatory
velocity (max. 20%)
r64VelocityFactor_Slave IN 1.0 LREAL Evaluation factor [%] based on the
master base velocity; this specifies the
additional slave compensatory velocity
(max. 20%)
r64AccelDecelFactor_Master IN 1.0 LREAL Evaluation factor [%] referred to the
master acceleration/deceleration as an
acceleration value for the slave
compensatory velocity (max. 50%)
Basic Technology

type fault
r64AccelDecelFactor_Slave IN 1.0 LREAL Evaluation factor [%] referred to the
master basis acceleration/deceleration
as an acceleration value for the master
compensatory velocity (max. 50%)
r64Acceleration IN 1.0 LREAL Acceleration value of the master
[mm/s2]
r64Deceleration IN 1.0 LREAL Deceleration value of the master
[mm/s2]
boEnableSuperimpose IN False BOOL Enabling/stopping compensatory
control
boDriveMasterSuperimpose IN False BOOL Generally release compensatory
control for the master
r64kpchangeoverpoint IN 0.5 LREAL Gain factor path control
boContCompCtrl IN False BOOL Enable continuous compensatory
control
boCheckBackSpeedControllerMast IN False BOOL Speed controller feedback signal from
erActive the master active
boCheckBackSpeedControllerSlav IN False BOOL Speed controller feedback signal from
eActive the slave active
r64MinPosContCompCtrl IN 5.0 LREAL Minimum offset [mm] between the
master and slave, before
compensation is started (only valid for
continuous equalization
boContCompCtrl =TRUE)
r64SaveEasy_PositioningOffset IN 0.0 LREAL Saving the offset in the
EASY_POSITIONING operating mode
boStopCompensation IN False BOOL If a superimposed motion is active in
the Block operation mode, this block
does not start the superimposed
motion.
boSetpointenableMaster IN False BOOL Setpoint enable at the master active
boSetpointenableSlave IN False BOOL Setpoint enable at the slave active
boSlaveReady IN False BOOL Slave is ready.
boEasy_PositioningOffset IN FALSE BOOL The current offset is considered for the
superimposed motion.
boBusy OUT False BOOL Function block status
boDone OUT False BOOL Function block status
boError OUT False BOOL Function block status
i32ErrorID OUT 0 DINT Error code
r64ReferenceMasterValue OUT 0.0 LREAL Total correction value for the master
[mm]
r64ReferenceSlaveValue OUT 0.0 LREAL Total correction value for the slave
[mm]
Basic Technology

type fault
r64ReferenceMasterOffsetValue OUT 0.0 LREAL Total correction offset for the master
[mm] in position synchronous
operation
r64ReferenceSlaveOffsetValue OUT 0.0 LREAL Total correction offset for the slave
[mm] in position synchronous
operation
Functionality
The block has eight digital inputs, four for the master and four for the slave, and the
matching (eight) inputs for the position values. If a slave drive has not been created, then the
eight inputs are automatically available for the master drive.
The block must be called in the IPO synchronous task.
Input r64additionalTimeComponent can be used to apply additional run times relevant to the
position correction. The interpolator cycle clock (IPO) in the SIMOTION system is
automatically included in the position correction and need not be added to the value applied
via r64additionalTimeComponent.
Compensatory control is activated in synchronous operation by means of a high signal level
at "boEnableSuperimpose" and is deactivated with a low signal level. There are two options
for compensating for an offset between the drives, which can be selected at the input
"boContCompCtrl":
1) "boContCompCtrl" is FALSE: Compensatory control, only if the conditions are fulfilled

Compensation of an offset between the master and slave is only started if a BERO /
reference switch signal was signaled for both drives. The sequence is irrelevant. For
example, if a wheel slips at a drive (e.g. Gantry_2), then its current position in the controller
will be greater than the (real) actual position of the wheel and the crane will run "skewed".
If the first drive (e.g. Gantry_1) travels over the BERO, its current position will be set in the
controller. Since the wheel has slipped, the second drive will reach the BERO later than the
first and its current position will be reset too. As the first drive (gantry_1) has continued to
move too, the two current positions no longer match, i.e. there is an offset. Offset
compensation now starts after both drives have a feedback signal from the BERO. The
compensation is either performed by the master drive or the slave drive. If
"boDriveMasterSuperimpose" = FALSE, then only the slave is used for compensation. If
"boDriveMasterSuperimpose" = TRUE, compensation is performed, depending on an
internal calculation, by the master or slave.
To compensate for the position difference, for the drive that should compensate the offset,
an additional velocity is applied until the two positions are identical. Following compensation,
the superimposed motion is stopped and it cannot be started again until the two BEROs
(master and slave) have responded again.
The internal calculation for "boDriveMasterSuperimpose" = TRUE checks the maximum and
the actual velocity and transfers the supplementary velocity to the slave, if this is not at the
velocity limit. However, if the slave is at the limit, the supplementary velocity (with the inverse
sign) is transferred to the master.
Basic Technology
The master now travels more slowly and allows the slave drive to catch up. The flying
change is realized automatically, without requiring any external intervention. As a
consequence, the crane always travels with the maximum velocity and the master now only
brakes, if the slave cannot catch up to it. However, if "boDriveMasterSuperimpose" = FALSE,
the slave cannot compensate the offset if it travels behind the master at the maximum
velocity. The slave can only move faster in order to compensate an offset in the
acceleration/deceleration phase - or if the crane is not traveling at the maximum velocity.
However, if the slave is leading, using the supplementary velocity, it can travel slower at any
time so that the master can catch up with the slave.
2) "boContCompCtrl" is TRUE: Compensatory control runs continuously

The offset is compensated as soon as a position difference occurs. Unlike with the first
option, both BERO signals are not required here in order to start compensatory control. An
offset can also arise if a drive reaches its target velocity with a slight delay due to a load
which is not distributed symmetrically (Trolley is fully loaded on one side). Compensatory
motion is started as soon as it is identified that the positions of the two drives differ from one
another. As described above, generally the slave is used to remove the offset. The
supplementary velocity is only transferred to the master if the slave cannot reach the
maximum velocity; this supplementary velocity then slows down the master. As a
consequence, "boDriveMasterSuperimpose" must also be activated for this version, as
otherwise, only the slave compensates the offset. The minimum offset can be set using
"r64MinPosContCompCtrl" before a compensatory control is started. This function is only
available when "boContCompCtrl" is active, thus ensuring that the controller does not have
to intervene for every millimeter of offset.
General
The supplementary velocity for the master can be set at the "r64VelocityFactor_Master" input
and for the slave at the "r64VelocityFactor_Slave" input. Compensatory motion can be used
in the auto mode, manual mode and speed controlled mode.
In the SPEED_CONTROLLED operating mode compensation is achieved using path control.
The "r64kpchangeoverpoint" gain factor should be set only for this mode during the
commissioning. The "r64kpchangeoverpoint" calculates the instant that deceleration is
started. If the value is set too low, deceleration is initiated too early and the deceleration
phase takes a lot of time. However, the target is not overshot. If the value is set too high,
deceleration is initiated too late and the deceleration ramp is extremely steep. The motor
cannot follow this ramp and overshoots the target position; further, under certain
circumstances it can also oscillate around the target point.
"r64kpchangeoverpoint" must therefore be increased until the deceleration of the
supplementary velocity is approximately the same magnitude or somewhat lower than the
acceleration of the supplementary velocity. This means that the supplementary velocity must
have an approximate trapezoidal characteristic.
Basic Technology
Chapter Setting the closing velocity (Page 458) provides a more detailed explanation of
"r64kpchangeoverpoint".
Note
If "r64kpchangeoverpoint" is selected to be too high, then the drive overshoots the target
position; this is because the calculated deceleration is higher than the deceleration of the
drive that is actually possible.
Note
During acceleration, the slave can always travel faster than the master. This is because the
final velocity has still not been reached. If the slave must accelerate/travel faster in order to
compensate the offset, then it will do this up to the maximum velocity. Shortly before the
maximum velocity is reached, the velocity of the master is reduced and the slave continues
to travel normally (with maximum velocity) if "boDriveMasterSuperimpose" is activated. This
means that the supplementary velocity is transferred to the master - so that it travels slower -
before the slave reaches its maximum velocity.
Depending on the internal calculation, either both compensatory velocities are changed
together, or the slave waits until the master has reached its target velocity and only then is
the slave compensatory velocity adapted. This behavior is normal and does not have to be
investigated any further as the compensatory velocity isn't noticed in operation.
Note
Alarm 3260 or 3270 can only occur in closed-loop position controlled operation if, after
updating the position, the new offset is greater than that permitted for the synchronous
coupling. As soon as the slave drive comes to a standstill, the synchronous coupling is
automatically withdrawn and cannot be re-established (recoupled) until the offset is less than
the maximum permitted value (r64toleranceMasterSlavePosition). This means that
"r64toleranceMasterSlavePosition" must be set to the maximum possible offset. This
variable is in the FB_OperationMode and only has to be set for the slave drive.
Note
The version with "boContCompCtrl" = FALSE is the preferred version for the compensatory
control, as only one compensatory motion takes place if both BEROs (from the master and
slave) have feedback signals. As a consequence, before compensation it is ensured that
both positions have been updated. For the version with "boContCompCtrl" = TRUE,
compensatory motion always takes place, even if only one of the drives has a signal from the
BERO. The position from the other drive could also have a deviation, and under certain
circumstances, the offset could even be higher. As a consequence, this version should only
be selected, if the positions are additionally monitored using external encoders (wheel-
driven).
Note
Although flying homing can always be used, the compensatory control should only be used if
at both sides (master and slave sides) the positions are also updated from a BERO
momentary-contact switch / switch or corrected from a wheel-driven encoder.
Basic Technology
Error messages
If an error occurs, output "boError" is set and an error number is returned at output
"i32ErrorID" as for the other blocks; refer to Application error messages and alarm messages
(Page 339).
5.3.12 FB_Cornering
Task
The function block FB_Cornering is used to perform a cornering movement during speed-
controlled operation. There follows a description of the function of a cornering movement,
using a ship to shore crane (STS) as an example.
In most cases, the wall of the quay at a shipping pier is straight and the crane rails run
parallel with it, which means the crane can be operated in a standard manner. But if a
section of the rails is not laid straight and follows a curved path, the crane's drives have to
follow this curve too. To make this work, either the wheel on the outside of the curve has to
be driven faster, or that on the inside of the curve slower, than the other wheel. Below, the
cornering movement is achieved by reducing the velocity of the wheel on the inside of the
curve. The factor to reduce the wheel on the inside of the curve is determined by the ratio of
the length of the rail on the outside of the curve to that of the rail on the inside of the curve.
Alternatively, the ratio of the rail curve radii can also be used. The cornering movement is
started by means of a sensor (BERO) at each end of the evenly curved section of track.
Note
Cornering is implemented in the standard "STS Crane" application; refer to STS crane (ship-
to-shore) (Page 498).
When commissioning, the "boEnableCornering" input should be used to define as to whether
the block should be active or not.
Figure 5-71 Cornering movement
Basic Technology
Note
In a standard case, it is assumed that the longer rail of the curved section of track is on the
side nearest to the water, and that the curve radius is constant. Furthermore, the MASTER
must be on the side nearest to the water (outer edge of the curve) and the SLAVE on the
side nearest to the land (inner edge of the curve).
If these conditions are not met, i.e. the SLAVE is on the outer edge of the curve and the
MASTER on the inner edge, bit "boMasterAxisInside" must be set in order for the velocity
ratio to be calculated correctly.
NOTICE
Block FB_Cornering must be used properly to ensure that, when a cornering movement is
required, the inside wheels turn slower than the outside wheels in accordance with the
curve radius; if corresponding settings are not made, the gantry may tilt or even derail.
Connections

type setting
TO_InnerAxis IN - DriveAxis Technology object name of the master
(master object)
TO_OuterAxis IN - DriveAxis Technology object name of the slave
(slave object)
boEnableCornering IN False BOOL Activates the block
Basic Technology

type setting
boStartCornering_Neg_to_Pos_Firs IN False BOOL Sensor shortly before curve for moving in
t positive direction
boStartCornering_Neg_to_Pos_Se IN False BOOL Alternative sensor at start of curve for
c moving in positive direction
boStartCornering_Pos_to_Neg_Firs IN False BOOL Sensor shortly before curve for moving in
t negative direction
boStartCornering_Pos_to_Neg_Se IN False BOOL Alternative sensor at start of curve for
c moving in negative direction
boMasterAxisInside IN False BOOL Master axis (master object) on the inside
of the curve
boOperationModeSPEED_CONTR IN False BOOL SPEED_CONTROLLED operating mode
OLLEDActive active
boOperationModeSENSORLESSE IN False BOOL SENSORLESS EMERGENCY operating
MERGENCYActive mode active
boSynchronousOperationActive IN False BOOL Synchronous operation active
boAcknowledge IN False BOOL Acknowledge fault
r64DistanceSmallRadius IN 0.0 LREAL Length of the inner track
r64DistanceLargeRadius IN 0.0 LREAL Length of the outer track
r64DistanceSensorCurve IN 0.0 LREAL Distance of the sensors from the curved
section of track
r64NominalVelocity IN 0.0 LREAL Nominal velocity of the gantry
r64VelocityLimitationFactor IN 0.0 LREAL Limitation of the maximum velocity along
the curve
r64VelocityMonitoringDelayTime IN 0.0 LREAL Delay time of the velocity monitoring
function
r64Acceleration IN 1.0 LREAL Rated acceleration of function module
r64Deceleration IN 1.0 LREAL Rated deceleration of function module
boContinuousCurve IN False BOOL Total length of curved path
boCorneringActive OUT False BOOL Cornering movement active
r64ActualOverrideOuterAxis OUT 100.0 LREAL Actual FB value calculated for velocity
override
r64ActualOverrideInnerAxis OUT 100.0 LREAL Actual FB value calculated for velocity
override
Functionality
Inputs "boOperationModeSPEED_CONTROLLEDActive",
"boOperationModeSENSORLESSEMERGENCYActive", and
"boSynchronousOperationActive" must be connected with the outputs of the corresponding
FB_OperationMode.
The block must be called in the IPO synchronous task.
Basic Technology
If the block is deactivated, the technology objects' override values for velocity and
acceleration do not change. The following conditions always apply for cornering movements:
● Sensors (boStartCornering_Neg_to_Pos_First and boStartCornering_Pos_to_Neg_First)
have to be installed before the curve and after the curve to trigger deceleration to
cornering velocity.
● Once there are no more sensors, after the "r64DistanceSensorCurve" distance has been
completed, cornering is started by means of additional deceleration of the inside wheels.
● If appropriate sensors have been installed at the start and the end of the curve, these will
ensure that cornering starts once the brakes have been applied. However, the
"r64DistanceSensorCurve" parameter must be set correctly if the brakes are to be applied
correctly.
● The Motor Modules for the right and left drives must work separately from one another,
i.e. the drives must not be cross-operated.
● The difference between the lengths of the two rails must be known.
● The operating mode must be speed-controlled, i.e. SPEED_CONTROLLED or
SENSORLESSEMERGENCY - and the drives must run in synchronous operation.
● If the cornering movement is triggered by the sensor, the velocity and the maximum
accelerations of the crane will be reduced to a percentage (r64VelocityLimitationFactor)
of the nominal velocity in order to prevent derailing.
● The cornering movement is achieved by reducing the velocity of the wheel on the inside
of the curve. The rate of reduction depends on the difference between the lengths of the
rails.
● Cornering ends when the crane passes a sensor. This can be one of the inside or outside
sensors. The additional deceleration of the inside wheels is also lifted at this point.
● Next, the reduction of the travel speed applied to all drives is also lifted.
● If the crane is situated on a continuous curve rail with constant radius, the block can be
set to continuous cornering via the "boContinuousCurve" input. In this case, the
"boStartCornering_…" inputs become irrelevant.
If the crane enters the curve in an incorrect operating mode (position-controlled and positive
edge at the corresponding sensor), an error message is output.
During the cornering movement the block monitors the velocity of the gantry and outputs an
error message if the maximum permissible curve velocity is exceeded. The dynamic
responses are also monitored during cornering.
Note
When cornering is active, the offset compensatory controller for synchronous operation,
which is located in FB_ReferenceMode, has to be deactivated.
Torque compensatory controller

In addition to FB_Cornering, compensatory control can also be activated for the individual
drives of the gantry. This control ensures that the same driving torque is active on all motors
and serves to optimize the cornering movement.
Basic Technology
The torque compensatory controller is activated using the current compensatory controller
block DCC_CurrentEqualControl from the Crane_DCC_Library. The block is integrated in the
DCC chart of the slave drive and must be connected as described below. In the following
example, Gantry 2 is selected as the slave drive.
● "rCurrentHoldingGear" is connected with "Gantry_1_Setpoint_Current_for_DCC"
● "rCurrentClosingGear" is connected with "Gantry_2_Setpoint_Current_for_DCC"
● "rCurrentNominal" is connected with "Gantry_2_NominalCurrent"
● "rMaximumVelocity" is connected with "Gantry_2_MaxVelocity"
● "rOutVelocitySetpoint" is connected with "Gantry_2_AdditionalVelocitySetpoint"
● The output variable of DCC chart "Gantry_2_AdditionalVelocitySetpoint" must be
connected with input "r64AdditionalSpeedSetpoint" of FB_TelegramSimotionToSinamics
by means of the REAL_to_LREAL() function.
The adjustable parameters for the current compensatory controller being used must be
adapted to the conditions of the actual cornering movement in question.
If the torque has to be distributed unevenly, the "orange-peel bucket" operating mode of
block DCC_CurrentEqualControl can be used to fine-tune the current compensatory
controller.
Note
For more detailed information on settings for the current compensatory controller, refer to the
section titled DCC_CurrentEqualControl (Page 95).
Error messages
If an error occurs, output "boError" is set and an error number is issued at output
"i32ErrorID"; refer to the section titled Application error messages and alarm messages
(Page 339).
Basic Technology
5.3.13 FB_SynchronizeRTC
Task
For error diagnostics, many applications require a consistent setting of the time of day in
SIMOTION and SINAMICS by the SIMATIC S7 controller. If SIMOTION is de-energized over
a longer time period, SIMOTION and SINAMICS lose their set times. The higher-level PLC
controller usually has a better emergency power supply. To permit consistent timestamps in
the system, the time of day from the higher-level PLC controller should be checked and, if
necessary, reset.
The "FB_SynchronizeRTC" function block in SIMOTION processes the higher-level PLC
controller request. The function block contains specifications of the higher-level PLC
controller (date, time, control word for set time). The date and time are always sent by the
higher-level PLC controller. A control word in the user-engineering area is used to set the
time of day in SIMOTION. The control word initiates the setting of the time. After the setting
command, the current time in the SIMOTION is fetched automatically and passed to the
higher-level PLC controller. The "Set time" function is executed in the user-engineering area
of the communication between the SIMATIC S7 higher-level PLC controller and SIMOTION.
Functionality
SIMATIC S7 to SIMOTION communication:

● One double word as UDINT (u32ClockTimeS7) address PID 1904
● One word (b16daysS7) address PIW 1908
● One word (b16timestw) address PIW 1910
SIMOTION to SIMATIC S7 communication:

● One double word as UDINT (u32ClockTimeSimotion) address PQD 1904
● One word (b16daysSimotion) address PQW 1908
The following additional blocks and functions for the automatic setting are required in the
SIMATIC:
● SFC1
● FC1533
● FC1536
● FC1538
● FC1564
● FC1740
● DB4.
They are provided in every standard application and included in the SIMATIC part of the
project. The call is made via the OB1.
Basic Technology
A positive edge at "boRTCSetForce" transfers the appropriate time and date from the I/O
container. The date and time are then fetched automatically. These values are sent to the
SIMATIC. The comparison function implemented in FC1740 ensures that the timestamp
between SIMATIC and SIMOTION is identical except for the propagation-delay difference.
The timestamp has been set to 1 second and must not be changed because the bus runtime
and execution time of the OB1 or FC1740 must be considered.
Connections

type setting
boRTCSetForce IN False Bool Setting the time-of-day
boRTCReadForce IN False Bool Fetching the time-of-day
u32InputTime IN 0 UDINT Time specification
b16InputDays IN 16#0 WORD Day specification
dtRTCDateandTime OUT DT#0001-01- DT Output of the date and time
01-0:0:0
5.3.14 FB_AutoSettingFW
Task
This FB block simplifies the commissioning of the two DCC_LoadDependFieldweak_1
(LDFW) and DCC_ContLoadMeasurement_1 (CLM) DCC blocks. The use of the FB block is
optional. The detailed use is described in Chapters Field weakening (LDFW) (Page 414) and
Continuous load measurement (CLM) (Page 434).
When this block is used, the required physical quantities of the system (such as the friction
and acceleration compensation) are determined automatically. They must then be
transferred to the associated LDFW and/or CLM inputs.
Functions
When this block is used, the rope can be rolled up and the container spreader / grab fully
mounted. No measurements need to be performed beforehand.
Basic Technology
The commissioning is performed in two steps. In the first step, test runs are performed
without load but with container spreader / grab. These are pure test runs that the
commissioning engineer must continue to perform until the function block completes the
measurement successfully.
In the second step, test runs are performed with the rated load. Also in this case, the
commissioning engineer must continue to perform the test runs until the function block
completes the measurement successful.
Finally, the values determined at the output must be sent by the commissioning engineer as
input values to the LDFW and/or CLM.
If a value for r64minLoad and r64maxLoad is already entered at the input, the parameters for
the curve calculation in the LDFW block are also determined at the output (
"r64X1ParameterLoad" to "r64X6ParameterLoad" or "r64Y1ParameterVelocity" to
"r64Y6ParameterVelocity"). They must also be transferred to the LDFW.
"R64MinLoad" and "r64MaxLoad" can be specified as percentage or physical unit, such as
kilograms or tons, depending on how "rLoadNormFactor" has been set for the LDFW.
Figure 5-72 Connections
Basic Technology

type setting
TO_Name IN POSAXIS Enter the name of the technology object
boStartAutoSettingFW IN FALSE BOOL Start of the automatic measurements
boAutoSettingFWStep10 IN FALSE BOOL Start of measuring step 10
boAutoSettingFWStep20 IN FALSE BOOL Start of measuring step 20
boReset IN FALSE BOOL Reset measuring steps 10 or 20 or both
measuring steps
r64CurrentNominal IN 0.0 LREAL Reference current [A]
r64CurrentSetpoint IN 0.0 LREAL Current setpoint [A]
r64SmoothTimeCurrentSetpoint IN 50.0 LREAL Smoothing time for the current [ms]; the
time corresponds to 1 Tau
r64VelocityNominal IN 0.0 LREAL Rated velocity (base velocity) [mm/s]
r64RampUpTimeNominal IN 0.0 LREAL Rated ramp-up time [ms]
r64UpLimitMeasRange IN 80.0 LREAL Upper measuring window limit (speed
performed) [%]
r64LowLimitMeasRange IN 40.0 LREAL Lower measuring window limit (speed
above which the measuring series is
performed) [%]
r64MinLoad IN 0.0 LREAL Minimum load in % or physical unit,
such as t (tons), depending on what is
present at the LDWF block
r64MaxLoad IN 0.0 LREAL Maximum load in % or physical unit,
such as t (tons), depending on what is
present at the LDWF block
boErrorFunctionBlock OUT FALSE BOOL Error bit from the function block
i32ErrorIDFunctionBlock OUT 0 DINT Error number from the function block
boAutoSettingFWStep10Active OUT FALSE BOOL Measuring step 10 is active; also refer
to Chapter Commissioning support for
LDFW with FB_AutoSettingFW
(Page 419) or Commissioning support
for CLM with FB_AutoSettingFW
(Page 439).
boAutoSettingFWStep20Active OUT FALSE BOOL Measuring step 20 is active.
boSingleMeasFinished OUT FALSE BOOL Individual measuring step has
completed.
boStep10MeasFinished OUT FALSE BOOL Measuring step 10 has completed.
boStep20MeasFinished OUT FALSE BOOL Measuring step 20 has completed.
r64MinTimeConstantDrive OUT LREAL 0.0 Minimum constant velocity time [ms]
r64Eta_lift_CLM OUT LREAL 0.0 Efficiency correction for hoisting; only
for DCC_ContLoadMeasurement_1
r64Eta_drop_CLM OUT LREAL 0.0 Efficiency correction for lowering; only
for DCC_ContLoadMeasurement_1
r64AutoFactAccCurrRotMa OUT LREAL 0.0 Evaluation for the acceleration current
of the rotating masses
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5.4 Setup and version update for crane libraries

type setting
r64AutoFactAccCurrentLoad OUT LREAL 0.0 Evaluation for the load acceleration
current
r64AutoLoadCurrent OUT LREAL 0.0 Current load [%]
r64Eta_LDFW OUT LREAL 0.0 Efficiency correction for hoisting and
lowering; only for
DCC_LoadDependFieldWeak_1
r64AutoFrictionCurrent OUT LREAL 0.0 Friction
r64X1ParameterLoad OUT LREAL 0.0 Polygon, load value X1
r64Y1ParameterVelocity OUT LREAL 0.0 Polygon, velocity Y1
DW32_Status_A OUT DWORD 0.0 Diagnostic word for internal evaluation
DW32_Status_B OUT DWORD 0.0 Diagnostic word for internal evaluation
DW32_Status_C OUT DWORD 0.0 Diagnostic word for internal evaluation
Error messages
If an error occurs, output "boErrorFunctionBlock" is set and an error number is issued at
output "i32ErrorIDFunctionBlock"; refer to Chapter Application error messages and alarm
messages (Page 339).

The SIMOCRANE Basic Technology package includes a CD which contains the setup of the
Crane_DCC_Library, the online help, the Crane_FB_Library, and the standard projects.
The Crane_DCC_Library and Crane_FB_Library are continuously being developed and
updated. To increase performance, the Crane_DCC_Library has been converted to C code
(as is standard for the SIMOTION DCC Library) since SIMOTION SCOUT V4.1.4 HF1 and
with the setup of the Basic Technology V2.0 SP1, the library no longer appears in the
SCOUT project navigator under "Libraries". The functionality of each DCC block is also
expanded or optimized. Although some extended blocks are designated with "Name_1", the
Crane DCC library remains compatible. To ensure that you can always benefit from the full
functional scope of these libraries, a procedure of how to set up the new Crane DCC library
and update the existing libraries is described below.
Basic Technology
5.4.1 Updating the Crane_FB_Library

To run a version update for the Crane_FB_Library, proceed as follows:
1. Open a project with the old version of the Crane_FB_Library and a new standard project
at the same time.
2. Delete the Crane_FB_Library from the old project.
3. Copy the Crane_FB Library from the new project.
4. Paste the Crane_FB_Library from the clipboard into the old project.
5. Select the Crane_FB_Library, right-click to open the context menu, and select "Accept
and Compile" to update the library in SCOUT.
6. Once the save and compile operation is complete, the new Crane_FB_Library will be
available for use with other applications.
5.4.2 Upgrade of a function in the Crane_FB_Library

Go to the upgrade of a function block (e.g. FB_OperationMode) as follows:
1. Download and unzip the Zip file.
2. Open the application project in SIMOTION SCOUT.
3. In the project navigator, open the LIBRARIES folder and then the Crane_FB_Library.
4. Mark the "Mode" source and delete it.
5. Mark the Crane_FB_Library and after right-click, select "Import external source / ST
source".
6. Select the folder that contains the new block. This causes the new 'mode.st' source to be
imported into the Crane_FB_Library.
7. Mark the Crane_FB_Library and after right-click, select "Accept and compile".
8. Compile the entire project in the menu with "Project / Save and compile all".
5.4.3 Setting up and updating the Crane_DCC_Library

To set up or update the Crane_DCC_Library, proceed as follows:
1. Select Control Panel → Add or Remove Programs and uninstall the "SIMOCRANE Basic
Technology" program as shown in the figure below. Make sure that all SCOUT and
Step 7 programs are closed when you do this.
Basic Technology
Figure 5-73 Uninstalling SIMOCRANE Basic Technology
2. You can now install the new Crane_DCC_Library by running the setup from the CD.
3. Open your project and delete the "Crane_DCC_Library" from the Libraries folder, if it is
still there.
4. Right-click to select "D435" and open the settings for "Select Technology Packages".
Select the following technology packages:
– DCBADM(V4.3)
– TPdcblib_SIMOTION_4_3
– TPcrane_dcc_library_SIMOTION_4_1_5 (V30.XX)
– CAM_EXT (V4.3)
5. Click "Update" and then "OK" (to close the window).
6. Open a DCC chart (e.g. Gantd_1) then select Options → Block Types and delete all
imported libraries from the chart by clicking the "<<" button. Then import into the DCC
plan all libraries installed in SCOUT by clicking the ">>" button.
Run the save and compile operation to complete the update of the Crane_DCC_Library. All
of the functions and features of the Crane_DCC_Library are now available for you to use.
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Basic Technology
Communication 6
6.1 General overview
The communication between the higher-level SIMATIC S7 controller and the drive-related
SIMOTION D435-2 DP/PN controller is established via PROFIBUS DP / PROFINET RT (up
to max. 16 PZD for each drive). With PROFIBUS DP, up to 244 bytes can be transferred in
each direction and 16 PZD per drive allow up to seven drives to be implemented. With
PROFINET RT, up to 1400 bytes can be transferred in each direction and with 16 PZD per
drive, all of the drives required for a crane plus additional data for Advanced Technology can
be implemented. The SINAMICS Control Unit drive is integrated in the drive-based
SIMOTION D. Communication between both (SIMOTION and SINAMICS) works in the same
way as with PROFIBUS DP, but with Motion Control expansion up to a maximum of 32 PZD
per drive (according to the PROFIdrive profile for drive technology, refer to Ref. [1]).
SIMOTION D435-2 DP/PN has three PROFIBUS DP interfaces (two DP interfaces and one
DP Integrated interface). The communication for PROFIBUS operation between SIMATIC
and SIMOTION D435-2 DP/PN for Basic Technology is configured on DP 1. Communication
between SIMOTION and SINAMICS is permanently configured on integrated DP. In
PROFIBUS operation, the DP 2 interface is reserved for communication between SIMATIC
and SIMOTION D435-2 DP/PN involving sway control or other options, refer to Ref. [12].
SIMOTION D435-2 DP/PN has two PROFINET interfaces (an integrated PN interface with
three ports and an interface with the CBE20-2 options board) and assumes the role of a
PROFINET I/O controller. The communication between SIMATIC and SIMOTION D435-2
DP/PN for Basic Technology and Advanced Technology is configured at port 1 for
PROFINET RT operation.
Note
The definition of the telegram for Advanced Technology is not part of this documentation.
Figure 6-1 Communication overview
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Communication
Task distribution
The following list provides an overview of task distribution between SIMATIC S7, SIMOTION,
and SINAMICS.
SIMATIC S7:
● Overview of the crane
● I/O signal processing
● Infeed control
● Safety-related monitoring
● Setpoint and control commands for main drives
● Setpoint and control commands for auxiliary drives
● Brake control (optional)
SIMOTION:
● Crane technology in DCC
● Setpoint generator, position control, synchronous operation, and communication with the
drives in the TO
● Communication with SIMATIC and SINAMICS in MCC
● Sequence control (monitoring, use of Operation Mode, troubleshooting, etc.) in MCC
● Additional crane-specific functions in MCC, such as cornering movement, brake test,
flying homing, offset mode, auto-setting …
● The use of a Web-based tool (WebStart) for commissioning and diagnostics is possible
as of version Basic Technology V3.0.
SINAMICS:
● Speed control
● Current control
● Monitoring, if required
● Brake control (optional)
Prerequisites
In order to establish disturbance-free communication between these three parties, the
reference data in SIMATIC, SIMOTION and SINAMICS modules must be identically
configured. The reference data must be normalized to the maximum data.
The following parameters are involved in the modules:
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Communication
SIMATIC:
● Reference speed
● Reference voltage
● Reference current
● Reference torque
● Reference power
SIMOTION:
● TypeOfAxis.SetPointDriverInfo.DriveData.maxSpeed: Drive speed
● TypeOfAxis.MaxVelocity.maximum: Maximum permissible velocity (refer to Chapter
SIMOTION technology object (Page 407))
● MCC Interface "axis"_nominalVelocity, _nominalCurrent, _nominalVoltage,
_nominalTorque, _nominalPower
SINAMICS:
● p2000 = reference speed reference frequency ( ≈ p1082 = maximum speed)
● p2001 = reference voltage
● p2002 = reference current
● p2003 = reference torque
● r2004 = reference power
NOTICE
All reference data must be normalized to their particular maximum value:

nMax = 100% = nrated + nFw
(maximum speed = rated speed + field weakening speed)
IMax = 100% = Irated + Ioverload
(maximum current = rated current + overload current)
MMax = 100% = Mrated + Moverload
(maximum torque = rated torque + overload torque)
Note
A script is created to fetch all reference values from the SINAMICS and enter in SIMOTION;
also refer to Chapter General (Page 361), "Script files" section
The definition for the relationship between the percentage value and hexadecimal value is
shown in the following table and in the following diagram.
If only positive values are used in the process data, then the value range is doubled; this
means that the range starts at 0 and can be increased up to 65,535 (UINT, 0 to FFFF).
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Table 6- 1 Relationship between hexadecimal value and percentage value
1 word: Connector
Percentage value Hexadecimal value
0 16#0000
100 16#4000
199,994 16#7FFF
- 200 16#8000
- 100 16#C000
0,006 16#1

)))
))))

&

Figure 6-2 Representing the value range of a word
New features with version 3.0

The time synchronization has been added in version 3.0. The following I/O areas are
occupied:
SIMATIC S7 to SIMOTION communication:

● One double word as UDINT (u32ClockTimeS7) address PID 1904
● One word (b16daysS7) address PIW 1908
● One word (b16timestw) address PIW 1910
SIMOTION to SIMATIC S7 communication:

● One double word as UDINT (u32ClockTimeSimotion) address PQD 1904
● One word (b16daysSimotion) address PQW 1908
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6.2 Communication, SIMATIC – SIMOTION D
6.2.1 Configuring the connection
PROFIBUS DP
Communication between SIMATIC and SIMOTION D is established via PROFIBUS DP. A
connection from the DP interface of the S7 module to the SIMOTION DP1 interface is
established at the SIMATIC. A PROFIBUS data transfer rate of 6 Mbit/s is set as default
value. The S7 module is master and SIMOTION is an intelligent slave.
The DP1 segment is the default D-MASTER in the SIMOTION hardware configuration.
The configuration of the connection for PROFINET RT is similar to that for PROFIBUS DP
and is described in the following documentation, refer to Ref. 14. Additional information can
be taken from Ref. 15 and 16.
Figure 6-3 Hardware configuration SIMOTION
The PROFIBUS address of the DP1 line of SIMOTION should be defined as 44.
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Figure 6-4 Object properties of DP1
The DP1 line must now be configured as intelligent DP-SLAVE. This is done under
Properties – DP1 on the tab Operating Mode. The checkbox for Programming, status/modify
or other PG functions and unconfigures communication connections possible MUST be set.
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Figure 6-5 Setting up an intelligent DP slave
After the DP1 line has been configured as an intelligent SLAVE, the hardware configuration
looks like that shown below.
Note
The DP1 line can no longer be seen in the hardware configuration after this has been
configured as intelligent slave.
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Figure 6-6 Overview of the hardware configuration after setup of an intelligent DP slave
The DP segment is set per default in the hardware configuration of SIMATIC as PROFIBUS
with a data transfer rate of 6 Mbit/s. If the 6 Mbit/s cannot be attained, a different data
transfer rate can be set. Then, the SIMOTION is inserted from the catalog under "already
configured stations":
Figure 6-7 Overview of the SIMATIC S7-400 HW configuration
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Figure 6-8 Overview of the SIMATIC S7-300 HW configuration
When inserting the already configured SIMOTION station, a coupling is listed, refer to the
diagram below. Click the Connect button so that the coupling is established between
SIMATIC and SIMOTION.
Note
Communication between SIMATIC and SIMOTION can only be configured after the coupling
has been established.
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Figure 6-9 Object properties of DP
After the coupling has been established, data transfer between SIMATIC and SIMOTION
must be configured. 16 process data items must be configured for every node (TO). The
address areas for communication between SIMATIC and SIMOTION are defined as follows
in the document "CraneSoft-7".
Drives PROFIBUS address I/O address area

Hoist 1 / Holding Gear 1 44 1184 … 1223
Hoist 2 / Closing Gear 1 44 1224 … 1263
Hoist 3/Holding Gear 2 44 1264 … 1303
Hoist 4 / Closing Gear 2 44 1304 … 1343
Trolley 1 44 1344 … 1383
Trolley 2 44 1384 … 1423
Boom 1/Luffing Gear 1 44 1504 … 1543
Boom 2 44 1544 … 1583
Gantry 1 44 1664 … 1703
Gantry 2 44 1704 … 1743
Slewing Gear 1 44 1824 … 1863
Slewing Gear 2 44 1864 … 1903
Application extensions 44 1904 … 1943
For every node, these addresses must be generated under DP slave properties under the
tab Configuration.
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Communication
Figure 6-10 DP configuration
The send and receive direction must be configured for every node. Hoist 1 with the starting
address 1184 is configured once from the master as output and once from the slave as
input.
The following settings in the DP slave properties window are very important:
– Length: 16
– Units: Word
– Consistency: All
This guarantees that communication between SIMATIC and SIMOTION is consistent when
sending and receiving with 16 words.
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Figure 6-11 Properties of the output words to be created
Figure 6-12 Properties of the input words to be created
After all of the devices of the basic technology have been configured, the hardware
configuration must be compiled in the SIMATIC and SIMOTION.
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The complete SIMATIC and SIMOTION hardware is displayed in the "NETPRO" screen. The
PG/PC should be connected at the DP1 line. An active connection must be configured at the
PG/PC; otherwise routing to SINAMICS_Integrated and the CX32 module is not possible.
Figure 6-13 NetPro_Overview
The complete communication with the I/O or with the master via the I/O container is realized
in SIMOTION. An array with 16 process data items must be created for receiving and
sending each function module participating in communication.
The arrays must be integrated into the corresponding function modules as a user program
with the function blocks "FB_TelegramS7ToSimotion" and "FB_TelegramSimotionToS7".
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Figure 6-14 Overview of the I/O Container in SCOUT (communication between SIMATIC and SIMOTION)
PROFINET RT
The configuration of the PROFINET RT connection is similar to that for PROFIBUS DP and
is described in the following documentation, refer to Ref. 14. Additional information can be
taken from Ref. 15 and 16.
A configuring example is provided on CD, refer to Chapter STS tandem crane (ship-to-shore
with four hoists) (Page 517).
6.2.2 Defining the telegram

An S7 module is used for the standard crane application; this can exchange 244 bytes of
data between SIMATIC and SIMOTION. This is the reason that with PROFIBUS and 16 PZD
per drive only seven drives can be implemented. If more drives are to be implemented under
PROFIBUS, then the data exchange must be reduced from 16 PZD back to 12 PZD. Then
you can implement ten drives with PROFIBUS; or otherwise you should use PROFINET. The
telegram structure for PROFIBUS and PROFINET is the same.
Two function blocks (FB_TelegramS7ToSimotion, FB_TelegramSimotionToS7) are
programmed in the basis technology to process communication telegrams (i.e. interconnect
and convert signals) between SIMATIC S7 and SIMOTION. In addition, the corresponding
function blocks and data blocks on the SIMATIC S7 side for defined communication are
made available to users on the Software CD.
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6.2.2.1 SIMATIC S7 → SIMOTION
Table 6- 2 SIMATIC S7 → SIMOTION
PZD Signal name Unit Remarks

1 Control word_1_S7 See below, Table "Control word_1_S7"
2 Master switch_S7 as a % of When the master switch is deflected, the velocity is entered from
the the master switch. The velocity setpoint can be specified either as
reference a positive or negative value. The reference value is the maximum
quantity value - in the S7 as well as in SIMOTION and in SINAMICS.
nmax = nrated + nFw = 100%
4000 hex = 16384 dec = 100%
3 Control word_2_S7 See below, Table "Control word_2_S7"
4 Automatic velocity as a % of In the AUTOMATIC operating mode, the S7 specifies an absolute
the velocity if the master switch is not deflected. If, during an active
reference AUTOMATIC request, the master switch is deflected, the actual
quantity request is canceled and the velocity specified by the master
switch is used (for safety-related reasons).
The reference value is the maximum value - in the S7 as well as
in SIMOTION and in SINAMICS.
nmax = nrated + nFw = 100%
4000 hex = 16384 dec = 100%
5 Ramp-up time_S7 ms A value range of 0 ms to 65,535 ms (UINT) is provided for the
6 Ramp-down time_S7 ramp-up and ramp-down time. The ramp-up and ramp-down times
are valid for all operating modes. The acceleration and
deceleration ramp [mm/s2] are converted, referred to the
maximum velocity.
FFFF hex = 65535 dec
7 Setpoint for the start pulse_S7 / as a % of Only for Hoist, Holding Gear, Closing Gear and Boom
free the The setpoint for the start pulse is specified as normalized value in
reference percent (%).
quantity
4000 hex = 16384 dec = 100%
8 Actual working radius / torque mm Actual working radius only for Slewing Gear or torque limit
limit / free / 0-100% specification, for example, for the brake test
9 Application_control_word_1_S7 - See below, Table "Application_control_word_1_S7"
10 Application_control_word_2_S7 - See below, Table "Application_control_word_2_S7"
11 Target_position_S7 mm In the AUTOMATIC, MANUAL and EASY_POSITIONING
12 operating modes, the target position is specified in millimeters
[mm]. S7 transfers the target position as DINT to the SIMOTION.
The target position can be specified as either positive or negative
value. The value range corresponds to the DINT, i.e. -2**31 to
+2**31-1
13 Start rounding-off time ms A value range 0 ms ... 65,535 ms (UINT) is provided for the initial
and final rounding-off time. The initial rounding-off time is valid for
all operating modes.
FFFFhex= 65535dec
14 End rounding-off time ms A value range 0 ms ... 65,535 ms (UINT) is provided for the initial
and final rounding-off time. The final rounding-off time is valid for
all operating modes.
FFFFhex= 65535dec
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15 Material factor / steering setpoint % Material factor as an integer value for the Easy Closing function in
/ free the holding gear
Additional setpoint for the Gantries in the RTG project
Free for user-engineered applications
16 - - Free for user-engineered applications
PZD 8: Actual working radius

The actual working radius is specified in millimeters [mm] and transferred from the S7 to the
SIMOTION as INT. The actual working radius can be specified as either a positive or
negative value.
If the actual working radius cannot be used, then the PZD8 for the torque limit value (0% -
100%) can be used for the brake test.
Note
Monitoring the safety areas:
In the SIMOCRANE Basic Technology, SIMOTION is not used to monitor safety areas. This
means that the SIMATIC S7 monitors the safety areas (e.g. operating limit switch,
emergency limit switch); it then handles the following derived measures (e.g. disconnecting
the power) and sends the safety-related positions to the SIMOTION.
Note
Monitoring the infeed
SIMATIC S7 controls (activation/deactivation) the infeed (ALM), refer to Ref. 6.
Note
Ramp-up and ramp-down times:
Minimum values for the ramp-up and ramp-down times are configured in the SIMOTION. If
the S7 transfers a shorter ramp-up or ramp-down time to the SIMOTION, then the minimum
value from SIMOTION is used.
The effective ramp-up and ramp-down times are increased when using initial and final
rounding-off (smoothing). The following formula for the ramp-up and ramp-down times
(equivalent to Masterdrives Vector Control) is obtained:
teffective = tramp-up time + (tinitial rounding-off+ tfinal rounding-off)
Note
Initial jerk time and final jerk time apply to acceleration and deceleration.
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Table 6- 3 Control word_1_S7
Bit Signal name Remarks

0 On / Off1 The drive is powered up and powered down using On / Off1.
1 Off2 Off2 must be set otherwise the drive cannot be powered up. If input Off2 is
withdrawn when the drive is powered up, the pulses must be inhibited and the motor
coasts down.
2 Off3 Off3 must be set otherwise the drive cannot be powered up. If input Off 3 is
withdrawn when the drive is powered up, the motor is stopped with the configured
down ramp and is then powered down.
3 Pulse enable The setpoint is only accepted and the travel command executed when input "pulse
enable" is set.
4 Ramp-function generator The ramp-function generator is enabled by setting the bit. When this bit is reset, the
enable output of the ramp-function generator is set to zero.
5 Reserved
6 Enable setpoint When the input "Enable setpoint" is set, the speed setpoint in front of the ramp-
function generator is enabled.
7 Acknowledge fault When the input "Acknowledge fault" is set, a fault that is present is acknowledged as
soon as the fault cause has been removed.
8 Enable speed controller The speed controller is enabled by setting the bit. The speed control is inhibited with
a low signal. This means that a travel command cannot be processed - but the motor
remains magnetized
9 Open brake The "Open brake" command can be set in the SINAMICS using the high signal. It
can be used when the internal brake control of the SINAMICS is used and the
extended brake control is activated.
10 Master control by PLC The bit "Master ctrl by PLC" must be set, otherwise the higher-level controller does
not accept any commands.
11 Reserved
12 Used internally Internally used:
Closed-loop speed control = 0; closed-loop torque control = 1
Bit 12 cannot be influenced from the S7 in the standard application.
13-15 Reserved
Table 6- 4 Control word_2_S7
Bit Signal name Comment

0 PositiveSuperimpose A positive supplementary velocity is superimposed by setting the bits.
1 NegativeSuperimpose A negative supplementary velocity is superimposed by setting the bits.
2 TandemHoming A positive edge activates compensation of the offset between the tandem master
and tandem slave.
3 TandemMode TandemMode must be selected at the tandem master and the tandem slave if
movement is to be performed in tandem mode.
(This is true only for hoisting gear applications); refer to Offset mode between
tandem master and tandem slave (TandemMode) (Page 478).
4 SlaveTandemMode If the input is not set, the axis is the Tandem-Master and TandemMasterMode is
activated. If the input is set, the axis is the Tandem Slave and SlaveTandemMode is
activated.
(This is true only for hoisting gear applications.)
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Bit Signal name Comment

5 DriveMasterSuperimpose True = the supplementary velocity is superimposed on the tandem-master.
False = the supplementary velocity is superimposed on the tandem-slave.
6 SelectMasterAxis2 These inputs specify the master.
7 SelectMasterAxis3 1. SelectMasterAxis2 = FALSE AND SelectMasterAxis3 = FALSE.
This means the axis at TO_CheckbackMasterAxis is the master.
2. SelectMasterAxis2 = TRUE AND SelectMasterAxis3 = FALSE.
This means the axis at TO_CheckbackMasterAxis2 is the master.
3. SelectMasterAxis2 = FALSE AND SelectMasterAxis3 = TRUE.
4. SelectMasterAxis2 = TRUE AND SelectMasterAxis3 = TRUE.
This causes an error to be output.
8 SelectCheckbackSlave If a slave is available and SelectCheckbackSlave is active, all checkback signals
from the slave (boSelectcheckbackSlave) are monitored.
9 SelectCheckbackSlaveTa If a slave is available and SelectCheckbackSlaveTandem is active, all checkback
ndem signals from the tandem-slave (boSelectcheckbackSlaveTandem) are monitored.
10 SelectCheckbackSlaveSl If a slave is available and SelectCheckbackSlaveSlaveTandem is active, all
aveTandem checkback signals of the SlaveSlaveTandem
(boSelectcheckbackSlaveSlaveTandem) are monitored.
11 boOffsetHoming A rising edge activates the compensation of the offset between master and slave.
(This is true only for hoisting gear applications); see Offset mode between the master
and the slave (Page 479).
12 boOffsetMode boOffsetMode must be selected on the slave when an offset should be active during
travel.
13 - 15 Free The bit is not used.
Note
For more information on STW2 bits 0/1/2/3/4/5/11/12, refer to Chapter Ship-to-shore tandem
crane (STS tandem) (Page 470).
Table 6- 5 Application_control_word_1_S7
Bit Signal name 1 0 Remarks

signal signal
0 Enable ramp- Yes No This bit is currently used only for RTG projects, otherwise free.
function generator
steering / free
1 Free Yes No The bit is not used.
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signal signal
2 Enable start pulse Yes No A high signal sets a constant or a speed setpoint issued from the S7 for a
configurable time (method 1) or the I component of the speed controller is
saved and set (method 2, see DCC_StartPulse (Page 150)). This decays
according to an e function so that when the brake is opened, the load
does not sag.
Note: When the start pulse is set, the ramp-function generator enable
must not be set (only for method 1).
3 Select heavy-duty Yes No Heavy-duty operation is permitted with the high signal; heavy-duty
operation operation is not permitted with a low signal. Velocity, acceleration and
deceleration are reduced in heavy-duty operation.
4 Enable field- Yes No With a high signal, the drive is permitted to operate in field weakening
weakening beyond its rated speed
5 Reset load memory Yes No The high signal resets the saved actual load of the calculation in the
DCC_LoadDependingFieldWeak block.
6 Selecting master- Yes No See below
slave operation
7 Selecting Yes No See below
synchronous
operation
8 Save offset Yes No With a high signal, the actual offset in synchronous operation or master-
slave operation between the master and slave is not equalized - instead,
it is kept. This means the target position is adapted in the AUTOMATIC,
MANUAL or EASY_POSITIONING operating modes.
The new offset is saved with a positive edge. The offset value is only
deleted if active synchronous operation or active master-slave operation
is deselected.
9 Start AUTOMATIC Yes No Using a high signal, the AUTOMATIC request is started with the specified
operating mode values for position, velocity, acceleration and deceleration (positioning
started).
The accepted setpoints remain active
• until the target position is reached
• until the AUTOMATIC operating mode is exited
• until the master switch is deflected
• until the new edge "Start AUTOMATIC request" is set.
10 AUTOMATIC Yes No See below
operating mode
11 MANUAL operating Yes No See below
mode
12 EASY_POSITIONIN Yes No See below
G operating mode
13 SPEED_CONTROLL Yes No Control type: Speed-controlled with encoder
ED operating mode This operating mode is selected only after operating mode interlocking;
(= JOGGING) see below, "Selecting operating modes" section. Further, it is not
permissible that the axis is in closed-loop control and it must be
stationary (zero speed). In the SPEED_CONTROLLED operating mode,
the axis only travels under closed-loop speed control with the specified
velocity, ramp-up time and ramp-down time. The travel direction is
derived from the polarity of the setpoint input.
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signal signal
14 SENSORLESS Yes No Control type: Closed-loop speed controlled without encoder or V/f
EMERGENCY characteristic
operating mode This operating mode is selected only after operating mode interlocking;
see below, "Selecting operating modes" section. Further, it is not
stationary (zero speed). In the SENSORLESS EMERGENCY operating
mode, the axis travels with the control type "V/f open-loop control" or
"closed-loop speed control without encoder" with a minimum velocity. The
travel direction is derived from the polarity of the setpoint input.
Note: For the V/f characteristic, parameter p1300 in the drive object (DO)
must be set to parameterize the V/f control.
15 SWAYCONTROL Yes No Control type: Speed-controlled with encoder
operating mode This operating mode is selected only after operating mode interlocking;
see below, "Selecting operating modes" section. Further, it is not
stationary (zero speed). In SWAYCONTROL operating mode, the
velocity, ramp-up time, and ramp-down time are specified.
Bit 6: Selecting master-slave operation

Master-slave operation is selected with a high signal. This signal executes a leading /
following drive function (rigid coupling).
The selection is described in detail in Chapter Master-slave operation control type
(Page 253).
Bit 7: Selecting synchronous operation

Synchronous operation between the master and slave is selected using a high signal and
both are then moved in speed or position synchronism (not a rigid coupling).
The selection is described in detail in Chapter Synchronous operation control type
(Page 257).
Mode selection
Signal name 10 11 12 13 14 15
AUTOMATIC operating mode 1 0 0 0 0 0
MANUAL operating mode 0 1 0 0 0 0
EASY_POSITIONING operating mode 0 0 1 0 0 0
SPEED_CONTROLLED operating mode (= JOGGING) 0 0 0 1 0 0
SENSORLESS EMERGENCY operating mode 0 0 0 0 1 0
SWAYCONTROL operating mode 0 0 0 0 0 1
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NOTICE
• It is only possible to switch over an operating mode if the plausibility check was
successfully completed, the drive is not in closed-loop control and the drive is stationary
(zero speed).
• When processing an AUTOMATIC request, the crane driver can interrupt the active
request by operating the master switch (safety reasons!) and can continue to work with
the master switch.
Bit 10: AUTOMATIC operating mode

Control type: Closed-loop position controlled with/without synchronous operation
In the AUTOMATIC operating mode, the axis travels closed-loop position-controlled to the
specified position (with the specified velocity, ramp-up time and ramp-down time). The
request is started with the specified values at standstill using the control bit "start automatic
operation". If the master switch is deflected in the AUTOMATIC operating mode, the request
is interrupted and the master switch specifies the velocity setpoint.
For further information on this operating mode refer to Chapter "Description of the operating
modes (Page 224)".
Bit 11: MANUAL operating mode

In the MANUAL operating mode, the axis moves closed-loop position controlled. In so doing,
the S7 specifies the target position, velocity, ramp-up time and ramp-down time. The travel
direction is specified by the setpoint from the master switch.
Bit 12: EASY_POSITIONING operating mode

Position-controlled travel is used in the EASY_POSITIONING operating mode. The
SIMATIC S7 so specifies the target position, velocity, ramp-up time and ramp-down time.
The travel direction is specified by the setpoint from the master switch.
For further information on this operating mode refer to Chapter "Description of the operating
modes (Page 224)".
Table 6- 6 Application_control_word_2_S7
Bit Signal name 1 signal 0 signal Remarks

0 Save and set the I component Yes No Bit 0 is used to store and set the I component when method
(start pulse) 2 is used for the start pulse (refer to Chapters
DCC_StartPulse (Page 150) and DCC_StartPulse_1
(Page 154)). The high signal sets the saved I component;
the low signal and saves the current I component.
1 Select velocity limitation, bit 1 Yes No Up to four different velocity limits can be selected using bit
2 Select velocity limitation, bit 2 Yes No 1 and bit 2. If bit 1 and bit 2 are not selected, then the
maximum velocity acts as limit.
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Bit Signal name 1 signal 0 signal Remarks

3 Select prelimit switch velocity Yes No A high signal is used to change over to the configured
prelimit switch velocity (e.g. 10% of the maximum velocity).
4 Enable slack rope controller Yes No The slack rope controller is activated using a high signal
and therefore the slack rope is wound up.
5 Command, save grab open Yes No Using a high signal, the position actual value difference
between Holding Gear and Closing Gear for grab open is
saved.
6 Command, save grab closed Yes No Using a high signal, the position actual value difference
between Holding Gear and Closing Gear for grab closed is
saved.
7 Select orange-peel bucket Yes No Orange-peel bucket operation is activated using a high
signal.
8 Enable current equalization Yes No The current equalization controller is activated using a high
controller signal.
9 Select grab change Yes No The velocity setpoint of the holding gear is de-coupled from
the closing gear with a high signal. This means that the
ropes/cables can be adjusted independently of one
another.
10 Homing Yes No See below
11 Select torque limiting Yes No The torque limiting is activated using a high signal and the
drive torque is limited to the torque specified in the PZD8.
12 Select encoder switchover Yes No The closed-loop position control is switched over from the
motor encoder to an external encoder with a high signal.
This switchover can only be made with the axis at a
standstill (zero speed).
13 SlaveMode Yes No With a low signal, the MasterMode is activated and with a
high signal, the SlaveMode is activated.
In MasterMode, the axis can be operated in all operating
modes. In the SlaveMode, the axis can be operated in all
operating modes with the exception of the AUTOMATIC
operating mode. An AUTOMATIC request cannot be
processed. The selection is accepted if the drive is not in
closed-loop control and is stationary (zero speed).
Example, refer to Description FB_OperationMode
(Page 194)
14 BrakeTest Yes No The brake test is selected using the high signal. The
selection is accepted if the drive is not in closed-loop
control and is stationary; see FB_OperationMode
(Page 194).
15 changeTechnologyObject Yes No This activates or deactivates the particular technology
object.
In order that the axis is active, a high signal must be
available. For false, the axis is deactivated.
For more detailed information see description of the
FB_OperationMode (Page 194).
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Bit 10: Homing

The axis is homed using a high signal. The axis can only be homed when it is at a standstill
(zero speed). The reference point must be specified at the following input of function block
"FB_OperationMode":
1. inHomingValuePLC_Bool = FALSE
A fixed reference point (inHomingfixvalue_Lreal) is configured. The axis is set to this
position by setting bit 10 of "Homing".
2. inHomingValuePLC_Bool = TRUE
The SIMATIC S7 specifies a home position in the PZD for the target position (PZD 11
and PZD 12). The axis is set to this position by setting bit 10 of "Homing".
For additional information, refer to Chapter Homing (Page 252).
6.2.2.2 SIMOTION → SIMATIC S7
Table 6- 7 SIMOTION → S7

1 Status_word_1_S7 - See below, Table "Status_word_1_S7"
2 Speed_actual_value_S7 as a % of The actual speed value is sent, referred to the reference value.
the The reference value is the maximum value.
reference nmax = nrated + nFw = 100%
speed 4000 hex = 16384 dec = 100%
3 Status_word_2_S7 - See below, Table "Status_word_2_S7"
4 Fault and alarm numbers - The error messages should be interpreted as a UINT, 0 - 65535
See Application error messages and alarm messages
(Page 339)
5 Current_actual_value_total_smooth as a % of The current actual value smoothed (r0068[1]) is sent, referred to
ed_S7 the the reference value.
reference The reference value is the maximum value.
current Imax = Irated + IOverload = 100%
4000 hex = 16384 dec = 100%
6 Load actual value_S7 / free kg The determined load actual value is sent (only for Hoist, e.g.: kg
or tons).
The determined load value is sent to the S7 from 0 to 65,535
(UINT). The normalization factor for the load current in physical
units (kg) must be parameterized in function block "load-
dependent field weakening".
7 Torque_actual_value_smoothed_S as a % of The current actual torque value smoothed (r0080[1]) is sent,
7 the referred to the reference value.
torque Mmax = Mrated + MOverload = 100%
4000 hex = 16384 dec = 100%
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8 Speed_setpoint_before_speed_con as a % of The current speed setpoint before the speed controller (r0062)
troller_S7 the is sent, referred to the reference value.
speed nmax = nrated + nFw = 100%
4000 hex = 16384 dec = 100%
9 Application_status_word_1_S7 - See below, Table "Application_status_word_1_S7"
10 Application_status_word_2_S7 See below, Table "Application_status_word_2_S7"
11 Act. Position Val._S7 mm The actual position (..positioningstate. actualposition) is sent as
12 double word.
The conversion from LREAL to DINT must be made in
SIMOTION.
13 Output voltage As The smoothed output voltage based on the reference value is
percentage sent.
of the 4000 hex = 16384 dec = 100%
reference
voltage
14 Torque_setpoint_S7 / open grab / As The total torque setpoint (r0079) for the holding gear and the
acceleration setpoint / free percentage hoisting gear based on the reference value is sent. The torque
of the setpoint is required for the brake test . The reference value is
reference the maximum value.
torque / 0 - Mmax=Mrated+Moverload=100%
100% 4000 hex=16384 dec=100% / status message for the position
for the closing gear gripper, 100% corresponds to grab open /
acceleration setpoint of the trolley / free for user-engineered
applications
15 - Free for user-engineered applications
16 - Free for user-engineered applications
PZD 4: Fault and alarm numbers

The fault and alarm numbers are sent. Only the positive value range is used which means
that fault and alarm numbers from 0 to 65,535 (UINT) can be sent. The differentiation as to
whether it involves a fault number from SIMOTION, SINAMICS or from a function block is
displayed using bit 6 "SIMOTION", bit 7 "SINAMICS" and bit 8 "function block" in
Application_status_word_2.
If no faults are present, the SINAMICS alarms are transferred to the S7 using the same
process data item.
The following priority assignment is defined. Priority 1 has the highest priority and priority 4
the lowest priority:
Priority 1: SINAMICS error (AppZSW2 bit 7)
Priority 2: SIMOTION error (AppZSW2 bit 6)
Priority 3: Function block error (AppZSW2 bit 8)
Priority 4: SINAMICS alarm (ZSW1 bit 7)
Priority 5: Function block alarm (none of the above status bits)
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Table 6- 8 Status_word_1_S7

0 Ready to switch-on If a high signal is present at the bit, this indicates that the line contactor is OFF and
switch-on (OFF1) is awaited
1 Ready If a high signal is present at the bit, this indicates that voltage is present at the Line
Module.
2 Enable operation If a high signal is present at the bit, this indicates that the electronics and the pulses
have been enabled and the axis has ramped up to the setpoint.
3 Fault present If a high signal is present at the bit, this indicates that the drive has a fault and is
therefore non-operational. After acknowledgement and the cause has been
successfully removed, the drive goes into the power-up inhibit.
4 Coasting down active If a high signal is present at the bit, this indicates that no OFF2 is active.
(OFF2)
5 Fast stop active (OFF3) If a high signal is present at the bit, this indicates that no OFF3 is active.
6 Power-on inhibit If a high signal is present at the bit, this indicates that it is only possible to power up
again using OFF1 followed by ON.
7 Alarm present If a high signal is present at the bit, this indicates that the drive is still in operation
and no acknowledgement is required.
8 Speed setpoint-actual If a high signal is present at the bit, this indicates that the actual value lies within the
value deviation in the tolerance range.
tolerance range
9 Control requested to If a high signal is present at the bit, this indicates that the automation system has
the PLC been requested to accept control.
10 f or n comparison value If a high signal is present at the bit, this indicates that f or n comparison value has
reached or exceeded been reached or exceeded.
11 I, M or P limit reached If a high signal is present at the bit, this indicates that I, M or P limit has not been
or exceeded reached or was exceeded.
12 Holding brake open If a high signal is present at the bit, this indicates that the holding brake has received
the command to open.
13 Interpolator active If a high signal is present at the bit, this indicates that the interpolator is active.
(ramp-function
generator active)
14 n_act >= 0 If a high signal is present at the bit, this indicates that the speed actual value is ≥ 0.
15 Alarm, drive converter If a high signal is present at the bit, this indicates that there is an alarm due to
thermal overload thermal overload of the converter.
Table 6- 9 Status_word_2_S7

0 Not used The bit is not used.
1 Safe Torque Off active A high signal indicates that the hardware triggered the Safe Torque Off state by
means of input signals of the Control Unit or of the Motor Module.
2 TandemHoming active The axis is moving in order to compensate for the offset between the tandem master
and tandem slave. (Only in double-spreader operation)
3 TandemMode active Tandem mode is activated.
(Only for hoisting gear applications)
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4 SlaveTandemMode Tandem-slave mode is activated.
active (Only for hoisting gear applications)
5 DriveMasterSuperimpo With a high signal, the tandem-master travels the offset; with a low signal, the
se tandem-slave travels the offset.
6 SelectMasterAxis2 These outputs indicate the active master.
active (Only for hoisting gear applications)
7 SelectMasterAxis3 1. SelectMasterAxis2 = FALSE AND SelectMasterAxis3 = FALSE.
active This means the axis at TO_CheckbackMasterAxis is the master.
2. SelectMasterAxis2 = TRUE AND SelectMasterAxis3 = FALSE.
3. SelectMasterAxis2 = FALSE AND SelectMasterAxis3 = TRUE.
4. SelectMasterAxis2 = TRUE AND SelectMasterAxis3 = TRUE.
This causes an error to be output.
8 CheckbackSlave active The checkback signal of the slave (bocheckbackSlave) is activated and checkback
signals are checked.
9 CheckbackSlaveTande The checkback signal of the tandem-slave (checkbackSlaveTandem) is activated
m active and checkback signals are checked.
10 CheckbackSlaveSlave The checkback signal of the tandem-slave-slave (checkbackSlaveSlaveTandem) is
Tandem active activated and checkback signals are checked.
11 boOffsetHomingActive The axis is moving in order to compensate the offset between master and slave.
12 boOffsetModeActive Offset operation is active.
13 to 15 Free These bits are not used.
Table 6- 10 Application_status_word_1_S7

0 Axis moves in the With a high signal, the axis moves in the positive direction
positive direction (...motionstatedata.commandvelocity ≥ 0)
1 Axis moves in the With a high signal, the axis moves in the negative direction
negative direction (...motionstatedata.commandvelocity < 0)
2 Message, drive With a high signal, the drive is stationary, i.e. the velocity = 0.
stationary
3 Message, current With a high signal, the current distribution monitoring has responded.
distribution monitoring
responded
4 Message, field With a high signal, the field weakening is enabled.
weakening enabled
5 Message, AUTOMATIC With a high signal, the target position has been reached in the AUTOMATIC
operating mode, target operating mode.
position reached
6 Message, master-slave With a high signal, master-slave operation is active.
operation active
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7 Message, synchronous With a high signal, synchronous operation between the master and slave is active.
operation active
8 Message, offset active With a high signal, an offset for synchronous operation between master and slave is
active.
9 Message, AUTOMATIC With a high signal, a request in the AUTOMATIC operating mode is active.
request active
10 AUTOMATIC operating A high signal is used to signal back that the AUTOMATIC operating mode is active.
mode
11 MANUAL operating A high signal is used to signal back that the MANUAL operating mode is active.
mode
12 EASY_POSITIONING A high signal is used to signal back that the EASY_POSITIONING operating mode is
operating mode active.
13 SPEED_CONTROLLE A high signal is used to signal back that the SPEED_CONTROLLED (= JOGGING)
D operating mode (= operating mode is active.
JOGGING)
14 SENSORLESS A high signal is used to signal back that the SENSORLESS EMERGENCY operating
EMERGENCY mode is active.
operating mode
15 SWAYCONTROL A high signal is used to signal back that SWAYCONTROL operating mode is active.
operating mode
Table 6- 11 Application_status_word_2_S7

0 Closed-loop torque "Grab ½ open" is needed only for the Closing Gear, otherwise "Closed-loop torque
control active (H) or control active (H)"
grab ½ open (H)
1 Closed-loop speed A high signal is used to signal back that the closed-loop speed control is active.
control active
2 Closed-loop position "Grab 2/3 closed (H)" is needed only for the Closing Gear, otherwise "Closed-loop
control active (H) or position control active (H)"
grab 2/3 closed (H)
3 Message a/v reduction With a high signal, acceleration, deceleration or velocity have been reduced. Once
detected, the signal remains down to standstill (zero speed).
4 Message, grab open With a high signal, the grab is open.
5 Message, grab closed With a high signal, the grab is closed.
6 SIMOTION fault With a high signal, there is a fault/error present in SIMOTION at the technology
object (priority 2).
7 Fault, SINAMICS With a high signal, a fault/error is active in the SINAMICS drive object (priority 1).
8 Fault, function block With a high signal, a fault/error is active at a function block (priority 3).
9 Message torque "Message torque limit exceeded (H)" is needed only for the Closing Gear, otherwise
limiting active (H) or "Message torque limiting active (H)"
message torque limit
exceeded (H)
10 Message, homed With a high signal, the axis is homed, i.e. the homing position was accepted.
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11 Position difference The high signal indicates that the position difference between the master and slave is
outside tolerance outside the tolerance limits.
12 Encoder switchover With a high signal, the encoder data set switchover has become active. The closed-
active loop position control now uses an external encoder and no longer the motor encoder.
13 SlaveModeActive With a low signal, the MasterMode is active and with a high signal, the SlaveMode is
active.
14 BrakeTestActive ... (H) With a high signal, the BrakeTestActive is active or only for the Holding Gear with
or message "Grab continuous load measurement the message "Grab touchdown (H)" is output.
touchdown" (H)
15 TechnologyObjectActiv With a high signal, the TechnologyObjectActive is active.
e (H)
Bit 0: Closed-loop torque control active or grab 1/2 open

A high signal is used to signal back that closed-loop torque control is active. For a Closing
Gear, the checkback signal "Closed-loop torque control active" is not returned, but the "Grab
1/2 open" instead.
Bit 2: Closed-loop position control active or grab 2/3 closed

A high signal is used to signal back that closed-loop position control is active. For a Closing
Gear, the checkback signal "Closed-loop position control active" is not returned, but "Grab
2/3 closed" instead.
Bit 9: Message Torque limiting active or message Torque limit exceeded

Torque limiting is active with the high signal. For a Closing Gear, the checkback signal
"Message Torque limiting active" is not returned, but "Message torque limit exceeded"
instead.
6.2.3 Short description of the data blocks and function blocks in SIMATIC for
communication
The blocks described below are used to control communication between SIMATIC and
SIMOTION D.
Function Name Description

-FC1533 D_TOD_DTa Date and TIME_OF_DAY convert to DATE_AND_TIME data format.
-FC1536 DT _DATEa Form Date data format from the DATE_AND_ TIME format.
-FC1538 DT to TODa Form TIME_OF_DAY data format from the DATE_AND_TIME format.
-FC1564 SD_DT_DTa Subtraction of two DT values.
-FB1701 FB PCD_SEND The block cyclically transfers the process data (control words, setpoints) from
SIMATIC to the drive in accordance with consistency conditions.
-FB1702 FB PCD_RECV The block cyclically transfers the process data (status words, actual values) from
the drive to SIMATIC in accordance with consistency conditions.
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Function Name Description

-FC1707 FC COM_STAT The block calls system function SFC 51 RDSYSST to evaluate the SSL of the
CPU and reports faulty or deactivated states of the slave to be processed.
-FB1720 SINAMICS_CY The block manages cyclic communication between SIMATIC and a
SIMOTION/SINAMICS drive.
Block functions:
• Sending process data (control words and setpoints) to the drive
• Receiving process data (status words and actual values) from the drive
• Checking the communication state; the block evaluates the SSL of the CPU
and reports any faulty or deactivated states of the slave
Cyclic communication is handled by standard SIMATIC-Drive-ES function
blocks: FB1701 "PCD_SEND", FB1702 "PCD_RECV", FC1707 "COM_STAT"
-FC1732 Control word 1 FC1732 writes the value of the first control word of a SINAMICS or SIMOTION
SINAMICS/SIMOTION Control Unit.
-FC1733 Status word 1 FC1733 reads the value of the first status word of a SINAMICS or SIMOTION
-FC1734 Control word 2 FC1734 writes the value of the second control word of a SINAMICS or
SINAMICS/SIMOTION SIMOTION Control Unit.
-FC1735 Status word 2 FC1735 reads the value of the second status word of a SINAMICS or SIMOTION
-FC1736 Control word 1 FC1736 writes the value of the first application control word of a SIMOTION
Technology Control Unit.
-FC1737 Status word 1 FC1737 reads the value of the first application status word of a SIMOTION
-FC1738 Control word 2 FC1738 writes the value of the second application control word of a SIMOTION
-FC1739 Status word 2 FC1739 reads the value of the second application status word of a SIMOTION
-FC1740 TimeDateSIMOTION FC1740 has the function to set a date and time in the SIMOTION from the
comparison of the DT values of the PLC and SIMOTION.
-UDT31 User-defined data type Predefined (user-defined) data type; used in FBs and DBs.
SLOT_UDT
-DBxx2 Configuration data block DBxx2 is the configuration data block within PROFIBUS, diagnostics, I/O
addresses and slot type data. Each drive component must be assigned a
separate configuration DB, e.g. DB212(HO-1), DB222(HO-2). These DBs
contains the data structure shown in the diagram below.
-DBxx3 Replacement process DB DBxx3 is multiple instance DB of FB1720 and is used for cyclic process data
communication. Each drive component must be assigned a separate cyclic
communication DB, e.g. DB213(HO-1), DB223(HO-2). These DBs contains the
data structure described in Defining the telegram (Page 306).
Data block DB213 for Hoist-1 contains, for example,
Send process data: DB213 - DW36...DW66
Receive process data: DB213 - DW78...DW108
_DB4 Time data block DB4 is used to store the time and date and is called in the OB1
DB21x = HO1; DB22x = HO2; DB31x = TR1; DB32x = TR2; DB41x = BH1; DB42x = BH2;DB51x = GA1;
DB52x = GA2; ...
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Figure 6-15 Correlation between the SW Config and HW Config DBs
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6.3 Communication, SIMOTION D – SINAMICS (internal SIMOTION D communication)
6.3 Communication, SIMOTION D – SINAMICS (internal SIMOTION D

communication)
6.3.1 Configuring the connection

Communication between SIMOTION and SINAMICS is implemented using PROFIBUS
Integrated via DRIVE-CLiQ.
The PROFIBUS data exchange rate is 12 Mbit/s. This means that an equidistant DP cycle is
obtained from 1 ms onwards. The equidistant DP cycle depends on the number of connected
nodes (devices).
Communication between SIMOTION and SINAMICS is configured using standard telegram 4
(6 process data items on the send side / 14 process data items on the receive side). Then,
this standard telegram is extended to a free telegram (999) with 32 process data items on
the send and receive sides.
Figure 6-16 Parameter p0922 to value 4
Note
If parameter p0922 has already been set to a free telegram (999) during configuration, it
needs to be set to standard telegram 4 (4) before the script for communication
interconnections is run (see below), and then reset to a free telegram (999) again afterwards.
This ensures that the correct values are assigned to the data words at the send and receive
sides of the telegram.
Figure 6-17 Parameter p0922 to value 999
The address ranges for communications between SIMOTION and SINAMICS should be
configured as follows. These addresses can be adapted in the hardware configuration of
SIMOTION.
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Drives I/O address area

Hoist 1 / Holding Gear 1 300 … 363
Hoist 2 / Closing Gear 1 364 … 427
Trolley 1/Boom 1/Luffing Gear 1 428 … 491
Trolley 2 / Boom 2 492 … 555
Gantry 1 556 … 619
Gantry 2 620 … 683
Slewing Gear 1 684 … 747
Slewing Gear 2 748 … 811
Hoist 3/Holding Gear 2 812 … 875
Hoist 4 / Closing Gear 2 876 … 939
The following additional information is transferred in the supplementary process data words:
1. Extension of the telegram SIMOTION → SINAMICS
PZD Signal name Module

7 Supplementary speed setpoint (start pulse) Hoist, Trolley, Boom, Holding
Gear, Closing Gear, Luffing
Gear
8 Torque_limiting_upper All
9 Torque_limiting_lower All
10 Speed controller integrator setting value All
11 Control word for integrator setting value in the speed All
controller
2. Extension of the telegram SINAMICS → SIMOTION
PZD Signal name Module

15 Torque-generating current setpoint All
16 Total_current_actual_value_smoothed All
17 Torque_actual_value_smoothed All
18 Speed_controller_setpoint_actual_value_difference All
19 Speed setpoint All
20 Output voltage All
21 Actual fault code All
22 Actual alarm code All
23 Total torque setpoint All
24 Speed controller I torque output All
25 Actual power value All
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Every standard application makes available scripts that can be used to automatically execute
all the communication interconnections in SINAMICS. The particular script for the drive is
located in the drive object under the script folder.
Note
For communication, see General (Page 361), "Script files" section.
6.3.2 Defining the telegram

Communication between SIMOTION D and SINAMICS units is established using integrated
PROFIBUS DP with motion control expansion. The integrated DP must be configured for
clock-cycle synchronous operation. The standard telegram 4 according to PROFIdrive profile
V4.0 (/Ref.1/) is used and appropriately expanded up to max. 32 PZD.
Two function blocks (FB_TelegramSimotionToSinamics, FB_TelegramSinamicsToSimotion)
to process communication telegrams (or interconnect and convert signals) between
SIMOTION and SINAMICS is programmed in the basic technology, refer to Description of
the function blocks (Page 163).
6.3.2.1 SIMOTION → SINAMICS
Table 6- 12 SIMOTION → SINAMICS
PZD Signal name Remarks

1 Control_word_1_SINAMICS refer to the following table
2 Speed_setpoint_SINAMICS The Speed_setpoint_SINAMICS is received as double word referred to the
3 reference value. The double word assignment is a standard definition according to
the PROFIdrive profile Standard. The internal interface between SIMOTION and
SINAMICS was standardized according to the Standard. /Ref.1/
4 Control_word_2_SINAMICS Refer below, Table "Control_word_2_SINAMICS"
5 Control_word_encoder_1_SI The Control_word_encoder_1_SINAMICS is described in the PROFIdrive profile.
NAMICS /Ref.1/
6 Control_word_encoder_2_SI The Control_word_encoder_2_SINAMICS is described in the PROFIdrive profile.
NAMICS /Ref. 1/
7 Supplementary_speed_setp The supplementary speed setpoint is required for the start pulse for Hoist.
oint_SINAMICS
8 Torque_limiting_upper_SIN The torque can be used with the holding gear for the slack rope control. The
AMICS required torque limitations can also be implemented using this channel.
9 Torque_limiting_lower_SINA
MICS
10 Setpoint I component speed The torque setpoint for the I component of the speed controller can be specified
controller here, e.g. from DCC block Startpulse, if the enableBrakeStoreValue option has
been selected.
11 STW for speed controller This control word transports the bit for setting the I component of the speed
controller.
12-32 Not used The word is not used.
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Table 6- 13 Control_word_1_SINAMICS

0 On / Off1 The drive is powered up and powered down using On / Off1.
p0840 = r2090.0
1 Off2 Off2 must be set - otherwise the drive cannot be powered up. If input Off2 is
withdrawn when the drive is powered up, the pulses must be inhibited and the
motor coasts down.
p0844 = r2090.1
2 Off3 Off3 must be set - otherwise the drive cannot be powered up. If input Off3 is
withdrawn when the drive is powered up, the motor is stopped with the configured
down ramp and is then powered down.
p848 = r2090.2
3 Pulse enable The pulses are only enabled by setting input "pulse enable".
p852 = r2090.3
4 Enable ramp function The speed setpoint is only transferred to the speed controller after input "Enable
generator ramp-function generator" has been set.
p1140 = r2090.4
5 Reserved
6 Enable setpoint The speed setpoint is only transferred to the ramp-function generator after input
"Enable setpoint" has been set.
p1142 = r2090.6
7 Acknowledge fault When the input "Acknowledge fault" is set, an existing fault is acknowledged if the
cause of the fault has been removed.
p2103 = r2090.7
8 Enable speed controller The speed controller is enabled by setting the bit.
p856 = r2090.8
9 Open brake The "Open brake" command can be set in SINAMICS using the high signal. This
can be used if an extended brake control is implemented via SINAMICS.
p1224[1] = r2090.
10 Master control by PLC This bit "Master control by PLC" must be set, otherwise the control does not accept
any commands.
p0854 = r2090.10
11 Reserved
12 Select closed-loop torque Closed-loop speed control = 0; closed-loop torque control = 1
control If bit 12 is not set, then the closed-loop speed control is active. If bit 12 is set, then
the closed-loop torque control is active.
p1501 = r2090.12
13-14 Reserved
15 Intelligent overspeed signal The bit "Intelligent overspeed signal" is only used for Hoist. In this case, the actual
velocity is monitored for an overspeed condition. This bit is set if an overspeed
condition is identified.
Only for Hoist, ControlUnit P738 = MotorModule r2090.15
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Communication
Note
The control in SIMOTION for bits 0 to 6 in control word 1 must be implemented using the
command _enableAxis. Bits 8, 9, 11 to 15 must be controlled using the command
_setaxisstw.
Table 6- 14 Control_word_2_SINAMICS

0 Drive data set selection By selecting drive data set, it is possible to toggle between different drive data sets
DDS, bit 0 by controlling bits "DDS bit 0", "DDS bit 1" and "DDS bit 2".
1 Drive data set selection p0820 = r2093.0; p0821 = r2093.1; p0822 = r2093.2
DDS, bit 1
2 Drive data set selection
DDS, bit 2
7 Acknowledge SINAMICS By setting the input "Acknowledge SINAMICS fault", an existing fault is
fault acknowledged if the cause of the fault was removed at the SINAMICS drive object.
p2103 = r2093.7
12 Master sign-of-life bit 0 Bits 12 to 15 are used as sign-of-life of the clock-cycle synchronous PROFIBUS
13 Master sign-of-life bit 1 master.
14 Master sign-of-life bit 2

15 Master sign-of-life bit 3
Note
The control in SIMOTION for bits 0 to 11 in control word 2 must be implemented using the
command _setaxisstw.
Table 6- 15 Control word for speed controller

0 Enable motor blocking The bit is used for disabling the blocking monitoring. A TRUE signal disables the
monitoring monitoring. This is required for the brake test and can also be used for the slack
rope control.
1 Speed controller Bit for setting the I component of the speed controller.
Set integrator value p1477 = r2094.1
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6.3.2.2 SINAMICS → SIMOTION
Table 6- 16 SINAMICS → SIMOTION

1 Status_word_1_SINAMIC Refer to the table under "Status_word__1_SINAMICS"
S p2051.0 = r2089[0]
2 Speed_actual_value_SIN The speed actual value is sent as double word referred to the reference value.
3 AMICS p2061.1 = r0063
4 Status_word_2_SINAMIC Refer to the table under "Status_word_2_SINAMICS"
S p2051.3 = r2089[1]
5 Status_word_encoder_1_ The status_word_encoder_1 is described in the PROFIdrive profile. /Ref.1/
SINAMICS p2051.4 = r0481[0]
6 Position_actual_value_1_ The position_actual_value_1_encoder_1 is described in the PROFIdrive profile.
7 encoder_1_SINAMICS /Ref.1/
p2061.5 = r0482[0]
p2061.7 = r0483[0]
10 Status_word_encoder_2_ The status_word_encoder_2 is described in the PROFIdrive profile. /Ref.1/
SINAMICS p2051.9 = r0481[1]
p2061.10 = r0482[1]
p2061.12 = r0483[1]
15 Current_setpoint_torque_ The torque-generating current setpoint is sent as word, referred to the reference
generating_SINAMICS value.
p2051.14 = r0077
16 Current_actual_value_tota The torque-generating and field-generating current actual value is smoothed
l_smoothed_SINAMICS (absolute current actual value) and sent as word, referred to the reference value.
p2051.15 = r0068[1]
17 Torque_actual_value_sm The torque actual value is smoothed and sent as word, referred to the reference
oothed_SINAMICS value.
p2051.16 = r0080[1]
18 Setpoint-actual value The speed control difference at the speed controller is sent as word, referred to
difference_speed_controll the reference value.
er_SINAMICS p2051.17 = r0064
19 Speed_setpoint_SINAMIC The speed setpoint is smoothed and sent as word, referred to the reference value.
S p2051.18 = r0062
20 Output voltage The output voltage is smoothed and sent as word, referred to the reference value.
p2051.19 = r0072
21 Actual fault code from The actual fault code is sent as word.
SINAMICS p2051.20 = r2131
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22 Actual alarm code from The actual alarm code is sent as word.
SINAMICS p2051.21 = r2132
23 Torque setpoint The torque setpoint is sent as word, referred to the reference value (p2003), as a
% of the reference quantity (p2051.22 = r0079)
24 I component speed The I component (torque setpoint) speed controller is smoothed and sent as word,
controller referred to the reference value.
p2051.23 = r1482
25 Actual power value The torque actual value is smoothed and sent as word based on the reference
value.
p2051.24=r32
25-32 Free These bits are not used.
PZD 23: Torque_setpoint_SINAMICS

The torque setpoint is sent as word, referred to the reference value (p2003).
Table 6- 17 Status_word_1_SINAMICS

0 Ready to switch-on If a high signal is present at the bit, this indicates that the power supply is switched
on and the electronics has been initialized.
p2080.0 = r0899.0
1 Ready If a high signal is present at the bit, this indicates that voltage is present at the Line
Module.
p2080.1 = r0899.1
2 Enable operation If a high signal is present at the bit, this indicates that the electronics and the
pulses have been enabled and the axis has ramped up to the setpoint.
p2080.2 = r0899.2
3 Fault present If a high signal is present at the bit, this indicates that the drive has a fault and is
therefore non-operational. After acknowledgement and the cause has been
successfully removed, the drive goes into the power-up inhibit.
p2080.3 = r2193.3
4 Coasting down active If a high signal is present at the bit, this indicates that no OFF2 is active.
(OFF2) p2080.4 = r0899.4
5 Fast stop active (OFF3) If a high signal is present at the bit, this indicates that no OFF3 is active.
p2080.5 = r0899.5
6 Power-on inhibit If a high signal is present at the bit, this indicates that it is only possible to power
up again using OFF1 followed by ON.
p2080.6 = r0899.6
7 Alarm present If a high signal is present at the bit, this indicates that the drive is still in operation
and no acknowledgement is required.
p2080.7 = r2139.7
8 Speed setpoint-actual If a high signal is present at the bit, this indicates that the actual value lies within
value deviation in the the tolerance range.
tolerance range p2080.8 = r2197.7
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9 Control requested to the If a high signal is present at the bit, this indicates that the automation system has
PLC been requested to accept control.
p2080.9 = r0899.9
10 f or n comparison value If a high signal is present at the bit, this indicates that f or n comparison value has
reached or exceeded been reached or exceeded.
p2080.10 = r2199.1
11 I, M or P limit reached or If a high signal is present at the bit, this indicates that the I, M, or P limit has been
exceeded reached or exceeded.
p2080.11 = r1407.7
12 Holding brake open If a high signal is present at the bit, this indicates that the holding brake has
received the "Open" command.
p2080.12 = r0899.12
13 Alarm overtemperature If a high signal is present at the bit, this indicates that the motor is signaling an
motor overtemperature condition.
p2080.13 = r2135.14
14 n_act >= 0 If a high signal is present at the bit, this indicates that the speed actual value is
>=0.
p2080.14 = r2197.3
15 Alarm, drive converter If a high signal is present at the bit, this indicates that there is an alarm due to
thermal overload thermal overload of the converter.
p2080.15 = r2135.15
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Communication
Table 6- 18 Status_word_2_SINAMICS

0 Drive data set DDS The effective drive data set bit 0 is signaled back using the high signal.
effective, bit 0 p2081.0 = r0051.0
3 to 4 Not used The bit is not used.
5 Safe Torque Off Control The high signal indicates that Safe Torque Off (was: Safe Standstill) was initiated
Unit active per hardware via the input signals of the Control Unit.
p2081.5 = r9772.1
6 Safe Torque Off The high signal indicates that Safe Torque Off (was: Safe Standstill) was initiated
MotorModule active per hardware via the input signals of the Motor Module.
p2081.6 = r9872.1
7 V/f control active A high signal is used to signal back that the V/f control is active.
p2081.8 = r1407.0
8 Encoderless operation A high signal is used to signal back that the closed-loop speed control is active.
active p2081.8 = r1407.1
9 Closed-loop torque A high signal is used to signal back that the closed-loop torque control operating
control active mode is active.
p2081.9 = r1407.2
10 Closed-loop speed A high signal is used to signal back that the closed-loop speed control is active.
control active p2081.10 = r1407.3
11 Pulses enabled A high signal is used to signal back that the pulses are enabled.
p2081.11 = r899.11
12 Slave sign-of-life bit 0 A high signal is used to signal back the clock-cycle synchronous slave sign-of-life.
13 Slave sign-of-life bit 1
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Alarm, error and system messages 7
The monitoring functions for following error, positioning, and standstill are handled by the
technology object in SIMOTION. Overspeed can be monitored by the drive object in
SINAMICS (except for Hoist axes). A list of the messages can be found in Section
The individual monitoring functions are described below; see also Ref. [2], Chapter 2.10 for
more information. Information on the SIMOTION technology object alarms can be found in
Ref. [3]. Information on the SINAMICS drive object alarms can be found in Ref. [4].
7.1 Overview - monitoring functions

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Figure 7-1 Block diagram of positioning axis monitoring functions
7.2 Dynamic monitoring of following errors

The following error monitoring on the position-controlled axis is performed on the basis of the
calculated following error.
The permissible following error is dependent on the set velocity.
At velocities less than the specifiable minimum velocity, a programmable constant following
error is monitored. Above this limit, the following error is increased proportionally to the set
velocity up to a maximum difference. The maximum difference is reached at the maximum
velocity.
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Alarm, error and system messages
7.2 Dynamic monitoring of following errors
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Figure 7-2 Dynamic monitoring of following errors
Figure 7-3 Function and parameters for following error monitoring
Determination of following errors

The following error is determined from the difference between the non-symmetrical setpoint
prior to inclusion of the dynamic response adjustment and the actual value present in the
control.
Therefore, the transfer times of the setpoint to the drive and the actual value to the control
are included in the following error.
The following error must be determined after the speed controller and the positioning
controller have been commissioned. This is because any changes to these two controllers
can have an influence on the possible following error.
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7.3 Position and standstill monitoring
Figure 7-4 Function and parameters for position monitoring
Position monitoring
The behavior of the actual position at the end of the setpoint interpolation is monitored.
This position-related monitoring does not distinguish whether the setpoint interpolation is
ended as a result of reaching the target position from the setpoint side or due to a position-
controlled stop during the motion performed by the interpolator (e.g., with a _stop()
command). This monitoring is called position-related monitoring, although the position does
not have to be the same as the target position. The tolerance window specified for this
monitoring is called the positioning window.
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Figure 7-5 Position monitoring
Sequence:
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● At the end of the setpoint interpolation, the monitoring time

typeOfAxis.positionMonitoring.posWinTolTime is started.
● If, before this time expires, the actual value reaches a definable window
typeOfAxis.positionMonitoring.tolerance around the existing position at the end of the
setpoint interpolation, monitoring of the minimum dwell time
typeOfAxis.positionMonitoring.posWinTolDelayTime is initiated. The window is specified
as a deviation in typeOfAxis.standStillMonitoring.stillStandTolerance, i.e. half of the
window width is set.
If the actual value does not reach the window within the monitoring time
typeOfAxis.positionMonitoring.posWinTolTime, alarm 50106 (position monitoring) is
issued.
● If the actual value leaves this window again during the minimum dwell time
typeOfAxis.positionMonitoring.posWinTolDelayTime, the monitoring time
typeOfAxis.positionMonitoring.posWinTolTime is restarted; each time it re-enters this
window, the minimum dwell time typeOfAxis.positionMonitoring.posWinTolDelayTime is
restarted.
● If the actual value remains in this window for the minimum dwell time
typeOfAxis.positionMonitoring.posWinTolDelayTime, the MOTION_DONE status is set in
the system variable motionStateData.motionCommand and the standstill monitoring is
started.
The monitoring phases are also displayed in servoMonitoring.positioningState (V4.1.1 and
higher):
● ACTUAL_VALUE_OUT_OF_POSITIONING_WINDOW = setpoint interpolation has been
completed; actual value has not yet reached the positioning window
● ACTUAL_VALUE_INSIDE_POSITIONING_WINDOW = actual value is inside positioning
window; standstill monitoring is not yet started
The ACTUAL_VALUE_OUT_OF_POSITIONING_WINDOW is displayed when the actual
value has left the positioning window again.
● STANDSTILL_MONITORING_ACTIVE = standstill monitoring is active; positioning to the
position reached at the end of the setpoint interpolation has taken place.
● INACTIVE
Note
Position-related monitoring functions (e.g. following error monitoring or position
monitoring) are disabled with the command to reduce the torque.
Standstill monitoring
Standstill monitoring is defined by the standstill window and the tolerance time during which
the standstill window may be exited without alarm 50107 being triggered.
The standstill window is specified as a deviation in
typeOfAxis.standStillMonitoring.stillStandTolerance, meaning that half of the window width is
set.
The status of the standstill monitoring is displayed in servoMonitoring.stillstand. Standstill
monitoring is not available on the speed-controlled axis.
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7.4 Standstill signal
7.4 Standstill signal

The standstill signal motionStateData.stillstandVelocity is ACTIVE when the actual velocity is
less than a configured velocity threshold for at least the duration of the delay time.
Note
Below this velocity, the motion is stopped in response to _stopEmergency() at zero setpoint
without a preconfigured deceleration ramp.
If the WHEN_MOTION_DONE step-enabling condition is set in speed-controlled mode for

the speed-controlled axis and positioning axis, the command is ended when the standstill
signal changes from INACTIVE to ACTIVE. The completion of commands with this setting for
position-controlled motion is described in Position and standstill monitoring (Page 335).
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Figure 7-6 Generating the standstill signal
The standstill signal is available on the positioning axis and speed-controlled axis.
Figure 7-7 Function and adjustable parameters for the standstill signal
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7.5 Overspeed signal from SINAMICS
Note
It is the standstill signal described here which is used in block FB_OperationMode and not
the standstill signal specified by the drive! For this reason, take particular care when you set
up the signal.
One of its functions, for example, is to ensure that switchover between operating modes
takes place only when the drive is at a standstill.
1% of the maximum velocity can be used as a guide value.
7.5 Overspeed signal from SINAMICS
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Figure 7-8 Overspeed signal
Positive and negative limits are derived from SINAMICS S parameter p1082 (maximum
speed). The hysteresis is set at SINAMICS S parameter p2162.
Note
The complete function diagram (8010) is available in the SINAMICS S List Manual (Ref. [4]).
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7.6 Application error messages and alarm messages

The function blocks (see Crane FB library (Page 163)) also return application fault messages
and alarm messages: In the table, errors are identified with the letter "F" and alarms, with the
letter "A".
Fault and alarm numbers are transferred over the same channel (PZD 4; see Table 6-7
SIMOTION → S7 (Page 315)) to the higher-level controller.
Because only one value can be transferred, a prioritization occurs (see FB_ErrorPriority
(Page 187)). The fault or alarm number can be assigned as described below.
Table 7- 1 Fault or alarm number assignment
PZD4 (value not equal to 0) + AppZsw2 bit 7 (true) = SINAMICS fault

PZD4 (value not equal to 0) + AppZsw2 bit 6 (true) = SIMOTION fault
PZD4 (value not equal to 0) + AppZsw2 bit 8 (true) = FB fault
PZD4 (value not equal to 0) + Zsw1 bit 7 (true) = Drive alarm
PZD4 (value not equal to 0) + no further feedback = FB alarm
The first entry has the highest priority, the last entry the lowest priority.
Error No. Description

0000 No error
F0001 - F0048 Description of the return value: Corresponds to the list of return values under the
_move function in SIMOTION; see Ref. [3].
F2700 FB_ControlAxis:
The technology object is neither a positioning axis, nor is it a speed axis.
Remedy:
Set up a positioning axis or a speed axis at the TO.
F3000 FB_OperationMode:
The input variables "SelectSynchronousOperation" and
"SelectMasterSlaveOperation" are selected at the same time.
To correct or avoid errors:
It is not permitted to set the "SelectSynchronousOperation" and
"SelectMasterSlaveOperation" in parallel.
A3100 The technology object is not switched active.
Remedy: Set bit 15 in application control word 2.
A3110 More than one operating mode is selected.
Remedy:
Check bits 10-15 in application control word 1 and set only one of them to TRUE.
A3140 An operating mode has been selected while POWER was active.
Remedy:
Switch off the power status message of the axis using STW1 bit 0 or bit 3.
(with tandem mode not active)
Slave feedback signal: Synchronous velocity or synchronous position is not active.
Remedy:
Check the selection for synchronous mode in the slave; refer to Synchronous
operation control type (Page 257).
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Slave feedback signal: The two operating modes are not the same (AUTOMATIC,
MANUAL, SPEED_CONTROLLED, SWAYCONTROL).
Remedy:
Assign the same operating mode to the master and the slave.
Slave feedback signal: Master-slave operation or synchronous mode is not active.
Remedy:
Select master-slave operation or synchronous mode in the slave; refer to Master-
slave operation control type (Page 253) and/or Synchronous operation control type
(Page 257).
A3230 FB_OperationMode:
Slave drive state is not active.
Remedy:
Check the ramp-function generator enable STW1 bit 4 and speed controller enable
STW1 bit 8 in the slave.
Slave power is not active.
Remedy:
Check STW1 (STW1 bit 0,1,2,3,8). These bits must be set in the slave.
Slave setpoint is not active.
Remedy:
Activate slave setpoint (STW1 bit 6).
Position synchronous operation not possible, as the slave is outside the tolerance
range.
Remedy:
Bring the slave back into the tolerance range.
Synchronous operation not possible, as the position from the synchronous object
(FixGear) to the actual position is outside the tolerance.
Remedy:
Switch off the slave (STW1 bit3), save offset (AppSTW1 bit8) and switch on again.
(with tandem mode active)
Slave feedback signal: Synchronous velocity or synchronous position is not active.
Remedy:
Check the selection for synchronous mode in the slave; refer to Synchronous
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Slave feedback signal: The two operating modes are not the same (AUTOMATIC,
MANUAL, SPEED_CONTROLLED, SWAYCONTROL)
Remedy:
Assign the same operating mode to the master and the slave.
Slave feedback signal: Master-slave operation or synchronous mode is not active.
Remedy:
Select master-slave operation or synchronous mode in the slave; refer to Master-
slave operation control type (Page 253) and/or Synchronous operation control type
(Page 257).
The master switch has been deflected, but the slave drive state is not active.
Remedy:
STW1 bit 8 in the slave.
The master switch has been deflected, but slave power is not active.
Remedy:
Check STW1 (STW1 bit 0,1,2,3,8). These bits must be set in the slave.
The master switch has been deflected, but the slave setpoint is not active.
Remedy:
Activate slave setpoint (STW1 bit 6).
Slave is active (by selecting master-slave or synchronous operation) and the slave
has a TO, DO or FB error.
Remedy:
Eliminate the TO, DO, or FB error in the slave.
Tandem slave feedback signal: Synchronous velocity or synchronous position is
not active.
Remedy:
Check the selection for synchronous mode in the tandem slave; refer to
Synchronous operation control type (Page 257).
Tandem slave feedback signal: The two operating modes are not the same
(AUTOMATIC, MANUAL, SPEED_CONTROLLED, SWAYCONTROL).
Remedy:
Assign the same operating mode to the tandem master and the tandem slave.
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Tandem slave feedback signal: Master-slave operation or synchronous mode is
not active.
Remedy:
Select master-slave operation or synchronous mode in the tandem slave; refer to
Master-slave operation control type (Page 253) and/or Synchronous operation
control type (Page 257).
The master switch has been deflected, but the tandem slave drive state is not
active.
Remedy:
STW1 bit 8 in the tandem slave.
The master switch has been deflected, but the tandem slave power is not active.
Remedy:
Check STW1 (STW1 bit 0,1,2,3,8). These bits must be set in the tandem slave.
The master switch has been deflected, but the tandem slave setpoint is not active.
Remedy:
Activate tandem slave setpoint (STW1 bit 6).
Tandem slave slave feedback signal: Synchronous velocity or synchronous
position is not active.
Remedy:
Check the selection for synchronous mode in the tandem slave slave; refer to
Synchronous operation control type (Page 257).
Tandem slave slave feedback signal: The two operating modes are not the same
(AUTOMATIC, MANUAL, SPEED_CONTROLLED, SWAYCONTROL).
Remedy:
Assign the same operating mode to the tandem slave and the tandem slave slave.
Tandem slave slave feedback signal: Master-slave operation or synchronous
mode is not active.
Remedy:
Select master-slave operation or synchronous mode in the tandem slave slave;
refer to Master-slave operation control type (Page 253) and/or Synchronous
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The master switch has been deflected, but the tandem slave slave drive state is
not active.
Remedy:
STW1 bit 8 in the tandem slave slave.
The master switch has been deflected, but tandem slave slave power is not active.
Remedy:
Check STW1 (STW1 bit 0,1,2,3,8). These bits must be set in the tandem slave
slave.
Slave mode or tandem slave mode is activated, although no valid technology
object is available at input TO_checkbackMasterAxis.
Remedy:
Connect input TO_checkbackMasterAxis to a valid technology object or deselect
slave mode or tandem slave mode again.
object is available at input TO_checkbackMasterAxis2.
Remedy:
Connect input TO_checkbackMasterAxis2 to a valid technology object or deselect
object is available at input TO_checkbackMasterAxis3.
Remedy:
Connect input TO_checkbackMasterAxis3 to a valid technology object or deselect
Inputs boSelectMasterAxis2 and boSelectMasterAxis3 are set simultaneously (with
the result that more than one master is selected).
Remedy:
Select just one master.
The master switch has been deflected, but the tandem slave slave setpoint is not
active.
Remedy:
Activate tandem slave slave setpoint (STW1 bit 6).
Slave available is active and a TO, DO, or FB error is present at the slave, tandem
slave, or tandem slave slave.
Remedy:
Eliminate the TO, DO, or FB error in the slaves.
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Synchronous mode or master-slave mode is selected, master is moving, but not
the slave.
Remedy:
Either deselect synchronous mode or master-slave operation, or select slave mode
or tandem slave mode.
The master switch was deflected, the drive receives a travel command and uses
the extended brake control in SINAMICS, but the drive does not move.
Remedy:
Open the brake and check STW1 bit 9.
The master switch has been deflected, but the master DriveState is not active.
Remedy:
STW1 bit 8 in the master.
The master switch has been deflected, but master Power is not active.
Remedy:
Check STW1 (STW1 bit 0,1,2,3,8). These bits must be set in the master.
The master switch has been deflected, but the master setpoint is not active.
Remedy:
Activate master setpoint (STW1 bit 6).
No operating mode selected.
Remedy:
Select operating mode (AppSTW1 bit 10…15).
Speed controller enable missing.
Remedy:
Set STW1 bit 8.
Technology object is not active.
Remedy:
Check AppSTW2 bit15
Closed-loop position controlled operating mode is not active.
Remedy:
Axis must be referenced (AppSTW2 bit10), state AppZSW2 bit10
The technology object master is neither a positioning axis, nor is it a speed axis.
Remedy:
Refer to fault number 2700
Basic Technology

Closing Gear is active, slave mode or tandem slave mode is selected, but no valid
master technology object is available.
Remedy:
Connect a valid technology object (position axis) as the master or deselect slave
mode or tandem slave mode.
In speed-controlled synchronous operation (SPEED_CONTROLLED,
SENSORLESS EMERGENCY), a valid gear (TO_GearVel) or a master axis is
expected.
Remedy:
Connect a valid gear (fixed gear).
In position-controlled synchronous operation (AUTOMATIC or MANUAL), a valid
gear (TO_GearPos) or a leading axis is expected.
Remedy:
Connect a valid gear or an axis as the master.
For synchronous operation between the holding gear (master) and the closing gear
(slave) or for a following-operation coupling, the master drive runs but the slave
drive remains stationary.
Remedy:
At the slave drive, check whether all enable signals are present, whether the
following operation coupling has been selected correctly, or whether error
messages are present. If necessary, attempt to run the slave drive on its own with
no coupling in order to establish that there are no faults with the drive.
SWAYCONTROL and HeavyDuty are active simultaneously.
Remedy:
SWAYCONTROL cannot be used in heavy-duty operation. Deselect heavy-duty
operation.
SENSORLESS EMERGENCY is selected but the maximum permissible velocity
for SENSORLESS EMERGENCY is zero.
Remedy:
Increase the limit for SENSORLESS EMERGENCY in the interface of the MCC
unit.
The master switch is deflected in the positive direction and the target position is
smaller than the actual position in AUTOMATIC or MANUAL operating mode.
Remedy:
If the deflection direction is correct, the actual position and target position must be
checked and corrected.
The master switch is deflected in the negative direction and the target position is
greater than the actual position in AUTOMATIC or MANUAL operating mode.
Remedy:
If the deflection direction is correct, the actual position and target position must be
checked and corrected.
Basic Technology

A3960 FB_OperationMode
Internal axis changeover is selected but the assigned axis interface is not assigned
EXCLUSIVE.
Remedy:
Change the configuration data for
TypeOfAxis.SetpointDriverInfo.interfaceAllocation to 939.
External axis changeover is selected but the axis interface is not set to
NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED.
Remedy:
Change the configuration data for
TypeOfAxis.SetpointDriverInfo.interfaceAllocation to 940 and, if required,
TypeOfAxis.NumberOfEncoder.Encoder_1.interfaceAllocation to 940.
External axis changeover is selected but the axis sequence is not OK
Remedy:
Check the circuit in the subroutine call of the inputs in the "boChangeTO_Nr_1 ",
"boChangeTO_Nr_2 ", "boChangeTO_Nr_3" mode block or read Chapter
Technology object switchover (Page 214).
Changing the target position in MANUAL operating mode decreases the distance-
to-go to the new target. A check is made to determine whether the deceleration
value can be increased to a level that allows the drive to decelerate within the
shortened distance-to-go. If the deceleration required for this is greater than the
maximum permissible deceleration value, this fault is generated.
Remedy:
Make sure that the selected distance-to-go is long enough to enable the drive to
come to a standstill at the maximum deceleration.
F4000 FB_Cornering:
Incorrect operating mode selected for cornering movement.
Remedy:
Select SPEED_CONTROLLED, JOGGING, or SENSORLESS_EMERGENCY
operating mode.
F4010 FB_Cornering:
Technology object InnerAxis is not a speed axis.
Remedy:
F4020 FB_Cornering:
Technology object OuterAxis is not a speed axis.
Remedy:
F4040 FB_Cornering:
The drives are not in synchronous operation.
Remedy:
Switch the drives to synchronous operation (refer to the section titled Synchronous
operation control type (Page 257)). Interconnect the block's
"boSynchronousOperationActive" input to the slave drive's FB_OperationMode
"boSynchronousOperationActive" output.
Basic Technology

F4050 FB_Cornering:
The actual velocity is greater than the permissible curve velocity.
Remedy:
Check the velocity values at the block input.
F4070 FB_Cornering:
Change in direction of travel above a sensor.
Remedy:
Continue to move in the original direction, pass the sensor completely, and then
change the direction.
F4080 FB_Cornering:
Parameterization fault, r64DistanceSmallRadius > r64DistanceLargeRadius.
Remedy:
Parameterize the above values correctly. The value at the input for the larger
radius must be the larger of the two.
F4090 FB_Cornering:
F4091 Permissible dynamic values exceeded or the curve entered too quickly
(F4090: positive acceleration / F4091: negative acceleration).
Remedy:
Check the dynamic values and r64DistanceSensorCurve. Enter the corner more
slowly.
F5000 FB_Monitoring:
In master-slave operation, the actual velocity between the master and slave is
outside the tolerance range.
Remedy:
• Check the mechanical function.
• Check the reference data settings in S7 – SIMOTION – SINAMICS.
• Increase the deceleration time.
• Increase the velocity tolerance.
• Scan the system for dead times (e.g. smoothing times).
In synchronous operation in the AUTOMATIC / MANUAL operating mode, the
actual position - without offset between the master and slave axis - is outside the
tolerance range.
To correct or avoid faults:
Refer to fault 5000; also check for differences in the position control settings at
both axes.
In synchronous operation in the AUTOMATIC / MANUAL operating mode, the
actual position - with offset between the master and slave axis - is outside the
tolerance range.
Refer to fault 5100
In synchronous operation the actual position between the master and slave axis is
outside the tolerance range in all operating modes with the exception of
AUTOMATIC / MANUAL.
Refer to fault 5000
Basic Technology

In synchronous operation or master-slave operation, the feedback signals of both
technology objects (TO) are monitored. This monitors whether one of the two TOs
is not switched in and the TO is moving.
Check whether all enable signals are set or whether any one of the TOs is still
moving.
In synchronous operation or master-slave operation, the current setpoints or the
actual currents respectively are outside the tolerance range.
Remedy:
• Check whether master-slave mode is actually activated.
• Check the mechanical function.
• Increase the deceleration time.
• Increase the current tolerance.
• Scan the system for dead times (e.g. smoothing times).
The technology object Master is not a positioning axis and not a speed axis.
Remedy:
The technology object Slave is not a positioning axis and not a speed axis
Remedy:
The velocity difference between the motor encoder and the external encoder of the
master is outside the tolerance range.
Remedy:
Check for axis fracture or adjust tolerance limits, increase deceleration time, check
encoders and/or the signals "toDriveAxis.sensordata[1].velocity" and
"toDriveAxis.sensordata[2].velocity".
The velocity difference between the motor encoder and the external encoder of the
slave is outside the tolerance range.
Remedy:
F8750 FB_ReferenceMode:
The technology object master is not a positioning axis.
Remedy:
The slave technology object slave is not a positioning axis.
Remedy:
No valid gear (TO_GearPos) available.
Remedy:
Connect a valid gear (fixed gear).
Basic Technology

F9000 FB_AutoSettingFW:
No valid technology object connected.
Remedy:
Connect valid technology object at the TO_Name input.
Speed controller deviation too high.
Remedy:
Optimize the speed control loop.
Interruption too long / pause between the measuring steps.
Remedy:
Repeat the current measuring step (Step 10 or Step 20).
The velocity during the constant travel differs too greatly from the rated velocity.
Remedy:
Set the correct rated velocity at the input or ensure that the rated velocity is
overshot or undershot too much during the constant travel.
A9040 FB_AutoSettingFW:
The minimum load value is larger than the maximum load value.
Remedy:
Check the entries. A reset is not necessary. The alarm is removed when the input
values match again.
The number of sampling points is too small.
Remedy:
Check the entries and, if necessary, change the ramp-up time of the lower and/or
upper measuring window.
The entered ramp-up time and real ramp-up time are too different.
Remedy:
Check the entries and, if necessary, change the ramp-up time.
Note
If you receive a fault message that is not included in the above list, then look here:
• for SINAMICS in Ref. [4]
• for SIMOTION in Ref. [3]
Basic Technology
7.7 Troubleshooting
7.7 Troubleshooting
Certain settings or actions, such as software or project updates, may lead to errors, where
the cause is not immediately obvious. To avoid and resolve problems such as these, see the
link in the following note.
Note
You can find FAQs on the subject of troubleshooting in the Internet
(http://support.automation.siemens.com/WW/view/en/10807397/130000). For other forms of
contact, such as a service request, see Preface (Page 3).
Product support for SIMOCRANE

Use the addresses shown below to receive support for your SIMOCRANE products (under
the keyword "Simocrane"):
● On the Internet:
http://support.automation.siemens.com
● Europe hotline
– Tel.: +49 (0) 911 895 7 222
– Fax: +49 (0) 911 895 7 223
● America hotline
– Tel.: +1 423 262 5710
– Fax: +1 423 262 2231
● Asia/Pacific hotline
– Tel.: +86 10 6475 7575
– Fax: +86 10 6474 7474
Basic Technology
Commissioning 8
8.1 Preliminary remark
CAUTION
The polarity rules must be observed:

Hoist:
Hoisting velocity is POSITIVE, with ascending position values.
Lowering velocity is NEGATIVE, with descending position values.
Gantry:
Motion to right, POSITIVE velocity with ascending position values.
Motion to left, NEGATIVE velocity with descending position values.
Trolley:
Motion towards ship, POSITIVE velocity with ascending position values.
Motion towards shore, NEGATIVE velocity with descending position values.
Boom:
Holding Gear:
Closing Gear:
Closing, velocity is POSITIVE, with ascending position values.
Opening, velocity is NEGATIVE, with descending position values. (Position "zero", grab is
fully open.)
Slewing Gear:
Slewing right, velocity is POSITIVE, with ascending position values.
Slewing left, velocity is NEGATIVE, with descending position values.
Luffing Gear:
Basic Technology
Commissioning
8.1 Preliminary remark
Two commissioning concepts:

1. The required functionality of the actual crane goes beyond the standard application. The
user is very knowledgeable about SIMOTION / SINAMICS and is in a position to adapt
the existing standard application "ready-to-apply" to the requirements.
2. The standard application covers the functional requirements of the actual crane. The user
is not so knowledgeable about SIMOTION / SINAMICS and user is supplied with a
"ready-to-run" standard configuration. This only has to be downloaded into SIMOTION
D435 and then commissioning can start.
The "ready-to-run" procedure is described in this chapter.

The following diagram provides an overview regarding the commissioning sequence.
Figure 8-1 Commissioning overview
Prerequisites:
WARNING
The system must be in a no-voltage state when checking the subsequently described
prerequisites for commissioning
● All DRIVE-CLiQ nodes must be connected with one another precisely as was created in
the project (reference and actual topology must match).
● The commissioning engineer is responsible for ensuring that the motors are correctly
connected.
● The encoder must be correctly connected.
Basic Technology
Commissioning
8.2 SIMOCRANE WebStart
● Only connect in parallel drives of the same type and manufacturer in order to guarantee
identical drive data and symmetrical load distribution.
● Master-slave-coupled motors must have the same reference variables, i.e. p2000, p2001,
p2002, p2003 and r2004.

SIMOCRANE WebStart is a Web-based tool, i.e. access to the tool is made using a Web
browser, such as the Internet Explorer. The physical connection to the controller is
established via Ethernet, e.g. using a crossover Ethernet cable for direct connection. A
notebook that normally serves as client is used essentially only as terminal.
A crane lifecycle from the engineering through to the service comprises the following:
Figure 8-2 Concept for configuration and commissioning
1. Crane dimensioning (configuration phase in the office):
Basic Technology
Commissioning
– Problem: The hardware configuration, the circuit diagrams and the topology of the
interconnections are designed according to the crane specification.
– Tool: The design of the SINAMICS drive can be performed with the SIZER
configuration tool.
2. Generation of the application software (configuration phase in the office):
– For 'ready-to-run' customers: Implementation of smaller customizations (e.g. power,
encoder types, topology) based on the standard application.
– For 'ready-to-apply' customers: Implementation of customizations (hardware, software
and communication) or in-house engineering with the existing Crane DCC/FB library.
– Tool: SCOUT
3. Commissioning (locally on the crane):
– Customization of the parameters and optimization of the control loops
– Tool: STARTER and SIMOCRANE WebStart
– SIMOTION SCOUT is required for changes to the application program.
4. Service and maintenance (locally on the crane):
– Monitoring, diagnostics and trace and, if necessary, customization of the parameters.
– Tool: SIMOCRANE WebStart
The SIMOCRANE Basic Technology with SIMOTION D controls the motion control and the
cranes technology functions for the main drives. In most cases, the following customizations
(hardware configuration, programs, DRIVE-CLiQ topology, etc.) can be performed during the
configuration phase or in steps 1 and 2 (see above). In steps 3 and 4, only changes to
parameters (system variables, parameters) and diagnostic options can be made locally.
SIMOCRANE WebStart offers sufficient functions for this purpose.
The exact procedure for the configuration and commissioning is shown in the following
figure:
Basic Technology
Commissioning
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Figure 8-3 Use of WebStart during commissioning
A: Configuring phase:
A customer-specific SCOUT project is created on the basis of the standard application.
● For 'ready-to-run' customers: Implementation of smaller customizations (e.g. power,
encoder types, topology) based on the standard application.
● For 'ready-to-apply' customers: Implementation of customizations (hardware, software
and communication) or in-house engineering with the existing Crane DCC/FB library.
● SIMOTION SCOUT is required for this phase
Result: Creation of the master project V1.0 (original version)
B: Commissioning phase:
The commissioning of the drives is done with the STARTER. The data from the following
components must be checked: Motor Module, Motor and Encoders. The control loops of the
drives should then be optimized.
All changes must be saved and exported.
WebStart must be used to place the technology objects in the function module into
operation:
1. Set the velocities, encoder data, controllers, etc.
2. Parameterize the crane technology functions in the prepared screen forms.
Basic Technology
Commissioning
3. Parameterize the sequence control (limitation constants, default values, monitoring

functions).
4. Save all the changes made in WebStart with the "SAVE" function.
C: Updating the master project:

The master project is updated automatically in SCOUT by importing the saved drive data
and running a script file. This version can be used as a backup for end customers.
Result: Creating master project V2.0 (final version)
WebStart functional scope
Note
The following functions are not supported by WebStart:
• Program change
• Communications change
• Configuration change for DRIVE-CLiQ
• Drive commissioning
The following functions are contained in WebStart:

● All variable changes for SIMOTION, including MCC and DCC
● Display and acknowledgement of all alarm and error messages for SIMOTION,
SINAMICS and SIMOCRANE
● Monitoring of the communication down to the bit level
– SIMATIC ↔ SIMOTION D
– SIMOTION ↔ SINAMICS
● Monitoring of the entire setpoint channel (from SIMATIC through to the drive)
● Trace function
● Watch table function
● Save function
● Integrated standard function 'IT-DIAG'
● Customer-specific function
– Displaying and changing drive parameters
– Creating a user-specific screen form
Basic Technology
Commissioning
Implementation of WebStart in an existing project

SIMOCRANE WebStart can also be implemented in an existing SIMOCRANE Basic
Technology project. In this case, the items mentioned below must be processed individually.
The necessary libraries can be found in the standard projects. The sources and standard
projects are stored on the "SIMOCRANE Basic Technology" CD.
1. Import the LhdlUD library.
2. Import the xAdditional.st ST source.
3. Add the programs of the imported ST source file to the execution system:
– The following programs must be added to the background task:
pBackGroundSaveUnitDataSetp
pBackGroundHandleBuffer
pBackGroundPasswordCheck
– The following programs must be added to the startup task:
pStartUpLoadUnitDataSet
4. Copy the WebStart "WebStart.zip" file to the CF card.
This makes available the required folders with the required files.
Basic Technology
Commissioning
5. Open the "Settings" dialog (right-click "SIMOTION", "Properties" entry).
Figure 8-4 SIMOTION D435-2 properties
6. Place checkmarks for "Permit I/O variables: OPC-XML (load symbols into RT)" and for
"Permit global device variables: OPC-XML (load symbols into RT)".
Call SIMOCRANE WebStart

Enter the following address in the Web browser to call SIMOCRANE WebStart:
http://<host>/WEBSTART.MBS
Enter the Internet address of the associated SIMOTION interface as <host>, for example
169.254.11.22.
In this case, the browser should be configured for direct access to the Internet.
The following standard addresses should be used for the two Ethernet interfaces of the
SIMOTION D435-2 DP/PN:
● X127: 169.254.11.22
● X150: 192.168.1.1
Basic Technology
Commissioning
Example for direct address specification (standard Internet address of the controller):
http://169.254.11.22/WEBSTART.MBS
Password protection
The access to SIMOCRANE WebStart is password-protected. With access to SIMOCRANE
WebStart, the user can browse all screen forms by clicking the "OPEN" button. A password
must be entered when you click the "LOGIN" button.
Figure 8-5 WebStart start screen form
Figure 8-6 WebStart password
The default password "SIMOCRANE" can only be changed in the project. To do this, go to
the "xAdditional" unit in the "pBackGroundPasswordCheck" program.
Basic Technology
Commissioning
WebStart buttons
Place the SIMOTION into operation in the sequence described below. Start at far left in the
commissioning bar.
Figure 8-7 Commissioning screen-form icons
1. "Start" button
The start page shows an overview of the project:
● Configured SIMOTION and SINAMICS axes
● Switching option
● DCC blocks for the selected axis
● Version details for SIMOTION, SINAMICS and SIMOCRANE
2. "Function Module" button

First parameterize the corresponding function modules or technology axes in a specified
screen form. This includes the encoders, communication, limitations and monitoring
functions.
3. "Crane Technology" button

In the second step, parameterize the Crane Technology functions in the previously created
screen forms. The individual technology is implemented as a block in DCC (Drive Control
Chart), e.g. load-dependent field weakening for the hoist. The blocks are used for the
setpoint processing of the function module.
4. "Sequential Control" button

Finally, the sequential control system must be parameterized. This includes some constants
for the limitation, default values and monitoring functions.
Online help
Each SIMOCRANE WebStart settings page has a context-sensitive help page.
The online help is called by clicking the adjacent icon.
The "changelog.xml" commissioning file

The "changelog.xml" commissioning file contains all settings made with SIMOCRANE
WebStart. This file is used every time the controller switches to the RUN mode (for example,
after the power-off and on), in particular, also after restarting the crane.
After each commissioning, the SAVE function must be used to save the changes in the
commissioning file on the SIMOTION.
Basic Technology
Commissioning
8.3 General
After completion of the commissioning: Download the commissioning file from the controller
and save. The commissioning file is located under the following path on the SIMOTION CF
card:
[User]\Simotion\HMI\Files\changelog.xml
It can be stored on the local hard disk of the notebook or on any other suitable storage
medium (e.g. a memory stick). This commissioning file should then be reimported into the
SIMOTION SCOUT project or archived appropriately.
The commissioning file is executed with the "SimocraneOffline" script located in the project
in the "Scripts" folder. If this is not done, the current commissioning data of the crane cannot
be reproduced, for example, should a replacement memory card need to be created.
8.3 General
The scope of delivery is described in the chapter titled System overview (Page 11). The CD
contains a number of standard applications for different crane types (see Standard
applications (Page 497)). Before the user begins configuring the system, the setup file needs
to be executed (see Setting up and updating the Crane_DCC_Library (Page 290)
It is then possible to open a suitable standard application with SIMOTION SCOUT. The
following data needs to be checked and adapted if necessary:
SINAMICS:
● Motor Module data in the drive object
● Motor and encoder data in the drive object
● Reference data in the drive object
● Execution of script files for the relevant drive object
SIMOTION:
● Mechanical data in the technology object
● Limits in the technology object
● Monitoring functions in the technology object
● Encoder data in the technology object
● Reference data in the technology object
Crane-specific technologies (DCC):

● Adaptation of the master switch curve in the DCC block MasterSwitch
● Adaptation of the prelimit switch velocity in the DCC block PreLimitSwitch
● etc.
Basic Technology
Commissioning
8.3 General
Adaptation of values in the MCC variables:

● Set the minimum velocity in the positive or negative direction for AUTOMATIC, MANUAL
and EASY_POSITIONING operating modes
● Set the maximum velocity limit for the SENSORLESS EMERGENCY operating mode
● Set the reference current, reference torque, reference power and reference voltage
● etc.
The adapted standard application must be loaded to the CompactFlash (CF) Card once all
necessary settings have been successfully adjusted. The user program can be loaded either
directly to the CF card by means of a card reader or loaded into the SIMOTION D. If the
second option is chosen, a RAM to ROM store operation must be performed afterwards to
ensure that the user program is copied to the CF card for retentive storage.
When a project is being downloaded, there is an option to initialize RETAIN and non-
RETAIN data. This selection can be made under Options → Settings → Download.
If the box next to Initialization of the non-RETAIN technology object data is checked, all
technology objects are reinitialized during the download and, as a result, all alarms are
cleared (including Power ON). No variable initialization will be performed for a download in
RUN, even if this function is active here, because values in the user program cannot be
changed during operation. If the box is not checked, only modified technology objects are
loaded to the target system and initialized during the download in SCOUT. Pending alarms
are acknowledged. If a Power ON alarm is pending on an unchanged technology object, this
causes the download to be aborted. This does not affect the source data.
Check the box Initialization of the non-RETAIN program data and the non-RETAIN global
device variables to initialize non-RETAIN program data and the non-RETAIN data of global
device variables during a download. This does not affect the technology object data.
If box Initialization of the RETAIN program data and the RETAIN global device variables is
checked, RETAIN program data and the RETAIN data of global device variables can be
initialized during a download too. This does not affect the technology object data.
However, as a consequence all of the actual positions of the various axes and the retain
variables under the global variables are reset to the initial value. As a consequence, for a
grab crane, the grab must be re-adjusted and for the other axes, it may be necessary to re-
reference them.
However, as a consequence, all of the actual positions of the various axes and the retain
variables under the global variables are reset to the initial value. Specifically, this means the
following:
Basic Technology
Commissioning
8.3 General
● For a grab crane, the grab must be re-adjusted.

● It may be necessary to re-reference the other axes.
Figure 8-8 Download settings
Communication via PROFIBUS between the S7 and SIMOTION and between SIMOTION
and SINAMICS is preconfigured in the standard projects; further information can be found in
the chapter titled Communication (Page 293).
The commissioning procedure is described below.
Before users start the commissioning procedure, they should ensure that the motor data and
encoder data in the SINAMICS drive object match those of their real system. This should be
checked in the configuration of the SINAMICS drive object (see the figure below). The users
must also ensure that the reference speed (p2000) and maximum speed (p1082) for
SINAMICS match the maximum speed (TypeOfAxis.SetPointDriveInfo.DriveData.maxSpeed)
for SIMOTION. In SINAMICS, the reference parameters p2000 to p2003 must be checked.
In SIMOTION, reference parameter TypeOfAxis.SetPointDriveInfo.DriveData must be
checked.
Basic Technology
Commissioning
8.3 General
Figure 8-9 TO Gantry_1 configuration file
The checkmark Tolerate the encoder failure when it is not involved in the closed-loop control
must be set for each technology object data under Encoder configuration → Settings for the
Drive in the technology object.
Basic Technology
Commissioning
8.3 General
Figure 8-10 Settings for the drive under DO Gantry_1
The user must then check the settings for maximum velocity, acceleration, deceleration and
encoder data in the SIMOTION technology object. In SIMOTION, the reference data for
velocity must be checked in the configuration data of the TO Gantry_1 under
TypeOfAxis.SetPointDriverInfo.DriveData (see the section titled SINAMICS drive object
(Page 400)).
Basic Technology
Commissioning
8.3 General
Figure 8-11 Block diagram, closed-loop control under TO Gantry_1
The speed pre-control also has to be activated:

(Gantry_1.TypeOfAxis.NumberOfDataSets.DataSet_1.ControllerStruct.PV_Controller.preCon
= YES)
Plus, MODE_1 must be set as the balancing filter type:
(Gantry_1.TypeOfAxis.NumberOfDataSets.DataSet_1.ControllerStruct.PV_Controller.balanc
eFilterMode = MODE_1)
Basic Technology
Commissioning
8.3 General
The interpolator (Gantry_1.TypeOfAxis.FineInterpolator._type) should be set to constant-

acceleration interpolation (cubic).
NOTICE
The balancing filter must be set to Mode_1 to ensure proper operation of the position
control.
Figure 8-12 Block diagram, configuration data Gantry_1
Script files
The Com_Drive script file is located in the script folder of each drive. Start this script with
Accept and execute. The script file is performed and all necessary communication
connections created.
Note
The script file should be executed offline. The changes then have to be downloaded into the
control system.
Basic Technology
Commissioning
8.3 General
CAUTION
The reference values (p2000, p2001, p2002, p2003, r2004) are checked. They must be the
same for the master and slave drives and may need to be customized.
In addition, you must yourself for the slave (e.g. Gantry_2) connect the torque setpoint r79
of the master (e.g. Gantry_1) to the drive parameter p1503; the script does not perform this
change.
The current status of the script execution is shown in the output window.
Figure 8-13 Accepting and executing the script
Note
Before starting any travel, the torque limits should be checked in SINAMICS for boom
operation (r1526: Torque limit, upper And r1527: Torque limit, lower).
CraneAlarm
Alarms not necessary for the basic technology should be suppressed. This is done using the
script file "CraneAlarm". The script is located in the script folder under SIMOTION D435.
The script procedure for SINAMICS corresponds to the procedure for SIMOTION. The
communication script is located in the script folder under the drive object.
Basic Technology
Commissioning
8.4 Controlling the crane taking the PROFIdrive profile into account
Parameter_Transfer
Parameter_Transfer is used to match the reference data between the technology object, the
drive object and the unit-global variables. The script is executed as for CraneAlarm (right-
click to mark the script and select "Accept and execute"). The Parameter_Transfer script is
located in the script folder under SIMOTION D435.
Use this script to fetch the associated drive parameters (p2000, p2001, p2002, p2003,
r2004) and enter in the reference values of the relevant MCC source in the
X_nominalVelocity, X_nominalCurrent, X_nominalTorque, X_nominalVoltage,
X_nominalPower variables. In addition, the reference variable of the associated axis is set to
the value entered in p2000.
There follows an example of how to control the Active Line Module (Crane ON OFF) and
SPEED_CONTROLLED operating mode (SPEED_CONTROLLED ON OFF).
8.4.1 Switching on the crane

Make the crane ready to start by proceeding as follows:
● Switch on the crane, the infeed, and then the line contactor.
If the infeed is precharged, the pulse enable will be activated. "Standby" is signaled back
after one program cycle and the drive is ready for a drive command to be selected.
Figure 8-14 Switching on the crane
Basic Technology
Commissioning
8.4.2 Switching off the crane

Switch the crane off as follows:
● "Crane off" command and shutdown of converters using OFF1 and OFF2
After one program cycle a signal is output indicating that the crane is ready to start again.
The infeed is then shut down, followed by the line contactor. After one further cycle, the
infeed is ready to start again.
Figure 8-15 Switching off the crane
8.4.3 SPEED_CONTROLLED ON
Select a motion task as follows:
● Select SPEED_CONTROLLED operating mode.
● Select OFF2 and OFF3.
The operating mode is signaled back. OFF2 and OFF3 checkback signals are output after
one program cycle. "Ready to power up" is also output. These signals switch OFF1. After
one further cycle, "Ready" is signaled.
The drive command, the pulse enable, and the speed controller enable magnetize the motor.
As soon as magnetization is complete, operation is enabled and the brake is released.
If "Brake released" is signaled back, the ramp-function generator and the setpoint can be
enabled.
A positive or negative command causes the drive motion to start after one program cycle
and a signal is sent back indicating that the axis is in motion.
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Figure 8-16 SPEED_CONTROLLED ON
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8.4.4 SPEED_CONTROLLED OFF

Deselect a motion task as follows:
● Cancel the positive or negative command and the motion task.
Once the ramp-down time has elapsed, the checkback signals "Direction of travel positive or
negative" and "f or n comparison value reached or exceeded" are reset. The brake closes.
When the "Brake closed" message is output, the pulse enable is canceled.
After one program cycle, a low signal is issued back at "Enable operation" and OFF1 is
canceled.
After one further cycle the drive is no longer ready to start.
Deactivating OFF2 and OFF3 disables the "ready to start" condition and checkback signals
OFF2 and OFF3 switch to the low level.
The SPEED_CONTROLLED operating mode can then be deselected.
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Figure 8-17 SPEED_CONTROLLED OFF
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8.5 Application examples for the S7 control
8.4.5 Mechanical motion stop

The S7 transmits the signal "Mechanical stop". At the same time, the commands OFF2,
"Close brake", "Disable ramp-function generator", and "Inhibit pulse enable" are activated.
Figure 8-18 Mechanical stop

For the application examples of the S7 controller, the following flags are used.
A distinction is made between the various main drives using the thousands and hundreds
range of the flags.
● Trolley_1 is the flag address area 2100.0 to 2117.7
● Boom_1 is the flag address area 4100.0 to 4117.7
● HoldingGear is the flag address area 1100.0 to 1117.7
● ClosingGear is the flag address area 1300.0 to 1317.7
Table 8- 1 Control word 1
M2100.0 = On / Off1
M2100.1 = Off2
M2100.2 = Off3
M2100.3 = Pulse enable
M2100.4 = Ramp-function generator enable
M2100.6 = Setpoint enable
M2100.7 = Acknowledge fault
M2101.0 = Speed controller enable
M2101.2 = Master control by PLC
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Table 8- 2 Application control word 1
M2104.7 = Selecting synchronous operation

M2105.2 = AUTOMATIC operating mode
M2105.3 = MANUAL operating mode
M2105.5 = SPEED_CONTROLLED operating mode
M2105.6 = SENSORLESS_EMERGENCY operating mode
M2105.7 = SWAY_CONTROL operating mode
Table 8- 3 Application control word 2
M2106.4 = Enable slack rope controller

M2106.5 = Command, save "Grab open"
M2106.6 = Command, save "Grab closed"
M2106.7 = Select orange-peel bucket
M2107.0 = Enable current equalization controller
M2107.1 = Select grab change
M2107.2 = Homing
M2107.5 = SlaveMode
M2107.7 = ChangeTechnologyObject
Table 8- 4 Status word 1
M2110.0 = Ready to switch-on

M2110.1 = Ready
M2110.2 = Operation enabled
M2110.3 = Fault present
M2110.4 = Coast down active
M2110.5 = Quick stop active
M2111.1 = Control requested to the PLC
M2111.2 = f or n comparison value reached
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Table 8- 5 Application status word 1
M2114.0 = Axis moves in the positive direction

M2114.1 = Axis moves in the negative direction
M2114.7 = Message, "synchronous operation active"
M2115.2 = AUTOMATIC operating mode
M2115.3 = MANUAL operating mode
M2115.5 = SPEED_CONTROLLED operating mode
M2115.6 = SENSORLESS_EMERGENCY operating mode
M2115.7 = SWAY_CONTROL operating mode
Table 8- 6 Application status word 2
M2116.0 = Grab 1/2 open

M2116.2 = Grab 2/3 closed
M2116.4 = Message, "grab open"
M2116.5 = Message, "grab closed"
M2117.2 = Message, "homed"
M2117.5 = SlaveModeActive
M2117.7 = TechnologyObjectActive
8.5.1 Controlling the drive

The command sequences that the controller uses to switch-on and switch-off the main drive
are shown in the following example.
Note
• In this example, the brake control is not considered; the user must program this himself.
Another precondition is that there is no fault present.
• "Flag" is abbreviated with the letter M.
NOTICE
To activate the technology object, bit 15 "ChangeTechnologyObject" in application control

word 2 must be "TRUE". The technology object is deactivated with "FALSE".
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8.5.1.1 Switching-on a drive

The drive is switched-off and there is no fault/error present. The drive is now switched-on in
steps.
Figure 8-19 Switching-on a drive
● The flag 2101.2 "Master control by the PLC" must be set so that the drive accepts all of
the commands from the higher-level control. A check is then made as to whether flag
2111.1 "Control requested to the PLC" is set.
● The switch-on command is received from the higher-level control. In this case, flag
2100.1 "Off2" must be set. A check is then made as to whether flag 2110.4 "Coast down
active" has been reset.
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● The flag 2100.2 "Off3" must be set. A check is then made as to whether flag 2110.4
"Quick stop active" has been reset.
● The flag 2100.0 "Off1" must be set. A check is then made as to whether flag 2110.0
"Ready to switch-on" and flag 2110.1 "Ready" are set.
● The flag 2100.3 "Pulse enable" and flag 2101.0 "Speed control enable" must be
simultaneously set. A check is then made as to whether flags 2110.0 "Ready to switch-
on", 2110.1 "Ready" and 2110.2 "Enable operation" are set.
● The flag 2100.4 "Ramp-function generator enable" and flag 2100.6 "Setpoint enable"
must be simultaneously set. A setpoint can then be entered.
8.5.1.2 Switching-off a drive

The drive is moving and the setpoint from the master switch is set to 0.
Figure 8-20 Switching-off a drive
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● The switch-on command from the higher-level control is reset. The flag 2100.6 "Setpoint
enable" must be reset. A check is then made as to whether flag 2111.2 "f or n comparison
value reached" has been reset.
● The flags 2100.3 "Pulse enable", 2100.4 "Ramp function generator enable" and 2100.8
"Speed controller enable" must be simultaneously reset. A check is then made as to
whether flags 2110.0 "Ready to switch-on" and 2110.1 "Ready" are set and whether flag
2110.2 "Enable operation" is reset.
8.5.2 Selecting and deselecting operating modes

This chapter describes using an example how the various operating modes for a main drive
are selected and deselected.
Note
To switch-on or switch-off a drive, refer to Chapter Controlling the drive (Page 376).
NOTICE

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8.5.2.1 Selecting the AUTOMATIC operating mode

The drive is switched-off and no operating mode has been selected.
Figure 8-21 Selecting the AUTOMATIC operating mode
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● Flag 2110.2 "Enable operation" is not set.

● Flag 2107.2 "Homing" must be set using a positive signal edge. A check is then made
whether flag 2117.2 "Homed message" has been set.
● Flag 2105.2 "AUTOMATIC operating mode" is set.
● It is not permissible that flags 2105.3 "MANUAL operating mode", 2105.4 "Easy-
Positioning operating mode", 2105.5 "SPEED_CONTROLLED operating mode", 2105.6
"SENSORLESS_EMERGENCY" and 2105.7 "SWAY_CONTROL operating mode" are
set.
● A check is then made whether flag 2115.2 "AUTOMATIC operating mode" is set and
whether flags 2115.3 "MANUAL operating mode", 2115.4 "Easy-Positioning operating
mode", 2115.5 "SPEED_CONTROLLED operating mode", 2115.6
"SENSORLESS_EMERGENCY" and 2115.7 "SWAY_CONTROL operating mode" are not
set.
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8.5.2.2 Deselecting the AUTOMATIC operating mode

The drive is switched-off and the AUTOMATIC operating mode is active.
Figure 8-22 Deselecting the AUTOMATIC operating mode
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● Flag 2110.2 "Enable operation" is not set.

● Flag 2105.2 "AUTOMATIC operating mode" is reset.
● It is not permissible that flags 2105.3 "MANUAL operating mode", 2105.4 "Easy-
Positioning operating mode", 2105.5 "SPEED_CONTROLLED operating mode", 2105.6
"SENSORLESS_EMERGENCY" and 2105.7 "SWAY_CONTROL operating mode" are
set.
● A check is then made whether flag 2115.2 "AUTOMATIC operating mode" is reset and
whether the flags 2115.3 "MANUAL operating mode", 2115.4 "Easy-Positioning operating
mode", 2115.5 "SPEED_CONTROLLED operating mode", 2115.6
"SENSORLESS_EMERGENCY" and 2115.7 "SWAY_CONTROL operating mode" are not
set.
8.5.3 Externally switching over from trolley to boom and vice versa
Using an example, a description will be given on switching over from trolley to boom and vice
versa.
Note
• In this example, the brake control will not be considered; the user must program this
himself.
• The "SPEED_CONTROLLED" operating mode has already been selected.
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8.5.3.1 Switching over from trolley to boom

The drive is at a standstill (zero speed) and is switched-off.
Figure 8-23 Switching over from trolley to boom
● The flag 2110.2 "Enable operation" for trolley is not set.

● The flag 2107.7 "ChangeTechnologyObject" must be reset. A check is then made as to
whether flag 2111.1 "Control requested to the PLC" for trolley is reset.
● The flag 4107.7 "ChangeTechnologyObject" must be set. A check is then made as to
whether flags 4111.1 "Control requested to the PLC" and 4117.7 "
TechnologyObjectActive" for the boom are set.
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8.5.3.2 Switching over from boom to trolley

The drive is at a standstill (zero speed) and is switched-off.
Figure 8-24 Switching over from boom to trolley
● The flag 4110.2 "Enable operation" for boom is not set.

● The flag 4107.7 "ChangeTechnologyObject" must be reset. A check is then made as to
whether flag 4111.1 "Control requested to the PLC" for boom is reset.
● The flag 2107.7 "ChangeTechnologyObject" must be set. A check is then made as to
whether flag 2111.1 "Control requested to the PLC" for trolley is set.
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8.5.4 Grab crane

This chapter briefly describes the most important grab functions.
● In the holding gear, flag 1107.5 "SlaveMode" is not set - and therefore the "MasterMode"
is active.
● Flag 1105.5 "SPEED_CONTROLLED operating mode" is set.
● In the closing gear, flag 1307.5 "SlaveMode" is set - and therefore the "SlaveMode" is
active.
● Flag 1305.5 "SPEED_CONTROLLED operating mode" is set.
● In the closing gear, flag 1304.7 "Select synchronous operation" is set.
● The feedback flag 1314.7 "Synchronous operation active message" is set.
Note
In this example, the brake control is not considered; the user must program this himself.
Switching-on and switching-off the drive was already described in Chapter Controlling the
drive (Page 376).
Selecting and deselecting the operating modes was already described in Chapter
Selecting and deselecting operating modes (Page 379).
NOTICE

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8.5.4.1 Adjusting the grab

Holding gear and closing gear are switched-on. The ropes have already been connected and
the grab is attached to the ropes.
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Figure 8-25 Adjusting the grab
● The flags 1110.2 "Enable operation" for the holding gear and 1310.2 "Enable operation"
for the closing gear are set.
● The flag 1116.4 "Grab open" and 1116.5 "Grab closed" are set, as the grab has still not
been adjusted.
● The crane operator gives the command "Lift grab" until the limit switch switches-off the
holding gear.
● The flag 1307.1 "Select grab change" is set.
● Using the master switch, the crane operator issues the command "Open grab" until the
required position "Grab open" is reached.
● Using homing, the holding and closing gear are set to the position 0 mm; for this purpose,
the flags 1107.2 "Homing" for the holding gear and 1307.2 "Homing" for the closing gear
are set, each with a positive signal edge.
● The flag 1306.5 "Command, save grab open" is set. A check is then made as to whether
flag 1316.4 "Grab open" is set and flag 1316.5 "Grab closed" is not set.
● Using the master switch, the crane operator issues the command "Close grab" until the
grab is closed.
● When the grab is closed, flag 1306.6 "Command, save grab closed" is set. A check is
then made as to whether flag 1316.4 "Grab open" is not set and flag 1316.5 "Grab
closed" is set.
● The flag 1307.1 "Select grab change" is reset.
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8.5.4.2 Slack rope controller function

The opened grab is on the material. The message "Grab touchdown" can be independently
generated.
Figure 8-26 Slack rope controller function
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● It is not permissible that flag 1307.04 "Enable current equalization controller" for the
closing gear is set.
● The master switch gives the command "Close grab". With this command, flag 1106.4
"Enable slack rope controller" for the holding gear is set.
● The flag 1106.4 "Enable slack rope controller" remains set for the holding gear until the
master switch gives the command "Lift grab".
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8.5.4.3 Current equalization controller function

Holding gear and closing gear are switched-on.
Figure 8-27 Current equalization controller
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● It is not permissible that flag 1106.4 "Enable slack rope controller" for the holding gear is
set.
● If the flag 1316.5 "Grab closed message" is set, and the grab is to be lifted or lowered
using the master switch, then flag 1307.04 "Enable current equalization controller" is set
for the closing gear.
● The flag 1307.04 "Enable current equalization controller" for the closing gear remains set
until the command "Open grab" is issued by the master switch - or until the flag 1311.2 "f
or n comparison value reached" for the closing gear is not set.
8.5.4.4 Lifting the grab

The current equalization controller is switched-on if the grab is closed and the holding gear is
raised or lowered.
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Figure 8-28 Lifting the grab
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● The grab is lifted with a positive master switch setpoint at the holding gear.
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8.5.4.5 Lowering the grab

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Figure 8-29 Lowering the grab
● The grab is lowered with a negative master switch setpoint at the holding gear.
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8.5.4.6 Opening the grab

Figure 8-30 Opening the grab
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● The grab is opened with a negative master switch setpoint at the closing gear.
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8.5.4.7 Close grab

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8.6 SINAMICS drive object
Figure 8-31 Close grab
● Flags 1110.2 "Enable operation" for the holding gear and 1310.2 "Enable operation" for
the closing gear are set.
● The grab is closed with a positive master switch setpoint at the closing gear.
Basic procedure
● Enter the motor data according to the rating plate
● Enter the following drive data for any number (n_items) of drives wired in parallel:
– Rated voltage: p0304 ≤ Vrated
– Rated current: p0305 ≤ Irated • n_items
– Rated power: p0307 ≤ Prated • n_Stck.
– Rated power factor: p0308 ≤ cos_φrated
– Rated efficiency: p0309 ≤ ηrated
– Rated frequency: p0310 ≤ frated
– Rated speed: p0311 ≤ nrated
● As of SINAMICS V2.6 for motors connected in parallel, enter the following motor values
for a parallel connection:
– Rated voltage: p0304 ≤ Vrated
– Rated current: p0305 ≤ Irated
– Number of motors connected in parallel: n_motors
– Rated power: p0307 ≤ Prated
– Rated power factor: p0308 ≤ cos_φrated
– Rated efficiency: p0309 ≤ ηrated
– Rated frequency: p0310 ≤ frated
– Rated speed: p0311 ≤ nrated
● In order to set up the drive model with maximum precision, enter the SINAMICS
parameters p0230, p0233 and p0235 for each drive in accordance with the plant
configuration.
NOTICE
If this value is incorrectly preset for a motor with a separate winding system, extreme
torque surges will occur when the drive is switched on.
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● Measure the total line resistance (Motor Module to drive) for each drive and enter the
result in SINAMICS parameter p0352.
● Enter the motor series reactor (if installed) in SINAMICS parameter p0353.
● If the drives are in a master-slave coupling, r0079 from the master should be
interconnected to p1503 for the slave!
Note
When commissioning the system from the control panel of the drive object, a changeover
must be made from command data set 0 (command data set selection CDS p0810) to
command data set 1. After moving the axis from the control panel of the drive object, it
must be reset otherwise operator control from the S7 controller is not possible.
Stationary Measurement
After having checked all prerequisites, carry out a stationary measurement in SINAMICS for
each Motor Module (i.e. Hoist, Gantry, Trolley, etc.).
NOTICE
Prior to standstill measurement:

After having entered all data, go online to the corresponding drive object and verify the data
specified above or adapt these accordingly. Set the initial value 2 at SINAMICS parameter
p0340. After parameter p0340 has returned to 0 state, set it once again to value 3
The following values are determined in the stationary measurement:

● Equivalent circuit diagram data
● Stator resistance
● Leakage inductances:
● IGBT on-state voltage or compensation for the IGBT lockout times
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Tips after stationary measurement

● Check the actual operational flow:
– After the correct rating plate data has been set and after successfully settled MOT ID,
the actual flow (r0084) is 100% below field weakening.
– Check the entire speed range up to field weakening, e.g. during a ramp-up operation.
● If a rotating measurement cannot be performed, correct the magnetizing current and
magnetizing inductance manually if necessary:
– Correct the rated magnetizing current (p0320) until an actual flow (r0084) in the entire
speed range until the field weakening attains 100%. Differences particularly in the
range to 30% nrated will become evident if the the rated magnetizing current has not
been corrected.
– If the drive can be rotated freely (without or with slight load), the corrected value of the
magnetizing current (r0029) can be read when operating in the speed range 60% nrated
to 80% nrated and be entered in p0320.
– The magnetizing inductance (p0360) cannot be corrected directly. The drive retains a
constant product p0320 • p0360 (rated flow) and changes p0360 depending on p0320.
The value r1787 = 0 is displayed (correction value Lh adaptation) if the correct rated
magnetizing current was set (p0320).
Note
After having carried out the standstill measurement, do not forget to copy RAM data to
ROM and to transfer all data to the offline project. Select Upload to PG accordingly
and then save the project.
The stationary measurement is available in the Project Navigator at SINAMICS Drive object
(e.g. Hoist_1) in menu item Commissioning.
NOTICE
Check the torque and current limits after each stationary measurement!
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Figure 8-32 Stationary measurement
Checking the direction of rotation

After the stationary measurement has been successfully completed, check the direction of
rotation. If the motors have still not been installed, the SINAMICS control panel should be
used to check the direction of rotation. Otherwise, the direction of rotation should be checked
in the SPEED_CONTROLLED operating mode, i.e. when the motor is rotating in the positive
direction. The encoder must then supply positive values. If it is no longer possible to
interchange the phases, the direction must be reversed in SINAMICS using parameter
p1821. Please note that for several motor data sets (Drive Data Set), this change must be
made for all of the data sets involved.
More detailed information about using the control panel can be found in Chapter 4.3 "Using
the operator control panel" in Ref. [5].
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Rotating measurement
The rotating measurement with speed controller optimization should then be carried out. The
rotating measurement function should only be initiated if the motor can freely rotate.
Otherwise, it is not permissible that this function is executed. The following values are
determined in the rotating measurement:
● The magnetizing characteristic is measured
● The magnetizing current is measured
● The speed controller is optimized
● The acceleration pre-control is set
● The ratio between the total moment of inertia and the motor is set
Figure 8-33 Rotating measurement
If the rotating measurement cannot be initiated, then the speed control loop should either be
optimized by re-calculating the control parameters or manually using the controller. If the
moment of inertia was entered, the control parameters are calculated using the automatic
parameterization (p0340 = 4). The controller parameters are defined in accordance with the
symmetrical optimum as follows:
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● Tn = 4 • Ts
● Kp = 0.5 • r0345 / Ts → Kp = 2 • r0345 / Tn (Ts = total of short deceleration times)
– Sum of the short deceleration times, vector operation with encoder:
Actual speed value smoothing time p1441 and speed controller, actual speed value
smoothing time p1442
– Sum of the short deceleration times, vector operation without encoder:
Speed controller, actual speed value smoothing time p1452
Note
As a general rule, the lowest possible actual speed smoothing values should be
selected for normal operation. When the encoders are well shielded, a smoothing
value of 0 can be entered.
If a setting of 0 is entered, the above formulas no longer apply. In this case, Tn should
be set to 0, Kp to overshoot-free, and then Tn increased until the desired controller
performance is obtained.
If vibration develops with these settings, reduce speed controller gain Kp manually. Actual
speed value smoothing can also be increased (standard procedure for gearless or high-
frequency torsional vibration) and the controller calculation performed again because this
value is also used to calculate Kp and Tn. The following relationships apply for optimization:
● If Kp is increased, the controller becomes faster and overshoot is increased.
● If Tn is reduced, the controller also becomes faster and overshoot is also increased.
When setting the speed control manually, you are advised to define the dynamic response
via Kp (and actual speed value smoothing) first, so that the integral time can subsequently be
reduced as much as possible. Please note that the closed-loop control must also remain
stable in the field-weakening range.
Reducing the controller gain will generally dampen any oscillations in the closed-loop speed
control. Another possible option is to increase the smoothing time setting in p1452. However,
the accuracy of the control will diminish if the smoothing setting is too high. The integral
output of the speed controller can be monitored via r1482 and the limited controller output
(torque setpoint) via r1508.
If the motor is to operate under closed-loop position control, the control parameters must be
set according to the absolute value optimum. Make sure that the speed controller is free of
overshoots!
You can also design the speed controller for the relevant motor according to the symmetrical
optimum and utilize the reference model. When correctly set, the reference model can
achieve a response to disturbances according to the symmetrical optimum and a response
to reference variables according to the absolute value optimum. For further information about
the reference model, refer to Ref. [4], Chapter 4.5.
NOTICE
Check the torque and current limits after each stationary measurement!
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Programming tips
● Adjusting the switchover from current model ("controlled") to voltage model ("regulated"):
– p1752 = to approx. 30% of p0311 "Rated motor speed"
– p1756 = 20 [%]: Hysteresis
Both value were proven useful, however, these can be adapted to suit your requirements.
● Conclude commissioning by testing the entire speed range and verifying smooth
operation in order to exclude universal shaft/gear problems.
● The trolleys excite inherent resonance of the crane frame at rapid changes of the speed.
This is not in the control loop of the trolley; it represents the reference system.
In order to avoid excitation of vibration: Kp low, Tn high, adaptation
– The integrator has a tendency towards saturation which leads to overshoot of the end
position and subsequent retraction
– It is possible that rounding-off could be helpful.
● Acceleration precontrol for known masses
Problem: Mass variation with/without container; set a precontrol value approx. 80% –
90%
Relieve the I component as far as possible with precontrol: Also observe r1482; r1481;
r0080 und r0078 in the trace.
– The precontrol function is available in the Project Navigator at SINAMICS Drive object
(e.g. Hoist_1) at Open-loop/closed-loop control > speed setpoint filter > Precontrol
– The precontrol function can be set accordingly at p0342 Ratio of total/motor moment
of inertia and p1496 Acceleration precontrol scaling.
● Setpoint/actual value smoothing – Balancing
– Actual value smoothing should be kept at minimum; high values increase overshoot
Setpoint smoothing provides a more constant velocity due to the motion profile
(master switch setpoint)
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8.7 SIMOTION technology object
Setting the travel path

Once the speed control loop has been optimized successfully, the mechanical connection
between the motor revolutions and the travel path should be configured next. You can find
these under technology object (e.g.: Hoist_1) in the menu item Mechanics.
Figure 8-34 Setting the mechanical connection
The value for the maximum velocity is calculated using the formula below:
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The reference velocity must be normalized to the maximum speed in the expert list under
TypeOfAxis.SetPointDriver Info.DriveData.speedReference. The maximum speed –
maxSpeed – setting must be identical to the reference speed (p2000) of the drive object.
If the relationship between the motor speed and the travel path is to be checked in advance,
it can be helpful to set the mechanics as follows:
● Number of motor revolutions: 1
● Number of load revolutions: 60
● Distance per spindle revolution: 1
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Commissioning
This setting is used to check the velocity interface, because one motor revolution per minute
is equal to one millimeter of distance travelled per second (1 1/min ≙ 1 mm/s). This means
that the velocity setpoint and the actual value channel can be compared without the need for
further conversions.
Checking the travel path

If the maximum velocity has been set and the relationship between the drive object and the
technology object is correct, the travel path can be checked. In this case, move the drive
slowly in closed-loop speed controlled operation in the SPEED_CONTROLLED operating
mode to check the position actual value. It is important that the specified distance per motor
revolution precisely corresponds with what happens in reality.
Note
Verify proper optimization of the speed control loop before you start tuning the position
control loop.
If the speed actual value is affected by high ripple, a position controller gain Kv higher than
"1" should be avoided, as this will increase vibration.
Position control optimization

The position control loop should then be optimized. For further information, please make
sure that you read Ref. 2, Chapter 2.12 "Commissioning the position controllers of
positioning axes". Chapters 2.10 and 2.11 in Ref. 2 also contain useful information.
The explanation of the position controller optimization process given below is intended only
as a guide and is a summary of the content of document Ref. 2, Chapter 2.12. The task of a
position controller for positioning applications is to ensure that the drive precisely reaches
the target. The speed pre-control must be disabled in order to optimize the position
controller. To do this, set the weighting factor
(Hoist_1.TypeOfAxis.NumberOfDataSets.DataSet_1.ControllerStruct.PV_Controller.kpc) to
0 % and the equivalent time of the subordinate drive vTC
(Hoist_1.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicData.velocityTimeConstant) to
0 s. Then traverse the drive to different positions in one of the modes AUTOMATIC or
MANUAL. The position setpoint (Hoist_1.servoData.symmetricCommandPosition) and the
position actual value (Hoist_1.servoData.actualPosition) must be recorded using the
SIMOTION trace function. The position actual value must precisely track the position
setpoint during the complete positioning operation. Make sure that the axis reaches the
constant velocity phase during this operation. The difference between the position setpoint
and position actual value is known as the following error (Hoist_1.servodata.followingError).
The following error is changed by changing the Kv factor
(Hoist_1.TypeOfAxis.NumberOfDataSets.DataSet_1.ControllerStruct.PV_Controller.kv). A
low following error during the complete travel motion - without position actual value
overshoot at the target - signifies a good position controller setting.
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Commissioning
Figure 8-35 Limiting the manipulated variable in static controller data
After the optimum Kv factor was determined, the weighting factor for the speed pre-control
must be again set to 100 %. After this, several positioning operations should be carried out.
In so doing, the position setpoint and position actual value should again be checked and the
approach to the target recorded using the trace function. The following applies: The following
error must be low during the complete travel motion. It is not permissible that the position
actual value overshoots the target. In order to achieve this, the precise equivalent time
constant of the speed control loop vTC
(Hoist_1.TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicData.velocityTimeConstant)
must be determined.
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Commissioning
Figure 8-36 Dynamic controller data
In so doing, this time constant must be increased until the target is optimally approached
without any overshoot. Reduce the calculated Kv factor slightly if overshoot still develops;
refer to Ref.2, Chapters 2.11 and 2.12.
Adapting monitoring limits

The following monitoring limits must be adapted after the optimum control loop settings have
been determined.
Following error, positioning and standstill monitoring as well as standstill signal.
These are specified in chapter Overview - monitoring functions (Page 333) or in Ref. 3.
The settings are determined using various positioning operations. The position setpoint,
position actual value and following error are recorded using SIMOTION trace. The maximum
following error that occurs can be determined using the trace function. A low safety margin
should be added and then entered into the corresponding variable as maximum permissible
following error; Dynamic monitoring of following errors (Page 333).
Positioning window, positioning tolerance time, standstill window and standstill signals
should be determined using various approaches to the target. A low safety margin should be
added to these values for calculation and be entered into the corresponding variables; refer
to Position and standstill monitoring (Page 335) and Standstill signal (Page 337).
Adjust limitations
The next step is to adjust the limitations. In this case, it is particularly important to recheck
the maximum velocity which can be achieved as a result of the mechanical components
configured in the axis. It is also important to check on the "Dynamic response" tab whether
the maximum settings for acceleration and jerk have been adjusted according to the
configured mechanical system, i.e. that these maximum values cannot result in mechanical
damage to the crane.
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Commissioning
8.8 Crane DCC blocks
8.8 Crane DCC blocks

The DCC blocks must now be configured for the various tasks; for a description of the DCC
blocks, see Crane DCC library (Page 71).
1. "MasterSwitch" or "MasterSwitch_1" block
The master switch curve must be saved if the "MasterSwitch" block is used.
2. "TractionControl" block (only relevant to Gantry and Trolley)
The velocity reduction and acceleration reduction curves must be adapted if the
"TractionControl" block is used.
3. "PreLimitSwitch" block
The velocity limits must be adapted in the "PreLimitSwitch" block.
4. "ChangeOverHDFW" block
The acceleration and deceleration times must be adapted in the "ChangeOverHDFW"
block and when selecting heaving duty load.
5. "CurrentDistribution" block (only relevant for Trolley and Hoist)
The deceleration time and the parameter threshold must be adapted as required in block
"CurrentDistribution".
6. "HeavyDuty" block (relevant for Hoist, Holding Gear, and Closing Gear)
The heavy duty load velocity must be adapted in the "HeavyDuty" block.
7. "StartPulse" block (relevant for Boom, Hoist, Holding Gear, Closing Gear, and Luffing
Gear)
The procedure must be defined in the "StartPulse" block. The decay time and the
evaluation for hoisting and lowering must be adapted if necessary; see Start pulse
(Page 451)
8. "LoadDependingFW" block (only relevant for Hoist and Holding Gear)
The load-dependent curve must be entered in the "LoadDependingFW" block and the
factors must be determined in the commissioning phase; refer to Field weakening
(LDFW) (Page 414).
9. "OverSpeed" block (relevant for Hoist, Holding Gear, and Luffing Gear)
When required, the parameter threshold is adapted in the "OverSpeed" block in order to
identify an overspeed condition.
10."AccelChangeSlewGear" block (relevant for Slewing Gear and Luffing Gear)
The acceleration limits must be adapted in the "AccelChangeSlewGear" block.
11."VelocityChangeSlewGear" block (relevant for Slewing Gear and Luffing Gear)
The velocity limits must be adapted in the "VelocityChangeSlewGear" block.
12."ContLoadMeasurement" or "ContLoadMeasurement_1" block (relevant for Holding Gear)
The velocities must be adapted in the "ContLoadMeasurement" block; see Continuous
load measurement (CLM) (Page 434)
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Commissioning
8.9 User program (MCC program)
13."CurrentEqualControl" or "CurrentEqualControl_1" block (relevant for Closing Gear)

The smoothing times must be adapted in the "CurrentEqualControl" block.
14."GrabMonitor" block (relevant for Closing Gear)
The smoothing time for the torque has to be adapted in the "GrabMonitor" block.
15."Monitoring" block
No modifications are necessary in the "Monitoring" block.
16."SlackRopeControl" or "SlackRopeControl_1" block (relevant for Holding Gear)
The current values and velocities must be adapted in the "SlackRopeControl" block.

The following variables must be configured for every function module in each user program:
Figure 8-37 Symbol browser extract from the MCC program Hoistp_1
● Minimum velocity for the positive and negative directions, each for the AUTOMATIC,
MANUAL and EASY_POSITIONING operating modes.
● Velocity for the SENSORLESS EMERGENCY operating mode
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Commissioning
● Rated velocity; this means that the system identifies when the drive is in the field
weakening mode.
● The following information must be entered:
– Reference current
– Reference torque
– Reference voltage
– Reference power
– Rated velocity
This information must be available so that the corresponding values can be converted.
● Fixed homing position if no HomingValuePLC selection has been made.
● An initial and final rounding-off; this permits soft starting and stopping of a traversing
motion.
● DecelerationFactor; decreases the deceleration.
● Determination of BreakTestDrive; see Selecting a function module (Page 210)
● Minimum acceleration and deceleration times; this guarantees that values below the
configured times are not accepted.
● SIMATIC S7 selects the homing position if S7 specifies the homing position.
● For a rigid connection between Hoist 1 and Hoist 2, master-slave operation is active. A
certain position tolerance must not be exceeded.
● The position, velocity and current tolerances are monitored in the monitoring block.
● ToleranceMinimumVelocity or MinimumVelocityTolerancposition are provided for the
changeover point of the minimum velocity for the AUTOMATIC, MANUAL and
EASY_POSITIONING operating modes.
Note
There are a couple of additional variables for the function module Hoist 2, which is also
operated as a slave of Hoist 1.
Figure 8-38 Symbol browser extract from the MCC program Hoistp_2
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Commissioning
8.10 Field weakening (LDFW)
8.10.1 General description

For closed-loop control drives, an attempt is made to increase the speed above the rated
speed for various operating cases. This is used, for example, for Hoist of cranes to increase
the handling capacity.
However, the maximum speed in the rated speed range that can be achieved with rated flow
is determined by the maximum permissible voltage. This means that an increase above this
speed cannot be achieved by increasing the voltage; both for DC and AC drives, this is only
possible using field weakening.
However, with field weakening the available torque is reduced. This means that field
weakening is only possible if also a reduced torque is demanded. For Hoist, this is for
example only possible for partial loads less than the rated load.
Calculate the maximum valid speed ω for this speed increase in the rated range at
(maximum) rated power P = PN by means of the equation P = M • ω, with initially constant
flow and depending on torque requirements.
In this case, the upper speed limit is the maximum permissible speed for the motor.
A measure for required load torque in the rated speed range is the current in the steady-
state phase which is directly proportional to load torque.
However, in order to achieve a seamless transition from the rated speed range into the field-
weakening range while accelerating, it is necessary to determine this supplementary speed
setpoint while accelerating in the rated speed range and to enter this before reaching the
transition point from the rated speed range into the field weakening range.
However, in the acceleration phase, in addition to the steady-state (static) load current, this
current also includes the dynamic components to accelerate the load and the rotating
masses.
In order to determine the steady-state (static) component of the current already while
accelerating, it is necessary to calculate the dynamic components while accelerating and to
subtract these from the total current in order to obtain the steady-state (static) component
corresponding to the load. Only this steady-state (static) component can be used to generate
a load-dependent supplementary speed setpoint for constant power.
While accelerating, the DCC block calculates the steady-state (static) component of the
current - which must be provided for the prevailing torque - from the total current. To
calculate this current, the acceleration component of the load and the acceleration
component of the rotating masses is taken into account.
For reasons of precision, the arithmetic average value is generated when making the
calculation. Further, dependent on the calculated torque, the supplementary speed setpoint
for field weakening, permissible for P = PN is formed using the motor power characteristic.
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Commissioning
8.10.2 Theoretical basics and equations

The steady-state load torque is calculated using the following torque equation.
MMotor = MLoad + MALoad + MARot + MFriction
Mmotor Motor torque

MLoad Load torque (scanned):
MALoad : Load acceleration torque (proportional to acceleration):
MARot : Acceleration torque as a function of gear unit inertia, for example (proportional to
acceleration)
MFriction : Frictional torque
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kAload and kArot are proportional factors whose quantity must be derived from measurement.
Mfriction must also be determined by measurement.
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This equation only applies to hoisting and positive dn/dt when accelerating in the hoisting
direction. Torque can be derived from the constant current flow in the rated speed range of
the drive, as current is directly proportional to torque.
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Commissioning
To determine the load, it is necessary to measure the speed change dn/dt. This is realized
using a differentiating element in the DCC block "DCC_LoadDependingFieldWeak". The
actual dn/dt values and the actual current value of the motor Imotor is continually transferred to
SIMOTION and is measured there. The measurement must have been completed within the
rated speed range of the machine in order to determine the corresponding load and
therefore to calculate the maximum field weakening speed. The measurement is made at
40% to 90% of the rated speed range of the machine; refer to
DCC_LoadDependingFieldWeak (Page 106).
WARNING
8.10.3 Commissioning information
8.10.3.1 Generating the measurement quantities

Sufficient measurements must be made when determining the average acceleration and the
average current while accelerating in order to obtain a realistic value. Assuming an
acceleration time of 3 s for reaching maximum speed (field weakening speed), approx. 1.5 s
(NFw = 2 x Nrated) will remain until the rated speed has been reached.
The arithmetic average value is generated by integrating all of the values obtained in a
measuring window for each sampling operation.
If the measurement window is 40-90 % of the rated speed, then approx. 750 ms is available
for the measurement. Approx. 25-30 measurements should be made within this 750 ms. The
result is a valid maximum cycle time of 20 ms for calculating the DCC block. All dn/dt values
and current actual values are added during the measurement phase. After the measurement
phase has been completed, this sum is divided by the number of measurements and
therefore the average value generated.
The number of measurements can be read-out in "rCountsMeasurRange". A least 25
measurements must be made, otherwise the measured load is declared as non-valid.
The drive must cover the entire measurement window for new measurements and the
previous measurement must be deleted (by means of a positive edge at
boResetLoadCurrent), for otherwise it is not possble to determine any additional velocities. If
the old measurement is not deleted, then the values last determined are available at the
output of the DCC block.
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Commissioning
For the hoisting direction, the following always applies:

● POSITIVE acceleration (100% at the rated ramp-up time).
● POSITIVE actual speed (100% at the field weakening speed)
● Current actual value (100% at the rated motor current) must be POSITIVE.
Note
At maximum acceleration and at the end of the measuring window,
• the dn/dt average value (rAverage_dn_dt) should be approx. 100%; the measurement
window limits must then be adapted accordingly.
• the number of measurements (rCountsMeasurRange) must be at least 25.
If a new measurement is to be made, then it is absolutely necessary that a positive edge
is connected to connection "boResetLoadCurrent".
All measurements must always be taken in SPEED_CONTROLLED mode.
WARNING
If the rated motor current is not used as reference, then the subsequent values here
(rFact_AccCurrent_Load, rFact_AccCurrent_RotMass, rFrictionCurrent) must be
correspondingly adapted.
Example:
"rFact_AccCurrent_Load" should be between 5 % and 10 % if the current
(rCurrentSetpoint) is referred to the rated motor current (rCurrentNominal). However, if
for example, the current is referred to twice the rated current, then this value must be
converted and should now be between 2.5 % and 5 %. All of the values in the following
table are empirical and only serve as a guide.
The values at the actual crane system can deviate from the values specified here.
Table 8- 7 Standard assignment of the setting connections before commissioning
Name Value Description

rFact_AccCurrent_Load 0.0 % Adaptation factor (referred to the rated load) for the
acceleration component of the load
Rough order of magnitude: 5 %- 10 %
This corresponds to the current value to be
compensated.
rFact_AccCurrent_RotMass 0.0 % Adaptation factor (referred to the rated load) for the
acceleration component of the rotating masses
Rough order of magnitude: 20 % - 40 %
compensated.
rFrictionCurrent 0.0 % Frictional component (referred to the rated load) for the
current
compensated.
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Commissioning

rEfficiency_eta 100 % Adaptation factor (referred to the rated load) for the
difference in efficiency when raising and lowering
rLoadNormFactor 1.0 Adaptation factor to convert into a physical quantity
The conversion is made using the formula:
Load [t] = measured value * rLoadNormFactor +
rAddCurrentBeforePLI
rAddCurrentBeforePLI 0.0 Offset to determine the load:
Load[t] = measured value * rLoadNormFactor +
rAddCurrentBeforePLI
rLowLimitMeasRange 40.0 % Start measurement window is already referenced to the
rated speed. No other conversion is required.
rUpLimitMeasRange 90.0 % End measurement window is already referenced to the
rated speed. No other conversion is required
rSmoothTime_dn_dt 24 ms Smoothing time for the velocity setpoint applied to the
derivative action element.
Order of magnitude: 0 ms – 150 ms
rCurrentSmoothTime 120 ms Smoothing time for the current [ms]
Order of magnitude: 0 ms – 200 ms
Note
The orders of magnitude specified in the above table are guide values.
Table 8- 8 Important outputs of the DCC block for commissioning

rCountsMeasurRange - Number of sampling operations in the measuring
window min. 25
rAverageSetpointCurrent % Arithmetic average value, current setpoint
rAverage_dn_dt % Arithmetic average value dn/dt (approx. 100 %)
rJBrot % Acceleration component of the rot. masses
rJBLoad % Acceleration component of the load
rMm_minusM_Friction % Total current - frictional current
rMm_minus_JBrot_Mf % IM - IARot - IFriction
rLoadCurrent_with_eta % Load current with efficiency correction
rLoadCurrent_without_eta % Load current without efficiency correction
rLoadCurrent_plus_Frict % Total current + frictional current
rLoadCurrent_before_PLI % Load current before the power characteristic
rLoadWithNormFactor - Evaluated load actual value
rSetpointAfter_PLI % Auxiliary speed setpoint relative to rMaximumVelocity
after PLI
rAddSetpoint_PLI % Auxiliary speed setpoint with offset relative to
rMaximumVelocity after PLI
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Commissioning

rOutSetpointVelocity - Auxiliary speed setpoint logically linked with the
master switch setpoint
boIact_greater_In - Actual current higher than current setpoint with
hysteresis (False)
boResetFieldWeak - Reset field weakening
boOutEnableFieldWeak - Enable field-weakening
8.10.3.2 Commissioning support for LDFW with FB_AutoSettingFW
Note
The use of the FB_AutoSettingFW block is optional. If you use this block, you do not need to
take Chapters Compensating the frictional current (Page 423) to Correcting the efficiency
(Page 425) into account.
Only when you use this block can the ropes be tightened early and the container spreader /
grab fully mounted. Otherwise, observe the procedures Compensating the frictional current
(Page 423) to Correcting the efficiency (Page 425).
Note
• The rated velocity must not be exceeded during the commissioning with this block. The
acceleration and deceleration should have the values with which the crane is operated
later.
• The hoisting and lowering actions should always run without interruption. Always traverse
at the rated velocity.
• The motors should be warmed up prior to the commissioning.
The FB_AutoSettingFW simplifies the commissioning so that at the end all important input
parameters for the DCC_LoadDependFieldweak_1 are issued at this block output. The
commissioning engineer then only needs to accept them at the inputs of the LDFW block.
If the DCC block DCC_ContLoadMeasurement_1 is also required on the crane, you do not
need to repeat the measurements. This block determines automatically the appropriate
inputs for both DCC blocks.
Two measuring steps must be performed during the commissioning. These two measuring
steps should be executed together without a significant pause in between.
The following inputs have already been linked in the standard projects. If a block is added
later, the links must be augmented in accordance with the following table.
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Commissioning
Table 8- 9 Subsequent links
Name of the input Logic operation

TO_Name Link with the hoist drive - master axis (hoist or holding gear)
boReset This input can be used to reset the measuring Step10 or Step20 or
all measured values.
• boAutoSettingFWStep10 = TRUE and boReset
Only the measured values from Step10 are deleted.
• Keep boReset pressed for three seconds.
All measured values are reset.
r64CurrentNominal Enter rated current
r64CurrentSetpoint Link with the current setpoint of the master
r64SmoothTimeCurrentSetpoint Smoothing time for the current setpoint [ms]
Change only if the current fluctuates excessively.
r64VelocityNominal Enter rated velocity [mm/s]
r64RampUpTimeNominal Ramp-up time to the rated velocity [ms]
r64UpLimitMeasRange Upper measuring window limit [%]
Change this value only if the measurement window does not
suffice during the acceleration process or when the measuring
range should be moved.
r64LowLimitMeasRange Lower measuring window limit [%]
Change this value only if the measurement window does not
suffice during the acceleration process or when the measuring
range should be moved.
r64MinLoad Load value without load but with container spreader / grab [in % or
physical unit (kg or t), depending on what is present at the LDFW
block (Loadnormfactor)]
Note:
The load with which the crane may travel with maximum velocity is
required here.
[r64MinLoad = Maxvelocity]
r64MaxLoad Load value with rated load, container spreader / grab [in % or
physical unit (kg or t), depending on what is present at the LDFW
block (Loadnormfactor)]
Note:
The maximum load with which the crane may travel with the rated
velocity is required here.
[r64MaxLoad = Nominalvelocity]
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Commissioning
Measuring step 1: Measurement without load
Prerequisites:
● The ropes are tightened and the container spreader / grab is fully mounted.
● Limit switches, rated and maximum velocity should be set and all standardizations
completed. The crane must be available for several test runs.
● Container spreader / grab must not accept any load and all measurements must be
performed without load.
● boStartAutoSettingFW = TRUE → FB_AutoSettingFW is enabled.
● boAutoSettingFWStep10 = TRUE → first measuring step is started.
● boAutoSettingFWStep20 = FALSE
Procedure:
Perform ten uninterruptible hoisting operations. The rated velocity must be reached for each
hoist operation and travel constant for the time "r64MinTimeConstantDrive".
"r64MinTimeConstantDrive" is available as output value.
A hoist operation is considered to have completed successfully when the
"boSingleMeasFinished" output changes to TRUE. The hoist can then be lowered again in
order to start a new hoist operation. If this output does not change to TRUE in time, the hoist
operation was not valid. An intervention is not currently required and a new hoist operation
can be started. After ten valid hoist operations, the "boStep10MeasFinished" output is set to
TRUE.
If "boSingleMeasFinished" never changes to TRUE, the required sampling operations during
the positive or negative acceleration or during the constant travel will not be reached. A
check should be made whether constant travel is made long enough (at least
"r64MinTimeConstantDrive" ) and possibly decrease or increase the measurement window
"r64UpLimitMeasRange"/"r64LowLimitMeasRange" slightly.
If measuring step 1 must be repeated, you can use "boReset" to delete the measurement.
Ensure, however, that "boAutoSettingFWStep10" is set to TRUE.
Note
If "boReset" is pressed for three seconds, all measuring steps will be reset irrespective of
"boAutoSettingFWStep10/20".
Measuring step 2: Measurement with load
Prerequisites:
● Container spreader / grab must now accept the rated load and all measurements must be
performed with the rated load.
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Commissioning
● boStartAutoSetting FW = TRUE - FB_AutoSettingFW is enabled

● boAutoSettingFWStep20 = TRUE - the second measuring step is started.
Procedure:
Perform ten uninterruptible hoist operations again. The same conditions for measuring step 1
now also apply to measuring step 2. After ten valid hoist operations,
"boStep20MeasFinished" is now set to TRUE.
Note
You should avoid any unnecessary waiting times in the associated measuring steps. If the
waiting time exceeds three minutes, the associated measuring step is deleted and must be
repeated. This serves to ensure that the measurements are performed with a constant motor
temperature.
Completion
If "boStep10MeasFinished" and "boStep20MeasFinished" are both TRUE, the following
outputs are not equal to 0. The values can now be accepted for LDFW (and, if required, also
for CLM).
● r64AutoFrictionCurrent
● r64AutoFactAccCurrRotMa
● r64AutoFactAccCurrentLoad
● r64Eta_LDFW (only for the LDFW block)
● r64Eta_lift_CLM (only for the CLM block)
● r64Eta_drop_CLM (only for the CLM block)
If a value is present at the "r64MinLoad" or "r64MaxLoad" input, the following output values
are also output automatically:
● r64X1ParameterLoad
● r64Y1ParameterVelocity
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Commissioning
If an error occurs, "boErrorFunctionBlock" output is TRUE and "i32ErrorIDFunctionBlock"
sends the error ID. If "i32ErrorIDFunctionBlock" is not equal to 0 but "boErrorFunctionBlock"
= FALSE, this is an alarm. Chapter Application error messages and alarm messages
(Page 339) contains a complete list and description of all error and alarm messages of the
function blocks.
Note
After completion of all measurements, you can delete a specific measuring step. This must
be activated beforehand (Step10 or Step20). "boReset" can then be used to delete the
activated measuring step. This does not affect the other measuring step and the outputs are
formed again taking the two measuring steps into account. This means both measuring
steps do not need to be repeated in the event of an error. Do not press "boReset" longer
than three seconds, otherwise the two measuring steps will be reset.
Note
Finally, a plausibility check should also be performed. Empirical values can be found at
Table 8-7 Standard assignment of the setting connections before commissioning (Page 417).
8.10.3.3 Compensating the frictional current
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Setting instructions:
Move the empty drum at constant rated speed (nrated) in the hoisting direction. The inputs
"rCurrentNominal" and "rCurrentSetpoint" must be appropriately supplied with the ST
variables "hoist_X_setpoint_current_for_dcc" and "hoist_X_currentnominal_for_dcc". 120 ms
has proven itself as a good value for "rCurrentSmoothTime". However, this value can be
individually adapted. The friction current value can be read out as a percentage using
"rSmoothSetpointCurrent".
Repeat the measurement several times in the hoisting direction and enter the average value
(with the motor in the warm state and the gearbox oil warm) in "rFrictionCurrent" (approx. 1%
to 3%).
This means that the frictional current will be taken into account at output
"rmm_minusm_friction".
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8.10.3.4 Compensating the acceleration torque of the rotating masses
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At the input of the DCC block, set "rLowLimitMeasRange" to 40 % and
"rUpLimitMeasRange" to 90 %. These values are automatically referenced to the rated
speed and do not require any additional conversion. However, if 100% is not reached at
output "rAverage_dn_dt", there are two ways of remedying this:
● Change the smoothing time (rSmoothTime_dn_dt) for the velocity setpoint applied to the
derivative action element to correct minor deviations
or
● Change of measuring window limits (rUpLimitMeasRange or rLowLimitMeasRange).
Tip:
If the value reached is significantly higher than 100%, reduce "rUpLimitMeasRange".
If the value reached is significantly lower than 100%, reduce "rLowLimitMeasRange".
Accelerate the empty drum, hoisting (raising) up to the rated speed. At the end of the
measurement phase (boOut_EnableFieldWeak is true) the value at the output of the DCC
block "rMm_minus_JBrot_Mf" (IMotor - IFriction - kARot • dn/dt) should be 0 %, as in this case, no
acceleration component of the load is included in the total current. Correspondingly vary
using the connection "rFact_AccCurrent_RotMass" (approx. 20 % to 30 %). Confirm these
values by making several acceleration trials.
Note
Connect a positive edge at input "boResetLoadCurrent" after every measurement.
"rAverage_dn_dt" must be + 100%.
Note
After you have made this setting, you can attach the rope.
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8.10.3.5 Compensating the acceleration torque of the load
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Set connection "rEfficiency_eta" to 100 %. Approximately the rated load (=max. load) should
be suspended on the ropes. Accelerate hoisting to the valid speed.
After the measurement phase has been completed, connection "rLoadCurrent_plus_Frict"
should, as far as possible, correspond to the value that the drive draws after the acceleration
phase (only in the hoisting direction) when the load in a steady-state
(rSmoothSetpointCurrent). Correspondingly vary connection "rFact_AccCurrent_Load"
(approx. 5 % to 10 %). Confirm these values by making several acceleration trials.
Note
"rAverage_dn_dt" must be + 100%.
WARNING
For safety reasons, AppSTW1 bit4 "enable field weakening" should be FALSE. Accelerate
hoisting only to the speed specified for rated loads (maximum load).
8.10.3.6 Correcting the efficiency

The efficiency correction should be used to ensure that with the same load, the velocity
when lowering is identical to the velocity when hoisting (raising). For hoisting and lowering, in
order to determine the same load actual value at different current values, it is necessary to
multiply the value present when lowering "rLoadCurrent_without_eta" by the factor 1/η2.
The setting is made with "rEfficiency_eta". The connection "rLoadCurrent_with_eta" should
neither change when hoisting nor when lowering.
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Calculation example:
● Displayed value with rated load, hoisting:
rLoad_with_etahoisting = 98%
● Displayed value with rated load, lowering:
rLoad_with_etalowering = 82%

ˤ ෬

Calculated parameter (rEfficiency_eta_drop) = 119.51%

After setting "rEfficiency_eta_drop": set "rEfficiency_eta_lift" accordingly.
1. Move the rated load in hoisting direction and then in lowering direction at constant rated
speed (nrated motor), assuming rEfficiency_eta = 100% (default setting).
2. Repeat your measurement several times.
3. Note down the mean value of "rLoadCurrent_with_etaHoisting" and
"rLoadCurrent_with_etaLowering".
4. Calculate the rEfficiency_eta corresponding to the specified example.
Note
5. Check the settings by hoisting and lowering the rated load (up to the rated speed) several
times.
In so doing "rLoadCurrent_with_eta" and "rLoadWithNormFactor" should no longer
change when hoisting and lowering.
6. Adapt the factor rEfficiency_eta (approx. 115 %) to keep the change between hoisting
and lowering as low as possible.
Note
If the load when lowering is determined to be higher than the actual load, a higher value
of "rLoadCurrent_with_eta" while lowering with respect to hoisting ensures that the drive
is not overloaded when braking the load.
This setting is only necessary for the case that the load should be determined while lowering
(e.g. at the start of lowering). For normal applications, it is sufficient if the determined load is
only re-calculated again if it has changed. Normally, this is only possible after the spreader
has taken-up a new load. This means that the signals "Twistlocks open" and "Twistlocks
closed" can be used to set a positive edge of the signal "boResetLoadCurrent". This allows
the load to be recalculated.
Basic Technology
Commissioning
8.10.3.7 Calculating the physical size of the load

The determined load can be converted to a physical quantity (e.g. tons) using connections
"rLoadNormFactor" and "rAddCurrentBeforePLI".
When hoisting a rated load of 45 t, "rLoadWithNormFactor" indicates a value of 85 %.

U/RDG1RUP)DFWRU

A constant load can be added (e.g. in tons) using "rAddCurrentBeforePLI".
8.10.4 Procedure for drives with a switchable gear

In the case of drives with a switchable gear, a separate DCC_LoadDependingFieldWeak
block and a separate DCC_Overspeed block must be available for each gear ratio. The
blocks must be put into operation with the corresponding ratio and the relevant parameters
need to be adjusted to the modified behavior. These steps also need to be taken for any
slave drives (slave, Hoist 2) which may be present.
Furthermore, the selection of the blocks' output signals needs to be linked to the selection of
the gear stage. To do this, corresponding selector switches (NSW, BSW) must be connected
to the block outputs. These must be controlled by the S7 via a shared switchover bit.
Figure 8-39 Use of two LoadDependingFieldWeak blocks
Basic Technology
Commissioning
Figure 8-40 Two LoadDependingFieldWeak blocks and selector switches (NSW, BSW) in a DCC chart
8.10.5 Criteria for enabling field weakening

The criteria for enabling field weakening are described in this section. Field weakening is not
enabled or is inhibited as long as "boEnableFieldWeak" is set to false.
While field weakening is not enabled, the master switch setpoint is limited to the rated speed.
As soon as field weakening is enabled (boOutEnableFieldWeak = True), the master switch
setpoint is limited to the calculated load-dependent speed limiting value.
The criteria to enable field weakening – dependent on the actual speed value and speed
setpoint – are described in the following:
1. The actual velocity (rActualVelocity) is scanned at the DCC block input as to whether the
upper limit of the measurement window (UpLimitMeasRange) has been exceeded and
whether at least 25 measurements (rCountsMeasurRange) have been performed –
otherwise the measured load is considered to be invalid.
Basic Technology
Commissioning
2. Further, the lower measurement window limit (rLowLimitMeasRange) must have been
passed through in order to declare the measurement valid. This means that at the start of
the measurement, the actual velocity value must be below the measurement window and
then – as described in Point 1 – the upper measurement window limit exceeded. This
means that the measurement window has been completely run-through once.
3. The user can select the precise conditions for the enabling the field weakening using the
master switch. DCC_LoadDependingFieldWeak and DCC_LoadDependFieldWeak_1
have two or three possibilities, respectively; see DCC_LoadDependFieldWeak_1
(Page 113), "Mode of operation" section.
8.10.6 Reducing the supplementary setpoint for an incorrect calculation

After calculating the supplementary speed setpoint, the ramp-function generator - that is
connected as motor potentiometer here is set to this calculated value.
Further, the current actual value is monitored in the steady-state phase
(boConstantMovement is true), if "boEnableCurrentMonitor" was set to 1.
This monitoring checks the calculation of the load-dependent supplementary setpoint. If the
current actual value exceeds the rated current (IN = 100 %), during the steady-state phase,
then the calculation of the supplementary setpoint is incorrect. In this case, the drive is
neither shut down via the closed-loop control monitoring nor via the overcurrent monitoring
(the current limit is normally 180%), then the motor would be overloaded from a power
perspective.
This is followed by a time-delayed correction of the supplementary setpoint. The time delay
should be entered into "rDelayTimeConstantMove". It is required for the stabilization of the
current actual value.
If, for reasons previously described, the speed setpoint is incorrectly calculated, then the
current actual value can increase above the rated current in the steady-state phase. In this
case, the speed setpoint is reduced via the ramp-function generator – and more precisely,
until the current actual value re-enters the hysteresis loop or the rated speed is reached.
"rCurrentInterval" and "rCurrentHysteresis" should be set together corresponding to the
required response threshold of the current monitoring.
The required response threshold of the current monitoring should be defined or determined
when commissioning:
Example:
rCurrentInterval + rCurrentHysteresis = 105 % + 5 % = 110 % "on"
rCurrentInterval + rCurrentHysteresis = 105 % - 5 % = 100 % "off"
Basic Technology
Commissioning
rCurrentInterval: Current response threshold, e.g. 105 %

rCurrentHysteresis: Current hysteresis, e.g. 5 %
i.e. between 100 % and 110 %
rUpLimit_RampGen: 100 % = maximum speed
rRampDownTime_RampGen: Ramp-down time when reducing the speed setpoint
(experience value: 12 seconds)
boSpeedRampToLowLim: to 1 (enable signal to reduce the speed setpoint)
boEnableCurrentMonitor: to 1 (to enable the current monitoring)
Note
For Basic Technology, 100 % current corresponds to the maximum current!
Note
If "boSpeedRampToLowLim" is not True and current monitoring is active (boIact_greater_In
= False), the setpoint is not stepped down and field weakening is disabled directly. This
limits acceleration to the rated speed until a new measurement was initiated (positive edge
at boResetLoadCurrent).
8.10.7 Examples of load curves for load-dependent field weakening

If current values were converted into a physical quantity using the factor "rLoadNormFactor",
then the value "Load (A)" (refer to the subsequent tables) is directly specified in tons instead
of – as before – as a percentage of current.
Basic Technology
Commissioning
8.10.7.1 Example 1: Constant power
NMax 100%
P = constant
NGrund 50%
Speed (Y)
27,5T 45T
0T 56T
(50% current) (100% current)
Load (X) in Tons
Figure 8-41 Load-dependent field weakening, example 1
Load (X) Velocity (Y)

X1 = 50% Y1 = 100%
X2 = 55% Y2 = 90.9%
X3 = 60% Y3 = 83.3%
X4 = 65% Y4 = 76.9%
X5 = 70% Y5 = 71.4%
X6 = 75% Y6 = 66.6%
X7 = 80% Y7 = 62.5%
X8 = 85% Y8 = 58.8%
X9 = 90% Y9 = 55.5%
X10 = 100% Y10 = 50%
Formula:

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Basic Technology
Commissioning
WARNING
• If excessively high current values occur during constant-velocity travel, then the velocity
(Y2-Y9) must be reduced.
• The initial points X1 (load) and Y1 (velocity) as well as end points X10 and Y10 are
fixed. The load points (X2-X9) can assume any intermediate values. The corresponding
intermediate values (Y2-Y9) are calculated according to the formula above.
• We recommend that the first points along the curve are selected close to one another as
the velocity is inversely proportional to the load.
• If using a linearized drive curve, make sure that its interpolation points (X1 to X10; Y1 to
Y10) remain below the constant power curve.
8.10.7.2 Example 2: Curve is specified (no constant power)

This example is valid under the following conditions:
1. It is not possible to utilize drive performance.
2. The customer has delivered a load curve which specifies technical requirements.
0 – 15 T → Velocity 100%
15 – 40 T → Velocity, refer to curve
40 – 56 T → Velocity 50 %
Start by determining the current required for lifting 40 tons at rated speed (no field
weakening). The current is directly proportional to the load. This means that for a current
measurement of 86% at 40 tons, then at 15 tons 32% will be necessary.
The curve can be calculated using the following formula:
n: Velocity
Q
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X: Constant
Y: Constant
Synchronization with data specified above:

෬;<

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and ;
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Basic Technology
Commissioning
Result after inserting (constant):

X = 2548.148151 and Y = 20.37037028
NMax 100%
NGrund 50%
Speed (Y)
15T 40T
0T 56T
(32% current) (86% current)
Load (X) in Tons
Figure 8-42 Load-dependent field weakening, example 2
The following table is calculated with the formula:

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Load (X) Velocity (Y)

X1 = 32 % Y1 = 100 %
X2 = 35 % Y2 = 93.2 %
X3 = 38 % Y3 = 87.4 %
X4 = 41 % Y4 = 82.5 %
X5 = 45 % Y5 = 77.0 %
X6 = 50 % Y6 = 71.3 %
X7 = 55 % Y7 = 66.7 %
X8 = 65 % Y8 = 59.6 %
X9 = 75 % Y9 = 54.3 %
X10 = 86 % Y10 = 50.0 %
Basic Technology
Commissioning
8.11 Continuous load measurement (CLM)
WARNING
• If excessively high current values occur during constant-velocity travel, then the velocity
(Y2-Y9) must be reduced.
• The initial points X1 (load) and Y1 (velocity) as well as end points X10 and Y10 are
fixed. The load points (X2-X9) can assume any intermediate values. The corresponding
intermediate values (Y2-Y9) are calculated according to the formula above.
• We recommend that the first points along the curve are selected close to one another as
the velocity is inversely proportional to the load and the offset. Check - T
• If using a linearized drive curve, make sure that its interpolation points (X1 to X10; Y1 to
Y10) remain below the constant power curve.

Using the DCC_ContLoadMeasurement and DCC_ContLoadMeasurement_1 blocks, for the
holding gear, a continuous load measurement is performed. The crane driver can always see
the weight of the hoisted load.
In the case of dredgers, the crane driver cannot see the submerged grab bucket. Guided by
the continuous load measurement function, the driver can lift a fully loaded bucket out of the
water every time. A "Grab touchdown" signal is also displayed.
The DCC_ContLoadMeasurement and DCC_ContLoadMeasurement _1 blocks should be
set above water if at all possible.
8.11.2 Theoretical basics and equations

The steady-state load torque is calculated using the following torque equation:
MMotor = MLoad + MALoad + MARot + MFriction
Mmotor Drive torque

MLoad Load torque (value to be calculated)
MALoad : Load acceleration torque (proportional to acceleration):
MARot : Acceleration torque as a function of gear unit inertia, for example (proportional to
acceleration)
MFriction : Frictional torque
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kAload and kArot are proportional factors whose quantity must be derived from measurement.
Mfriction must also be determined by measurement.
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This equation only applies to hoisting and positive dn/dt when accelerating in the hoisting
direction.
To determine the load, it is necessary to measure the speed change dn/dt. This
measurement is performed by a differentiating element in the DCC block
"DCC_ContLoadMeasurement". The current dn/dt value and the current torque value are
continually transferred to SIMOTION and are measured there.
WARNING
This setting may only be made by qualified personnel. Pay particular attention to the
reduced breakdown torque of the drive within the field weakening range! Add a safety
reserve to the data provided by the machine manufacturer.
8.11.3 Commissioning information

For the hoisting direction, the following always applies:
● POSITIVE acceleration (100% at the rated ramp-up time).
● POSITIVE actual speed (100% at the field weakening speed)
● POSITIVE current torque value (100% at the rated motor torque).
NOTICE
At maximum acceleration, the dn/dt average value (rAccelerationMeanValue) at the end of

the measuring window must be approximately +100%; adjustments must then be made
accordingly via "rDifferentiationTimeCons" and "rSmoothTime_dn_dt".
Basic Technology
Commissioning
DCC_ContLoadMeasurement
WARNING
If the rated motor torque is not applied as a reference, the following values must be
adjusted:
• "rFact_AccTorque_Load1" or "…2"
• "rFact_AccTorque_RotMass1" or "…2"
• All friction torques
Example:
"rFact_AccTorque_Load1" should be between 5% and 10% if the torque
(rSetpointTorqueHG) refers to the rated motor torque (rTorqueNominal). However, if for
example, the torque is to be referred to twice the rated torque, then this value must be
converted and should now be between 2.5% and 5%.
All of the values in the following table are empirical and only serve as a guide. The values on
the actual crane system can deviate from the values specified here.
Table 8- 10 Default assignments of setting connections prior to commissioning for gear stage 1

rFact_AccTorque_Load1 0.0% Adaptation factor (referred to the rated load) for
the acceleration component of the load:
Rough order of magnitude: 5%- 10 %
This corresponds to the torque value to be
compensated.
rFact_AccTorque_RotMass1 0.0% Adaptation factor (referred to the rated load) for
the acceleration component of the rotating masses
Rough order of magnitude: 20% - 40%
compensated.
rY1_Friction_SGST1 to 0.0% Frictional component (referred to the rated load) of
rY10Friction_SGST1 total torque
compensated.
rEfficiency_eta_lift 100% Adaptation factor (referred to the rated load) for
the difference in efficiency when hoisting
rEfficiency_eta_drop 100% Adaptation factor (referred to the rated load) for
the difference in efficiency when lowering
rLimitToStartSawToothGen 10% The breakaway torque should be overcome (10%
is referred to rActualVelocity).
rLimitToStopSawToothGen 30.0 Stop limit from which the sawtooth generator
begins counting from the beginning again.
rLoadNormFactor 1.0 Adaptation factor to convert into a physical
quantity
The conversion is performed using the formula:
Load [t] = measured value * rLoadNormFactor
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Commissioning

rStartMeasurement 2.0 Start limit from which the sawtooth generator
starts the load measurement.
(boStartMeasurement)
rStopMeasurement 30.0 Stop limit from which the sawtooth generator stops
the load measurement. (boStopMeasurement)
rIntegrationTimeSawTooth 1.0 Integration time for the sawtooth generator [ms]

rSavedCounts - Number of sampling operations in the measuring
window
rSetTorqueMeanValue % Arithmetic mean of the torque setpoint
rAccelerationMeanValue % Arithmetic mean of the acceleration (100%)
rJBrot % Acceleration component of the rotating masses
rMm_minusM_Friction % Total torque – friction torque (Mtot - MFriction)
rMm_minus_JBrot_Mf % MM - MARot - MFriction
rLoad_with_eta % Load torque with efficiency correction
rLoad_without_eta % Load torque without efficiency correction
rLoad_eta_plus_Frict % Total torque + friction torque (Mtot + MFriction)
rLoad - Evaluated actual load value
boGrabTouchdown - Message "Grab touchdown"
DCC_ContLoadMeasurement_1
WARNING
If the rated motor torque is not applied as a reference, the following values must be
adjusted:
• rFact_AccTorque_Load
• rFact_AccTorque_RotMass
• All friction torques
Example:
"rFact_AccTorque_Load" should be between 5% and 10% if the torque
(rSetpointTorqueHG) refers to the rated motor torque (rTorqueNominal). However, if for
example, the torque is to be referred to twice the rated torque, then this value must be
converted and should now be between 2.5% and 5%.
All of the values in the following table are empirical and only serve as a guide. The values on
the actual crane system can deviate from the values specified here.
Basic Technology
Commissioning
Table 8- 12 Standard assignment of the setting connections before commissioning

rFact_AccTorque_Load 0.0% Adaptation factor (referred to the rated load) for
the acceleration component of the load:
Rough order of magnitude: 5%- 10%
compensated.
rFact_AccTorque_RotMass 0.0% Adaptation factor (referred to the rated load) for
the acceleration component of the rotating masses
compensated.
rY1_Friction to rY6Friction 0.0% Frictional component (referred to the rated load) of
total torque
compensated.
rEfficiency_eta_lift 100% Adaptation factor (referred to the rated load) for
the difference in efficiency when hoisting
rEfficiency_eta_drop 100% Adaptation factor (referred to the rated load) for
the difference in efficiency when lowering
rLoadNormFactor 1.0 Adaptation factor for converting into a physical
quantity
The following formula is used for the conversion:
Load[t] = measured value • rLoadNormFactor
iNumberOfCycles_MVS 10 Number of computation cycles, over which a
sliding mean value generation (MVS) is realized
for acceleration and torque

rTorque_MVS % Mean value, torque setpoint
rAccel_MVS % Mean value, acceleration
rJBrot % Acceleration component of the rotating masses
rMm_minusM_Friction % Total torque - friction torque (Mtot - MFriction)
rMm_minus_JBrot_Mf % MM - MARot - MFriction
rLoad_with_eta % Load torque with efficiency correction
rLoad_without_eta % Load torque without efficiency correction
rLoad_eta_plus_Frict % Total torque + friction torque
(Mtot + MFriction)
rLoad - Evaluated actual load value
boGrabTouchdown - Message "Grab touchdown"
Basic Technology
Commissioning

boLVM_Load_QL - Limit monitor: Load actual value < load limit value
(rGrabWeight); important for the message "Grab
touchdown"
boLVM_Speed_QU - Limit monitor: Velocity actual value > velocity limit
value (rSpeedAverLimitValueMon); important for
the message "Grab touchdown"
boLVM_Rope_QU - Limit monitor: Rope length > rope length limit
value (rUnderWater); important for the message
"Grab touchdown"
8.11.3.1 Commissioning support for CLM with FB_AutoSettingFW
Note
The use of the FB_AutoSettingFW block is optional. If this block is used, Chapters Friction
torque compensation (Page 443) to Correcting the efficiency (Page 446) do not need to be
taken into account.
Only when you use this block can the ropes be tightened early and the container spreader /
grab fully mounted. Otherwise, observe the procedures Friction torque compensation
(Page 443) to Correcting the efficiency (Page 446).
Note
• The rated velocity must not be exceeded during the commissioning with this block. The
acceleration and deceleration should have the values with which the crane is operated
later.
• Hoisting and lowering operations should always run without interruption at the rated
velocity.
• The motors should be warmed up prior to the commissioning.
The FB_AutoSettingFW simplifies the commissioning by all important input parameters for
the DCC_ContLoadMeasurement_1 being calculated and issued to the output at the end.
The commissioning engineer then only needs to accept them at the inputs of the CLM block.
If the DCC_LoadDependFieldweak_1 block is also required on the crane, you do not need to
repeat the measurements. This block determines automatically the appropriate inputs for
both DCC blocks.
Two measuring steps must be performed during the commissioning. These two measuring
steps should be executed together without a significant pause in between.
The following inputs have already been linked in the standard projects. If this block was
added later, these links must be augmented in accordance with the following table.
Basic Technology
Commissioning
Table 8- 14 Subsequent links
Name of the input Logic operation

TO_Name Link with the hoist drive - master axis (hoist or holding gear)
boReset This input can be used to reset the measuring Step10 or Step20 or
all values.
• Keep boReset pressed for three seconds.
All measured values are reset.
r64CurrentNominal Enter rated current
r64CurrentSetpoint Link with the current setpoint of the master
r64SmoothTimeCurrentSetpoi Smoothing time for the current setpoint [ms]
nt Change only if the current fluctuates excessively.
r64VelocityNominal Enter rated velocity [mm/s]
r64RampUpTimeNominal Ramp-up time to the rated velocity [ms]
r64UpLimitMeasRange Upper measuring window limit [%]
Change this value only if the measurement window does not suffice
during the acceleration process or when the measuring range should
be moved.
r64LowLimitMeasRange Lower measuring window limit [%]
Change this value only if the measurement window does not suffice
during the acceleration process or when the measuring range should
be moved.
r64MinLoad Not required for DCC_ContLoadMeasurement_1, important only for
DCC_LoadDependFieldWeak_1.
r64MaxLoad Not required for DCC_ContLoadMeasurement_1, important only for
DCC_LoadDependFieldWeak_1.
Measuring step 1: Measurement without load
Prerequisites:
● Container spreader / grab must not accept any load and all measurements must be
performed without load.
● boStartAutoSetting FW = TRUE → FB_AutoSettingFW is enabled
● boAutoSettingFWStep10 = TRUE → first measuring step is started.
Basic Technology
Commissioning
Procedure:
Perform ten uninterruptible hoisting operations. The rated velocity must be reached for each
hoist operation and travel constant for the time "r64MinTimeConstantDrive".
"r64MinTimeConstantDrive" is available as output value.
A hoist operation is considered to have completed successfully when the
"boSingleMeasFinished" output changes to TRUE. The hoist can then be lowered again in
order to start a new hoist operation. If this output does not change to TRUE in time, the hoist
operation was not valid. An intervention is not currently required and a new hoist operation
can be started. After ten valid hoist operations, the "boStep10MeasFinished" output is set to
TRUE.
If "boSingleMeasFinished" never changes to TRUE, the required sampling operations during
the positive or negative acceleration or during the constant travel will not be reached. A
check should be made whether constant travel is made long enough (at least
"r64MinTimeConstantDrive" ) and possibly decrease or increase the measurement window
"r64UpLimitMeasRange"/"r64LowLimitMeasRange" slightly.
Note
Measuring step 2: Measurement with load

● Container spreader / grab must now accept the rated load and all measurements must be
performed with the rated load.
● boStartAutoSetting FW = TRUE → FB_AutoSettingFW is enabled.
● boAutoSettingFWStep20 = TRUE → the second measuring step is started.
Procedure:
Perform ten uninterruptible hoist operations again. The same conditions from measuring step
1 now also apply to measuring step 2. After ten valid hoist operations,
"boStep20MeasFinished" is now set to TRUE.
Basic Technology
Commissioning
Note
"boAutoSettingFWStep10/20 ".
You should avoid any unnecessary waiting times in the associated measuring steps. If the
waiting time exceeds three minutes, the associated measuring step is deleted and must be
repeated. This serves to ensure that the measurements are performed with a constant motor
temperature.
Completion:
If "boStep10MeasFinished" and "boStep20MeasFinished" are both TRUE, the following
outputs are not equal to 0. The values can now be accepted for CLM (and, if required, also
for LDFW).
● r64AutoFrictionCurrent
● r64AutoFactAccCurrRotMa
● r64AutoFactAccCurrentLoad
● r64Eta_LDFW (only for the LDFW block)
● r64Eta_lift_CLM (only for the CLM block)
● r64Eta_drop_CLM (only for the CLM block)
If a value is present at the "r64MinLoad" and "r64MaxLoad" input, the following output values
are also output automatically: They are not necessary for CLM. If LDFW is not used, the two
"r64MinLoad" and "r64MaxLoad" inputs can be set to 0. The following outputs then also
return 0:
Basic Technology
Commissioning
If an error occurs, "boErrorFunctionBlock" output is TRUE and "i32ErrorIDFunctionBlock"

sends the error ID. If "i32ErrorIDFunctionBlock" is not equal to 0 but "boErrorFunctionBlock"
= FALSE, this is an alarm.
Note
After completion of all measurements, you can delete a specific measuring step. This must
be activated beforehand (Step10 or Step20). "boReset" can then be used to delete the
activated measuring step. This does not affect the other measuring step and the outputs are
formed again taking the two measuring steps into account. This means both measuring
steps do not need to be repeated in the event of an error. Do not press "boReset" longer
than three seconds, otherwise the two measuring steps will be reset.
Note
Finally, a plausibility check should also be performed. Empirical values can be found at
Table 8-10 Default assignments of setting connections prior to commissioning for gear stage
1 (Page 436).
8.11.3.2 Friction torque compensation
DCC_ContLoadMeasurement
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Move the empty drum at constant base speed (nrated) in the hoisting direction. Positive values
must be passed accordingly to inputs "rTorqueNominal", "rSetpointTorqueHG" and
"rSetpointTorqueCG". You can set the friction torque by means of the friction characteristic
("rY1_Friction_SGST1" to "rY10_Friction_SGST1"). The friction torque can be displayed as a
percentage via "rSetpointTorquePercent".
Basic Technology
Commissioning
You can set the friction torque by means of the friction characteristic ("rY1_Friction" to
"rY6_Friction"). The friction torque can be displayed as a percentage via
"rSetpointTorquePercent".
Note
Always enter the friction torque value at rated speed in the friction characteristic for the
commissioning phase. This makes the rest of the commissioning procedure easier. You can
assign friction torques to the relevant speeds later on.
8.11.3.3 Compensating the acceleration torque of the rotating masses
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Note
100% must be reached at output "rAccelerationMeanValue" for every measurement;
otherwise you will need to make adjustments using inputs "rDifferentiationTimeCons" and
"rSmoothTime_dn_dt".
Note
After every acceleration attempt, rated speed 100% should be reached at output
"rAccel_MVS", otherwise you must make adjustments using the inputs
"rDifferentiationTimeCons" and "rSmoothTime_dn_dt".
● Accelerate the empty drum up to rated speed in the hoisting direction.

● On completion of the measurement, the value at the DCC block output
"rMm_minus_JBrot_Mf" must be 0% (0% is the ideal scenario), as the total torque does
not include a load acceleration component in this case.
● Try different values using parameter "rFact_AccTorque_RotMass1".
Basic Technology
Commissioning
● Verify that you have identified the correct parameter setting by performing several
acceleration trial runs.
● When doing so, remember the following formula:
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Note
At the beginning, the factor at the input of block "rFact_AccTorque_RotMass1" or
"rFact_AccTorque_RotMass" for DCC_ContLoadMeasurement_1 is still 0. Enter the value
of output "rMm_minus_JBrot_Mf" as the start value. Then adjust the factor
"rFact_AccTorque_RotMass1" or "rFact_AccTorque_RotMass" for the
DCC_ContLoadMeasurement_1 by iteration until the output "rMm_minus_JBrot_Mf"
shows a value of 0.
NOTICE
After you have made this setting, you can attach the ropes.
8.11.3.4 Compensating the acceleration torque of the load
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Setting instructions
● Set the parameters "rEfficiency_eta_drop" and "rEfficiency_eta_lift" to 100%.
● Approximately the rated load = maximum load should be suspended on the ropes.
● Accelerate up to rated speed in the hoisting direction.
● On completion of the measurement, parameter "rLoad_eta_plus_Friction" should match
as closely as possible the value that the drive draws (rSetpointTorquePercent) after the
acceleration phase (only in the hoisting direction) when the load is in a steady-state.
● Try various values with the "rFact_AccTorque_Load1" or "rFact_AccTorque_Load"
parameter for the DCC_ContLoadMeasurement_1.
● Verify that you have identified the correct parameter setting by performing several
acceleration trial runs.
Basic Technology
Commissioning
8.11.3.5 Correcting the efficiency

The efficiency correction should be used to ensure that with the same load, the velocity
when lowering is identical to the velocity when hoisting (raising). To then obtain the same
load actual value for hoisting and lowering at different current values, you need to set the
efficiency correction factor for hoisting (rEfficiency_eta_lift) and lowering
(rEfficiency_eta_drop) as follows:
/RDGOLIWLQJ/RDGGURSSLQJ
/RDGDYHUDJH

/RDGDYHUDJH
U(IILFLHQF\BHWDBOLIW ෬
/RDGOLIWLQJ
/RDGDYHUDJH
U(IILFLHQF\BHWDBGURS ෬
/RDGGURSSLQJ
As a result, the efficiency correction value will always be ≤ 100% for hoisting and ≥ 100 % for
lowering. This will be illustrated in the following example calculation:
Example calculation
Load value shown for hoisting 250

Load value shown for lowering 150
Calculated average value for load 200

U(IILFLHQF\BHWDBOLIW ෬

U(IILFLHQF\BHWDBGURS ෬

The efficiency correction is set with "rEfficiency_eta_drop" and "rEfficiency_eta_lift". The

connection "rLoadCurrent_with_eta" should neither change when hoisting nor when lowering.
The measurements can be taken at no-load and the correction set. The values should then
be checked with load and fine-tuned if necessary.
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Commissioning
● Move the rated load in hoisting direction and then in lowering direction at constant rated
speed (nrated motor), provided
rEfficiency_eta = 100% (default)
● Repeat your measurement several times. Note down the mean value of
"rLoadCurrent_with_etaHoisting" and "rLoadCurrent_with_etaLowering".
● Calculate the rEfficiency_eta corresponding to the specified example.
Note
● Check the settings by hoisting and lowering the rated load (up to the rated speed) several
times. In so doing "rLoadCurrent_with_eta" and "rLoadWithNormFactor" should no longer
change when hoisting and lowering.
● Adapt the factor rEfficiency_eta (approx. 115 %) to keep the change between hoisting
and lowering as low as possible.
Note
When lowering, if a load higher than the actual load is determined, a higher value of
rLoadCurrent_with_eta while lowering with respect to hoisting ensures that the drive is not
overloaded when braking the load.
This setting is only necessary for the case that the load should be determined while lowering
(e.g. when starting with lowering). For normal applications, it is sufficient if the determined
load is only re-calculated again if the load has changed.
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8.11.3.6 Compensating the rope weight

Using "rActualRopeLength" (rope length) combined with "rCompensationRopeFactor", you
can compensate the rope load of the uncoiled rope in order to calculate the difference in
weight between the coiled and uncoiled rope from the load. The current rope length can be
determined in numerous different ways, one of which is shown below by way of an example:
Figure 8-43 Determining the current rope length
The homing signal is routed to a memory block (TRK) by means of an edge evaluation
(ETE). As a rule, the grab should be homed to the highest position. The top position and,
thus, the maximum position value are saved in the memory block together with the homing
signal. When the grab is lowered, the position decreases, since lowering equates to negative
velocity. The current position is now subtracted from the maximum position (SUB) and the
result is the current rope length.
Note
The description above is simply an example; it is not the only method of determining the
current rope length.
8.11.3.7 Load from load measuring cell

You can input a load directly by means of "rloadMeasurementCell". In this case, you must
set "boSwitchToLoadMeasCell" to True. The load value from the measuring cell will then be
applied instead of the calcualted load value.
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8.11.3.8 Calculating the physical size of the load

Using input parameter "rLoadNormFactor" combined with outputs "rLoad_with_eta_rope" and
"rLoad", you can convert the calculated load to a physical quantity (e.g. tonnes).
When hoisting a rated load of 45 t, "rLoad_with_eta_rope" and "rLoad" indicate a value of
85 %.
W W
U/RDG1RUP)DFWRU

Output "rLoad" should now show 45t and "rLoad_with_eta_rope" 85 %.
8.11.3.9 Output "Grab touchdown" (boGrabTouchDown = True)

The "boGrabTouchDown" output will change to true if the inputs of the DCC block fulfill the
following conditions:
● "rActualRopeLength" is greater than the value entered in "rRopeAverLimitValueMon"
AND
● "rLoad" is less than the value entered in "rLoadAverLimitValueMon" AND
● The value of "rActualVelocity" is greater than the value entered in
"rSpeedAverLimitValueMon" AND
● the "rOnDelayTimeLimitMonitor" timer has expired AND
● "rActualVelocity" is less than zero (lowering).
Figure 8-44 Overview of "Grab touchdown"
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The "boGrabTouchDown" output will change to TRUE if the inputs of the DCC block fulfill the
following conditions:
● "rActualRopeLength" is greater than the value entered in "rUnderWater" AND
● "rLoad" is less than the value entered in "rGrabWeight" AND
● the absolute value of "rActualVelocity" is greater than the value entered in
"rSpeedAverLimitValueMon" AND
● the "rOnDelayTimeLimitMonitor" timer has expired AND
● "rActualVelocity" is less than zero (lowering).
Figure 8-45 Overview "Grab touchdown" for DCC_ContLoadMeasurement_1
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8.12 Start pulse
8.12 Start pulse

In DCC block StartPulse the I component of the speed controller is stored when the brakes
are closed, and set again when they are opened. Chapter DCC_StartPulse (Page 150), "2.
Methods" paragraph contains a detailed description.
8.12.2 Commissioning
The block DCC_StartPulse can also be tested during commissioning in just a few steps
without saving the I component, whereby the relevant value is sent by the S7.
The setpoint is sent to SIMOTION in PZD 7 "Setpoint for start pulse_S7" (see SIMATIC S7 →
SIMOTION (Page 307)). This value can be connected to the input "rTorqueValueRetain" of
the DCC block StartPulse in the DCC chart under the name "..._startpulse_receive". It is,
however, advisable to connect a numerical selector switch in front of this input. This enables
the user to toggle between the saved I component and the setpoint from the S7.
When commissioning of the block is complete, the numerical selector switch should be
cleared again and the input "rTorqueValueRetain" connected to the variable
"…_i_component_for_dcc".
Commissioning the integration component of the speed controller

The I/O variables "DO-name_setpoint_torque" and "DO-name_i_component" are needed to
be able to send the I component of the speed controller (SINAMICS parameter r1482) to
SIMOTION. The torque value is made available via function block
FB_TelegramSinamicsToSimotion (r64TorqueSetpointSpeedController) (refer to Chapter
FB_TelegramSinamicsToSimotion (Page 164)). It is interconnected with variable
"rTorqueValueRetain". When the "Close brake" command is issued (must come from S7;
AppSTW2 bit 0 – state 1→0), the torque value of variable "rTorqueValueRetain" is stored in
the non-volatile memory and is immediately available at output "rSetTorqueValue" (if
boSinamicsComReady = True and boCommandOpenBrake = False).
When the "Open brake" command is issued (must also come from S7; AppSTW2 bit 0 –
state 0→1), bit "boSetTorque" is set and the saved I component is transferred to the speed
controller. For this purpose, the variable "rSetTorqueValue" and the bit "boSetTorque" are
interconnected with the corresponding variables (r64TorqueSetpoint and b16AdditionalSTW)
of block FB_TelegramSimotionToSinamics. This means that the torque that was saved when
the brake was closed is present when starting to move, which prevents the load from
sagging. Please ensure that the particular nominal torque of the drive is interconnected
to"r64standfactortorquesetpoint" from FB_TelegrammSimotionToSinamics and to
"r64standfactortorquesinamics" for FB_TelegrammSinamicsToSimotion.
To enable this process to work correctly, a TRUE signal must be present at the following
inputs:
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8.12 Start pulse
● boEnableStartpulse
● boEnableBrakeStoreValue
● boSinamicsComReady
A FALSE signal at "boSinamicsComReady" resets the output signal "boSetTorque" if the
pulse time has not yet elapsed. If the brakes issue the checkback signals "Brake open" and
"Brake closed", the inputs "boCheckbackBrakeOpened" and "boCheckbackBrakeClosed"
can (X? Note Chen: "The two variables are no longer present for Block_1. This page should
be checked and revised. We now have a "boCommandOpenBrake" input, please use it) be
provided at the start pulse (only DCC_StartPulse, not DCC_Startpulse_1). If the command
"Close brake" is issued, followed by the checkback signal "Brake closed", or if "Open brake"
is present, followed by "Brake open", this will also cause the output signal "boSetTorque" to
be reset.
--- The following description is valid only for DCC_StartPulse not DCC_Startpulse_1 ---
The command "close brake" can also be derived from the command "open brake" (negated),
if this does not come from the S7. In this particular case, a time delay is required for the
"close brake" command. A PDE DCC block can be used for this purpose. The call cycle
(T2 ≙ IPO cycle, e.g. 9 ms) should be selected as minimum delay time.
If checkback signals are used, they must actually come from the brakes, and not be
generated indirectly via the control commands "Open brake" and "Close brake", as in this
case the torque is only present during the period between setting the command "Open
brake" and when the checkback signal "Brake opened" is received. This prevents the load
from sagging while the brake is opening.
If no checkback signals are present, the two inputs "boCheckbackBrakeOpened" and
"boCheckbackBrakeClosed" must both be set to FALSE. This causes the output signal
"boSetTorque" to be reset either when a new close command is issued or, at the latest,
when the pulse time "rPulseTime" has elapsed.
WARNING
Incorrect start pulse values can lead to injury as well as material damage.
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8.13 Temporary travel at overspeed
8.13 Temporary travel at overspeed
CAUTION
Basically, the maximum speed should not be increased by any more than 10 percent; this is
because increasing the speed puts mechanical and electrical components under more
strain and may result in the system sustaining damage.
During commissioning it may be necessary to run the drive at a speed that is faster than the
maximum motor speed in order to check mechanical limits and, if required, to adjust them or
to test with the overspeed switch.
There are two situations in which the maximum speed may need to be increased:
1. The maximum motor speed (p0322) is preset to 0.0.
No further consideration has to be given to the maximum motor speed (p0322) in this
case. The maximum speed is increased in parameter p1082, with the value rising by 10
percent. Since the S7 defines the speed setpoint as a percentage value referred to the
reference speed (p2000), this needs to be increased by 10 percent too.
2. The maximum motor speed (p0322) is preset to a value greater than 0.0.
The maximum motor speed (p0322) and the maximum speed (p1082) must be increased
by 10 percent. Please note that parameter p1082 cannot be greater than p0322. The
reference speed (p2000) has to be increased by 10 percent too.
Both cases do not require any changes to be made to the technology objects, provided that
they have previously been set to the correct reference values for the system. When the
maximum motor speed (p0322) is changed, alarm "Incorrect friction characteristic" may
appear. Make sure that the value in p0322 is greater than or equal to the friction
characteristic p3820 to p3829.
If travel with overspeed is not to be used any longer, parameters p0322, p1082, and p2000
must be reset to the correct values.
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8.14 Grab Ship Unloader (GSU)

In order to commission a GSU crane correctly and quickly, please take note of the following
points. We will also refer to grab dredgers in this context; these devices are identical to GSU
cranes in terms of their gripper functionality, but they do have certain special features from a
technical programming point of view.
8.14.2 Procedure
The procedure for commissioning a grab crane (grab ship unloader or GSU) is described in
bullet points and applies equally to all types of commissioning.
Differences between GSU cranes and grab dredgers are highlighted.
8.14.2.1 Checking the hardware

● What infeeds, drives, and converters have been installed?
● What other hardware is connected (SMC, TM, hub, etc.)?
8.14.2.2 Checking the configuration in the project

● Are the connected devices also available in the project in exactly the same format?
● Do the topologies match?
● Have the axes and gears been set up accordingly?
● Are the MCC/DCC programs available for the relevant drives? Are the libraries available?
● Can the project be translated and compiled without errors?
● If a drive does not have an encoder, delete the associated axis and recreate it as a drive
axis with the same name (when creating the axis, uncheck the box next to "Positioning").
8.14.2.3 Running a script for each drive

● A script folder containing a script should be located under "Drives"; see General
(Page 361), "Script files" section.
● If no script folder is present, you can create it as follows: Right-click on Drive → Expert →
Insert script folder.
● Import the script for the corresponding drive from a standard project into the script folder
and run it in order to establish the interconnection required for communication.
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8.14.2.4 Adjusting the direction of rotation

Depending on how the motors and encoders of the holding gear and the closing gear are
arranged, you may need to invert both the direction of rotation and the encoder evaluation of
a drive.
Possible arrangement 1 – Both drives are arranged identically.

In this case, the direction of one of the two drives must be reversed; this ensures that, when
working with the same setpoint, both drives wind the ropes onto or off the drum
simultaneously. A positive direction means the ropes must be wound onto the drum: Reverse
the direction on the drive where this is not the case.
● Set p0010 to "Encoder commissioning (4)" (drive commissioning parameter filter).
● Set p0410[0].0 and p0410[0].1 to "Yes" (encoder inversion actual value)
● Set p0010 to "Motor commissioning (3)".
● Set p1820[0] to "On" (direction reversal output phases).
● Reset p0010 to "Ready (0)".
Note
Instead of setting parameter p1820[0] to "On", you can invert the electric power cable at
the motor and leave p1820[0] set to "Off". The direction can also be reversed via the
reciprocal swapping of two phases. For reasons of safety, however, it is more advisable
to reverse the direction by means of the electric power cable.
Similarly, the direction should preferably be reversed on the encoder via the hardware
and not via the software.
Figure 8-46 Left with no correction (incorrect), right with correction (correct)
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Possible arrangement 2 – Both drives are arranged in opposition to one another.

The mechanical arrangement means that there is no need to perform any adjustment via
software. When working with the same setpoint, the drives would rotate simultaneously in
such a away that the ropes would either be wound onto or off the drum.
Figure 8-47 No correction necessary; directions of rotation are correct
8.14.2.5 Stationary measurement and rotating measurement

Perform a stationary and a rotating measurement for all drives. For the rotating
measurement the drive shaft must not be coupled and the motor must be able to move
freely. Parameter p0856 must be set to 1 for the rotating measurement. Once the rotating
measurement has been taken, reset parameter p0856 to its original value or run the script
again.
Note
In the case of data sets (DDS/MDS) which have already been set up, these measurements
must be repeated.
When taking the measurements, pay attention to the data set which is currently active
(r0051).
For further information on stationary and rotating measurements, see the section titled
SINAMICS drive object (Page 400).
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Commissioning
8.14.2.6 Setting the reference and maximum parameters

● In SINAMICS, set parameters p2000 (reference value) and p1082 (maximum value)
under the relevant drive. In SIMOTION, set TypeOfAxis → SetpointDriverInfo → Drivedata
→ maxspeed and nominalspeed under the relevant axis to the same value as that set in
SINAMICS p2000. Check TypeOfAxis → MaxVelocity → maximum (unit here should be
[mm/s], not [rpm]).
● Parameters p2001 and p2003 must be scaled too. If, for example, parameter p2001 =
500 V during transmission of the current voltage, SINAMICS sends the value in a data
word, referred to 500 V. So, 500 V = 100% = 4000 hex = 16384. If the current voltage is
250 V, for example, a data word is sent with the value 8192.
● It is recommended that parameter p2002 is set to the maximum value from p0640.
Note
You can also set the reference parameters using a script, see General (Page 361),
"Script files" section.
8.14.2.7 Reference parameters in the interface of the MCC unit

The reference values must be entered in every MCC source. These include:
● X_nominalVelocity (reference speed, converted into [mm/s] or [rpm])
● X_nominalVoltage (reference voltage; see parameter in drive p2001)
● X_nominalCurrent (reference current; see parameter in drive p2002)
● X_nominalTorque (reference torque; see parameter in drive p2003)
● X_nominalPower (reference power; see parameter in drive r2004)
● (X = Holdingp_1, Closingp_1, Trollp_1, etc.)
Note
You can also set the reference parameters using a script, see General (Page 361),
"Script files" section.
If the drive has an encoder, the reference speed must be converted into [mm/s]. The formula
for this is as follows:

QXPEHURIORDGUHYROXWLRQV PLQ UDWHGVSHHG
PP PP
9 V ෬ V ෬GLVSHUVSLQGOHUHYROXWLRQ URW
For encoderless drives, which are often trolley drives on grab dredgers and small GSU
cranes, the reference speed must be converted into rpm. The formula for this is as follows:
QXPEHURIORDGUHYROXWLRQV PLQ

9 PLQ ෬ UDWHGVSHHG PLQ
The following three variables can be found in the axes under "Configuration data".
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● Number of load revolutions:

TypeOfAxis.NumberOfDataSets.DataSet_1.Gear.denFactor
● Number of motor revolutions:
TypeOfAxis.NumberOfDataSets.DataSet_1.Gear.numFactor
● Leadscrew pitch:
LeadScrew.pitchVal
You can find the reference speed in the drive under p0311[0].
8.14.2.8 Setting the closing velocity

The closing velocity of the closing gear is controlled using the "r64KP_ChangeOverPoint"
variable. The closing velocity generally controls the maximum permissible velocity setpoint
until the end position is approached (grab open or grab closed). The velocity setpoint can be
limited at any time by deflecting the master switch. Shortly before the end position is
reached, the "r64KP_ChangeOverPoint" variable accepts the velocity setpoint and
approaches the end position.
"r64KP_ChangeOverPoint" is required for the P element. The root function keeps the
setpoint lower than with a P element in the event of significant positional differences. When
the end position is reached and the positional difference is, therefore, minor, the route
function is replaced by the P element, since its characteristic gets very steep towards the
end. Here, the P element becomes active and ensures a linear path.
5RRW)XQFWLRQ
UB&KDQJH2YHU3RLQW
)LQDO6HWSRLQW
Figure 8-48 Theoretical characteristic of KP variables and results
Note
Experience has shown that the value 0.5 (default value for "r64KP_ChangeOverPoint")
works very well in practice.
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Commissioning
The gain factor defines the length of the constant velocity phase and the start of the
deceleration phase. The specified ramp-up time is not changed, but only the ramp-down
time. As a consequence, the total closing time can be influenced.
NOTICE
The slope of the deceleration ramp determined by the KP variable must be set so that the
predefined ramp-down time (set by the higher-level controller, e.g. S7) is not undershot.
This is to stop the drive overshooting the target.
If "r64KP_ChangeOverPoint" is too small, the drive will go straight into the deceleration
phase during ramp-up without having reached the constant velocity phase because the KP
factor is too weak and the drive must start to brake earlier.
Figure 8-49 KP factor too weak → long closing time
A closing time close to requirements with reserves can achieved by increasing

"r64KP_ChangeOverPoint". The ramp-down time is somewhat longer than the ramp-up time.
The closing time could be reduced further. The purpose of a reserve is to allow the
predefined ramp-down time (set by the higher-level controller) to be increased without having
to adapt the KP factor.
Figure 8-50 Increased KP factor with reserves → good closing time
If the KP factor is optimized in terms of time, the deceleration ramp will match the predefined
deceleration ramp. In this context, it is important that the predefined deceleration is not
undershot. This is to stop the drive overshooting the target. The predefined ramp-down time
cannot be increased further without adapting the KP factor accordingly.
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Commissioning
Figure 8-51 Time-optimized KP setting
Setting a KP factor which is too high shortens the ramp-down time and makes the ramp
steeper than would be the case with the predefined ramp-down time. The drive will
overshoot the target in this case.
Figure 8-52 KP factor too high → target overshot
Note
Ensure that the grab does not close suddenly but steadily; if this is not the case, the KP
factor is too large.
8.14.2.9 Deactivating control blocks in the DCC for the time being
At the beginning, deactivate the DCC_SlackRopeControl (AppStw2 Bit 4) and
DCC_CurrentEqualControl (AppStw2 Bit 8) and DCC_Startpulse (AppStw1 Bit 2) blocks.
These blocks must be activated again at a later time; as long as they are not adjusted
correctly, they can cause faults. Only if the holding gear and closing gear operate together at
the same time: Selectively switch-in the DCC blocks.
8.14.2.10 Checking the interface between the S7 and SIMOTION

Move the drives via the S7 and send a couple of signals to the SIMOTION. You can check
the signals which have been received and sent in the I/O area (symbol browser) in
SIMOTION.
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Commissioning
8.14.2.11 Settings for load-dependent field weakening and continuous load measurement
If the two DCC blocks DCC_LoadDependingFieldWeak and DCC_ContLoadMeasurement
are used, some values such as the frictional torque and acceleration torque of the rotating
loads must be determined before the ropes are attached (see the sections titled Field
weakening (LDFW) (Page 414) and Continuous load measurement (CLM) (Page 434)). As a
rule, only DCC_LoadDependingFieldWeak is used for standard GSU cranes. Grab dredgers
are not usually operated with the load-dependent field weakening function active. However,
a continuous load measurement is performed so that the dredger operator knows whether
the grab is full and when the grab has touched down. Only once the relevant values have
been determined can the ropes be attached.
Re continuous load measurement:
At the start of the measurements, set "rLoadNormFactor" to 1.0 and
"rCompensationRopeFactor" to 0.0 (default values).
The system-specific settings for these two inputs should not be made until the end, because
making them at the beginning would distort the results; see the section titled Continuous load
measurement (CLM) (Page 434) for more information.
8.14.2.12 Control word circuit
Note
Definition of the "Grab open" and "Grab closed" positions:
• Grab open: The positional difference between holding gear and closing gear is ZERO.
• Grab closed: The positional difference between holding gear and closing gear is a
positive value.
Hoisting or lowering the holding gear and closing gear with an open grab
The tables below show how the control words are set for hoisting and lowering with the grab
open. Hoisting equates to a positive setpoint and lowering to a negative one. As hoisting and
lowering involves movement of both the holding gear and the closing gear, all enables for
both drives must be available in control word 1.
Figure 8-53 Control word 1 for hoisting and lowering with an open grab
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Commissioning
Contrary to control word 1, the setpoint input for hoisting and lowering in PZD2 is different.
To hoist the open grab, only the holding gear needs to move in the positive direction. The
closing gear uses the velocity setpoint of the holding gear for the purpose of moving. This
means that a setpoint does not have to be entered for the closing gear.
The "Grab open" signal is only fed back in application status word 1, bit 4 of the closing gear.
Figure 8-54 Activation of hoisting with an open grab
To lower the grab, the setting of control word 1 remains the same. A negative setpoint for the
holding gear must be entered in PZD2. Thus, hoisting and lowering with the grab open only
differ in terms of the setpoint input for the holding gear.
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Figure 8-55 Activation of lowering with an open grab
Opening and closing the closing gear (after grab adjustment)

The tables below show how the control words are set for opening and closing the grab in the
air. Closing equates to a positive setpoint and opening to a negative one. Opening and
closing involves only the closing gear. As a result, all enable signals for the holding gear can
be deselected in control word 1.
See also Chapter Correct grab adjustment (Page 469).
Figure 8-56 Control word 1 for opening and closing the grab in the air
To close the grab, the closing gear must be moved with a positive setpoint. At the start of the
closing operation, the checkback signal in application status word 1 indicates that the grab
has still not been closed.
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Figure 8-57 Activation of closing the grab in the air
Contrary to closing, opening requires a negative setpoint. The checkback signal in

application control word 1 indicates that the grab is not yet fully open.
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Figure 8-58 Activation of opening the grab in the air
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Hoisting a closed grab

As mentioned above, both the holding gear and the closing gear have to move during
hoisting and, as a result, their enable signals have to be available in control word 1. The
hoisting motion task is started with a positive setpoint input at the holding gear; the closing
gear does not receive a setpoint from the PLC. However, because the grab is closed and
has to remain closed during hoisting, the current compensatory controller (AppSTW2 bit 8)
has to be activated in the closing gear. This prevents the grab opening unintentionally. The
lowering of the closed grab is controlled in a similar way (not illustrated here).
Figure 8-59 Activation of hoisting the closed grab
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Use the slack rope controller to close the grab once it has touched down.
If the grab is to take up a load (e.g. bulk goods), the open grab is set down on the material
and then closed (positive setpoint at the closing gear). During closing, the grab plunges into
the material; this can cause slackness in the rope at the holding gear. This slackening of the
rope can be compensated by enabling the slack rope controller (AppSTW2 bit 4). As the
holding gear drive moves during compensation, the enables have to be available (as
illustrated in the figure below).
Figure 8-60 Activation of the grab for closing with slack rope controller
● If the holding gear needs to be moved independently of the closing gear, then
synchronous operation must be deselected in the holding gear (AppSTW2 bit 7 = false).
● To move the closing gear independently of the holding gear, deselect slave operation in
the closing gear or activate grab change (AppSTW2 bit 13 = false or AppSTW2 bit 9 =
true).
● It is only advisable to operate the holding gear and closing gear independently of one
another during commissioning and when grabs are being changed.
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Commissioning
8.14.2.13 Grab monitoring

The block DCC_GrabMonitor can be used for grab cranes. This block issues a high signal at
the output if a set torque is exceeded; see also the section titled DCC_GrabMonitor
(Page 102).
8.14.2.14 Continuous load measurement

When the ropes are attached, the measurements described in the section titled Continuous
load measurement (CLM) (Page 434) can be taken. One of the
DCC_ContLoadMeasurement or DCC_ContLoadMeasurement_1 blocks issues the "Grab
touchdown" message, among others. This message is important for activating the slack rope
controller. However, to use it a full grab is needed, which only works with a functioning slack
rope controller. To be able to fill the grab despite this, you must use the holding gear to
manually create a slack rope; this enables the grab to bury itself into the material even
without a slack rope controller and the measurements performed with the rated load (i.e. with
a full grab).
When calculating differences in weight in the event of a deviating rope length for the variable
"rCompensationRopeFactor", you must ensure that the rope difference is as large as
possible. If the rope difference is small (< 20 m), it is perfectly possible that the load shown
will swing too much with a deviating rope length. In this case, leave
"rCompensationRopeFactor" at 0.0, if this means the output of the block will not fluctuate as
much.
8.14.2.15 Setting control blocks in the DCC

The current compensatory controller is used to distribute the load as evenly as possible
between the holding gear and the closing gear. A corresponding additional setpoint is then
added/subtracted at the closing gear in order to adjust the current consumption in the closing
gear. The current compensatory controller must only be activated with the encoder closed
during a hoisting or lowering procedure; it ensures that the grab is closed (for information on
the current compensatory controller, see the section titled DCC_CurrentEqualControl
(Page 95)).
Practical experience has shown the best course of action is to use the current compensatory
controller only as a proportional controller. To do this, set the input "boHoldIntegration" to 1
(true). If operating the crane with current compensatory control activated leads to vibrations,
the gain "rPGainCurrentEqualCtrl" should be reduced. The smoothing time for the current
and the setpoint velocity also need to be taken into account.
The slack rope controller ensures that the ropes in the holding gear are kept tight, but do not
hoist the grab. This enables the grab to bury into the material to be moved. The slack rope
controller should only be activated once the grab has touched down and a closing command
is issued. The slack rope controller is deactivated when the closing gear has closed or when
the holding gear switches to hoisting operation (for information on slack rope controllers, see
the section titled DCC_SlackRopeControl (Page 137)).
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With the slack rope controller you can store a characteristic curve of how the holding gear
should move in relation to the current, or you can also use the integrated proportional
controller, which is the most frequently used option. Here too, the gain "rp_gain" must be set
in such a way that the ropes are pulled tight and are free of vibration, but the closing gear is
not prevented from sagging. Experience has shown that 1 to 2% is a good value for the
comparison value "rCompareValueSetpointSRC". This is just a guide value, however, which
may be set lower or higher, depending on how the slack rope controller is to function.
Note
The current compensatory controller and the slack rope controller must not both be active at
the same time.
8.14.2.16 Correct grab adjustment

To adjust the grab, proceed as follows:
1. Move the grab to the upper end position until the limit switch (mechanical, if possible)
switches the holding gear off.
2. Activate grab change (AppSTW2 bit 9 = True) and open the grab fully.
3. Home the holding gear and closing gear. Both will then have the actual position 0 mm or
another identical position. The important thing is that the difference between the holding
gear and the closing gear must be 0 mm.
4. Next, save the position as "Grab open" (positive edge in AppSTW2 bit 5).
5. Close the grab until it is shut but the ropes are still tight.
6. Next, save the position as "Grab closed" (positive edge in AppSTW2 bit 6).
7. Deactivate grab change (AppSTW2 bit 9 = False).
8. Test the opening and closing operations. The grab must automatically slow down and
become stationary when the "Open" or "Closed" positions are reached.
9. The velocity of the closing gear can be set via the "KP_ChangeOverPoint" variable; see
Setting the closing velocity (Page 458).
10.Finally, save the data.
Grab adjustment is now complete.
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8.15 Ship-to-shore tandem crane (STS tandem)

This chapter describes tandem mode with four drives. Terminal operators always want to
increase their cargo handling volumes when loading or unloading ships. This increase
ensures that ships' docking times are reduced. Cargo handling volumes can be increased
through the use of double spreaders.
Two spreaders are installed on a container unloading crane. Each spreader can pick up
either one 40-foot or two 20-foot containers. Each spreader is driven by 2 motors and 2
converters, which serve to hoist or lower it. In tandem mode, the two spreaders work in
velocity gearing or in position synchronous operation, depending on the selected operating
mode.
The following rules apply for tandem mode:
● Hoisting-gear motor 1 = master 1 (tandem master)
● Hoisting-gear motor 2 = slave 1
● Hoisting-gear motor 3 = master 2 (tandem slave)
● Hoisting-gear motor 4 = slave 2
Master 1 and slave 1 can be connected to one another via a rigid connection (master-slave
operation) or a flexible connection (synchronous operation). The same also applies to
master 2 and slave 2. For information on how to select synchronous or master-slave
operation for master 1 and slave 1 or master 2 and slave 2, see FB_OperationMode
(Page 194).
In tandem mode, master 1 and master 2 run in synchronous operation. The slaves follow
their respective master. This ensures that both spreaders are hoisted and/or lowered at the
same time.
8.15.1 Getting started

The initial stages of commissioning described above in Grab Ship Unloader (GSU)
(Page 454) can also be used as a guide for the STS tandem crane.
8.15.2 Interconnections
In order to give a clearer picture of the tasks associated with each drive, as well as the
"master" and "slave" designations, in tandem mode there are also the "tandem master" and
"tandem slave" designations. These describe the connection between the two masters. The
master selected as the tandem master takes on the master role. The other master, which
then has to be selected as the tandem slave, follows the tandem master.
The figure below depicts the exact relationships between the drives in tandem mode.
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Commissioning
Figure 8-61 Representation of tandem mode
Fixed gear connections are needed for synchronous operation between the drives. A gear
connection is not required for master-slave operation. The table below shows the six gears
and their motion inputs.
A connection is configured for each of the position and velocity setpoints from Hoist_1 to
Hoist_2 and from Hoist_3 to Hoist_4. The connection for tandem mode is implemented via
Tandem_Position and Tandem_Velocity.
Table 8- 15 Gear connections
Fixed gear Motion input

Hoist_Position_TM D435 – Hoist_1 - Setpoint
Hoist_Velocity_TM D435 – Hoist_1 - Setpoint
Hoist_Position_TS D435 – Hoist_3 - Setpoint
Hoist_Velocity_TS D435 – Hoist_3 - Setpoint
Tandem_Position D435 – Hoist_1 - Setpoint
Tandem_Velocity D435 – Hoist_1 - Setpoint
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The motion outputs of the gears are interconnected with the motion inputs of the axes.
Figure 8-62 Diagram showing position synchronous operation with hoist 1 and hoist 2
8.15.3 Interface description

The six bits listed below are sent from the S7 to the SIMOTION in order for the full range of
functions to be used in tandem mode.
Table 8- 16 Control word_2_S7 (S7 → SIMOTION)

0 boPositiveSuperimpose Using this bit a positive offset is established between the tandem-
master and tandem-slave in the tandem mode or between the master
and slave in the offset mode. The bit is connected with the
FB_OperationMode block from the tandem-slave or slave and is only
required there, no matter whether the offset is moved with the master
or with the slave.
1 boNegativeSuperimpos Using this bit a negative offset is established between the tandem-
e master and tandem-slave in the tandem mode or between the master
and slave in the offset mode. The bit is connected with the
FB_OperationMode block from the tandem-slave or slave and is only
required there, no matter whether the offset is moved with the master
or with the slave.
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Commissioning

2 boTandemHoming This signal can be used to automatically cancel the offset that has
been created. The operating mode (speed-controlled or position-
controlled) does not have any effect here. The velocity at which the
offset is canceled is the same applied to create it. The offset can be
canceled on the fly or at a standstill by the tandem master or tandem
slave. However, this bit is only required in the tandem-slave in the
FB_OperationMode block and interconnected.
The homing procedure is started simply by evaluating the positive
edge. Homing remains active until the offset has been canceled,
stopped by a new homing sequence or until it is interrupted by
reactivating the direction signals (STW2 bit 0/1) (tandem slave).
When the current actual position values of the tandem master and
the tandem slave are identical, the offset has been canceled.
NOTICE:
Homing is active where an offset is being traveled through. Homing is
also performed if a tandem-slave is activated for superimposed
movement (see STW2 bit 5 "boDriveMasterSuperimpose").
3 boTandemMode In order to select tandem mode, the bit must be set for the tandem
master and the tandem slave. The bit is interconnected with
FB_OperationMode.
This indicates to the two masters that they should run in synchronous
operation.
4 boSlaveTandemMode The input is only interconnected for the tandem slave
FB_OperationMode. The signal state of this bit (TRUE) signals to the
master that it must now operate as tandem slave. Although the
tandem slave is actually a master in its own right, it follows the
tandem master in the tandem mode.
5 boDriveMasterSuperim This bit is used to define which drive should travel the offset. If the bit
pose = false, then the tandem-slave performs the superimposed
movement. If the bit = true, then the tandem-master performs the
superimposed movement. The homing can then also be performed
by the corresponding drive. This bit only has to be interconnected for
the tandem-slave.
Note:
This bit should only be changed at standstill.
The superimposed movement to establish and cancel an offset can be performed both by
the tandem master as well as by the tandem slave. However, regarding communication,
nothing changes. For the tandem-master, only bit 3 "boTandemMode" and bit 4
"boSlaveTandemMode" are required. For the tandem-slave, all six bits are required (bit 0 –
bit 5).
Note
All offset and equalization travels are controlled by the tandem-master and tandem-slave.
This is the reason that for the tandem-slave all control bits are required, and for the tandem-
master, only bit 3.
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Commissioning
The master drive must always monitor the feedback signals from the slave. This means:
Hoist 1 (tandem-master) monitors the signals from hoist 2; hoist 3 (tandem-slave) monitors
the signals from hoist 4. This means control word 2, bit 8 must be set to TRUE for hoist 1
and hoist 3.
In addition, control word 2 bit 9/10 must be TRUE for hoist 1 (tandem-master) because this
as the tandem-master must monitor the tandem-slave (hoist 3) and the tandem-slave-slave
(hoist 4).
The checkback signals (SIMOTION → S7) are listed in the table below.
Table 8- 17 Status word_2_S7 (SIMOTION → S7)

2 boTandemHomingActive This bit is True for as long as the homing motion task is
active. Once the homing procedure has been completed or
interrupted, this bit is false. The feedback signal only comes
from the slave.
3 boTandemModeActive The drives on which tandem mode has been activated and
still remains active use this bit to signal their state.
4 boSlaveTandemModeActive The master which is to act as the tandem slave and, as such,
follows the tandem master, signals True via this bit.
5 boDriveMasterSuperimposeAc This bit returns who performed the offset travel and homing. If
tive the feedback is true, then the tandem-master moves through
the offset. If the feedback is false, then the tandem-slave
moves through the offset. The feedback signal only comes
from the slave.
The following input signals must be set for the tandem-slave. For this purpose, the inputs are
already interconnected with unit-global variables and can therefore be sent in the MCC unit
from the tandem-slave (see the following diagram as example):
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Table 8- 18 Function block OperationMode
Name Connection Default Data Meaning

type setting type
r64TandemSlaveSpeed IN 0.0 LREAL This value specifies what percentage of the
(In the MCC unit: maximum velocity should be superimposed on
To_Name_Tandemspeed) the tandem-master or tandem-slave as an
additional setpoint when a superimposed motion
is to be performed [%] (max. 50%).
This input only has to be supplied for the
tandem-slave.
r64AccDecFactorTandem IN 0.01 LREAL This value specifies what percentage of the
(In the MCC unit: actual acceleration/deceleration value should be
To_Name_TandemAccDecFactor) applied as the superimposed value when a
superimposed motion is to be performed [%]
(max. 50%).
tandem-slave.
r64maxTandemPositiondifference IN 0.0 LREAL Specifies the maximum offset which can be
(In the MCC unit: applied in the positive or negative direction
To_Name_TandemMaxPositionDi [mm].
fference) This input only has to be supplied for the
tandem-slave.
r64kpTandemChangeOverPoint IN 1.0 LREAL This value is the gain factor for path control,
(In the MCC unit: which is required for homing and offset motion
To_Name_Tandem_kp_changeov in speed-controlled operation. The higher the
er) value, the faster the deceleration when the
homing position is reached. The gain factor is
only needed in speed-controlled synchronous
operation.
(The section titled Setting the closing velocity
(Page 458) describes how to set the gain
factor.)
tandem-slave.
Caution:
The gain should be selected such that this rate
of deceleration can also be achieved with the
current ramp-down time.
r64ActualTandemSlaveSpeed OUT 0.0 LREAL Actual additional velocity for the superimposed
(In the MCC unit: motion of the tandem slave
To_Name_TandemActualSpeed) This output must be read from the tandem-
slave.
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Commissioning
8.15.4 Procedure
Settings for master 1 (tandem master):

● The "boTandemMode" bit must be active (STW2 bit 3).
● Select bit "select synchronous operation" (AppSTW1 bit 7) or "Select master-slave
operation" (AppSTW1 bit 6) (depending on which coupling is required between master 1
and slave 1), so that slave 1 can check the checkback signals.
● Independent of which coupling is used between master 1 and slave 1, for the
synchronous operation coupling between the tandem-master and tandem-slave, in
tandem operation, synchronous operation must always be selected (AppSTW1 bit 7).
Only for the tandem operation is it permitted – when required – to simultaneously select
synchronous operation and master-slave operation.
● Select the required operating mode. (In position-controlled operation, home all the
drives.)
● The "boselectcheckbackslave", "boselectcheckbackslavetandem" and
"boselectcheckbackslaveslavetandem" inputs (STW2 bits 8,9,10) must be set to true so
that the tandem-master can monitor all of the drives.
Settings for master 2 (tandem slave):

● The "boTandemMode" bit must be active (STW2 bit 3).
● The "boSlaveTandemMode" bit must be active (STW2 bit 4).
● The "boTandemHoming" bit is only set in the event of a need for further offset
compensation (STW2 bit 2).
● Select bit "select synchronous operation" (AppSTW1 bit 7) or "Select master-slave
operation" (AppSTW1 bit 6) (depending on which coupling is required between master 2
and slave 2), so that master 2 can check the checkbox signals from slave 2.
● Independent of which coupling is used between master 2 and slave 2, for the
synchronous operation coupling between the tandem-master and tandem-slave, in
tandem operation, synchronous operation must always be selected (AppSTW1 bit 7).
Only for the tandem operation is it permitted – when required – to simultaneously select
synchronous operation and master-slave operation.
● Select the same operating mode as for master 1.
● The "boselectcheckbackslave" input (STW2 bit 8) must be set to true so that the tandem-
slave can monitor the slave drive.
Settings for slave 1:

● Select the "boSlaveMode" bit to ensure that slave 1 actually works as a slave (AppSTW2
bit 13).
● Select same coupling as for master 1: Synchronous operation coupling (AppSTW1 bit 7)
or master-slave coupling (AppSTW1 bit 6).
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Settings for slave 2:

● Select the "boSlaveMode" bit to ensure that slave 2 actually works as a slave (AppSTW2
bit 13).
● Select same coupling as for master 2: Synchronous operation coupling (AppSTW1 bit 7)
or master-slave coupling (AppSTW1 bit 6)
8.15.5 Moving in tandem mode

A motion will not start until all checkback signals are correct. Certain conditions, including the
following, must be met for this to be the case:
● There must be no error message present at the technology object, the drive object, or the
function block.
● Power and DriveState must be active (control word_1_S7, bits 3, 4, 6 and 8) and the
feedback from the drive (status word_1_S7, bit 2) should also be available, before a travel
command or a direction bit (STW2 bit 0/1) is issued.
● S7 must also have previously set the enable signals above – also for homing. If homing is
to be performed, and the enable signals have still not been set, then the homing signal
must be appropriately delayed.
● The operating mode of the master must be the same as that of the slave.
● Master-slave or synchronous operation is active for every Hoist group.
● When position-controlled tandem mode is activated for the first time, any existing offset
must be taken into account. To achieve this - for the tandem-slave - once synchronous
operation has been activated (AppSTW1 bit 7), the offset must be saved (AppSTW1 bit 8)
before switching on the drives (e.g. STW1 bit 3). It is essential that this is done, otherwise
jumps may occur for the tandem-slave in tandem operation.
Note
If the tandem-master has reached its target position, then an offset can still always be
traveled using the tandem-slave. The following applies:
End position, tandem-slave = end position, tandem-master + maximum offset
The difference between the end position of the tandem-master and the limit switch should be
at least the value of the maximum tandem offset.
Note
Both drives must always be switched on, even if at standstill only one drive should travel an
offset. For instance, if the tandem-master should travel through an offset at standstill, then
the tandem-master and the tandem-slave must be activated and all enable signals set.
However, for the tandem-slave, the brakes can be kept closed.
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Note
For closed-loop speed controlled tandem mode (SPEED_CONTROLLED operating mode),
for homing or when traveling through an offset, the position isn't so precisely approached as
for position-controlled tandem mode (MANUAL operating mode). Deviations of up to a
millimeter can occur in closed-loop speed controlled operation.
Note
If the tandem master and the tandem slave are traveling with the maximum velocity, they
cannot travel any faster to compensate for an offset. Instead, the drive that is leading, must
be braked in order to compensate the offset.
Note
In the tandem mode, all checkback signals are sent to the FB_OperationMode block of
master 1. The following name convention is observed when reading into FB_OperationMode
of master 1:
• Slave 1:
bocheckbackSlaveErrorTO, etc.
r64checkbackSlaveoffsetSave
• Master 2:
bocheckbackSlaveTandemErrorTO, etc.
r64checkbackSlaveTandemoffsetsave
• Slave 2:
bocheckbackSlaveSlaveTandemErrorTO, etc.
r64checkbackSlaveSlaveTandemoffsetsave
If a required checkback signal is no longer received or if an error occurs during tandem

movement, then tandem operation is stopped via the ramp-down-time ramp.
8.15.6 Offset mode between tandem master and tandem slave (TandemMode)
In tandem mode, the four hoisting-gear motors or both masters and slaves are controlled via
a master switch. This is the master switch of the tandem master. Direction signals (STW2
Bit 0/1) are available for offset travel; these superimpose a positive or negative velocity
setpoint in addition to the basis motion.
An offset can be created or canceled (on the fly, if necessary) between the tandem master
and the tandem slave. In order to control the offset on the fly during operation, STW2 bit 5
should be used to define whether the tandem-master or the tandem-slave is allocated the
velocity superimposition. The set, maximum velocity also cannot be exceeded for velocity
superimposition. If the tandem-master and tandem-slave of already traveling at the
maximum velocity, then one of the two must be slowed down if an offset is to be traveled
through.
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The maximum offset between the two must be defined during the configuration or
commissioning phase. The offset that has been set is not exceeded and can be traveled
through by either the tandem-master or tandem-slave.
The offset is increased until the maximum offset is reached or until the direction bit (STW2
Bit 0/1) is no longer selected.
A positive edge of the "boTandemHoming" signal causes the offset that has been created to
be canceled again automatically.
The action remains active until
● The motion task is complete and the offset is zero
or
● Homing is interrupted by the direction signal (STW2 bit 0/1),
or
● Homing is interrupted by a new homing signal.
Note
If the load-dependent field weakening is used, this then specifies a maximum velocity
dependent on the load. If the maximum velocity is reduced because of the load that is
already being moved by the master, the slave must not move faster. The permissible velocity
is monitored and, if necessary, the supplementary velocity for tandem or offset limited
accordingly.
If no load-dependent field weakening is used, the "boCheckLDFWLimitation" input must be
set to FALSE.
8.15.7 Offset mode between the master and the slave

Offset mode is comparable with tandem mode in terms of its functionality. In tandem mode,
an offset is applied between the tandem master and the tandem slave. Both of these drives
act as masters. In the offset mode, however, an offset is applied between the master and the
slave, which run with a synchronous-mode coupling. Contrary to the tandem mode, in the
offset mode, only the slave can travel through an offset.
To travel through an offset, the same direction bits are used as for the tandem mode (STW2
bit 0/1). Just as in tandem mode, here too the offset can be created or canceled on the fly, a
maximum offset can be defined, and an existing offset can be canceled again automatically
via "boOffsetHoming". Homing also remains active in this mode until the offset has been
canceled, a direction bit is present for new offset motion or the homing signal is activated
again. All motion superimposition is issued to the slave.
Note
The tandem mode and offset mode mutually exclude one another. If hoist 1 and hoist 3 are
moved in the tandem mode, then it is not permissible that the respective slaves, hoist 2 and
hoist 4 operate in the offset mode
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Note
If the load-dependent field weakening is used, this then specifies a maximum velocity
dependent on the load. If the maximum velocity is reduced because of the load that is
already being moved by the master, the slave must not move faster. The permissible velocity
is monitored and, if necessary, the supplementary velocity for tandem or offset limited
accordingly.
If no load-dependent field weakening is used, the "boCheckLDFWLimitation" input must be
set to FALSE.
Interface description
Offset mode is essentially controlled with the three bits described below.
Table 8- 19 Control word_2_S7 (S7 → SIMOTION)

11 boOffsetHoming This signal can be used to automatically cancel the offset that has
been created. The operating mode (speed-controlled or position-
controlled) does not have any effect here. The velocity at which the
offset is canceled is the same as when establishing an offset. The
offset can be canceled on the fly or at a standstill. Since the offset
can only be created or canceled by the slave, this bit is only
interconnected in the slave, in block FB_OperationMode. Only the
positive edge is evaluated to start homing. Homing remains active
until the offset has been canceled or until it is interrupted by the
direction signal being activated again or a new homing signal.
When the current actual position values of the master and the
slave are identical, the offset has been canceled.
12 boOffsetMode In order to select offset mode, this bit must only be set for the
slave. This indicates to the drive that an offset can be applied.
Table 8- 20 Status word_2_S7 (SIMOTION → S7)

11 boOffsetHomingActive This bit is True for as long as the homing motion task is active. As
soon as the homing procedure is completed or interrupted, this bit
switches to False. The feedback signal only comes from the slave.
12 boOffsetModeActive The drive that applies the offset indicates that this is the case by
signaling back via this bit. The feedback signal only comes from
the slave.
The following input signals must be set at FB_OperationMode of the slave:
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Table 8- 21 Function block OperationMode

type setting
r64OffsetSlaveSpeed IN 0.0 LREAL Specifies what percentage of the maximum
(In the MCC unit: velocity should be superimposed on the
To_Name_Offsetspeed) slave as an additional setpoint when a
superimposed motion is to be performed
[%] (max. 50%).
slave.
r64AccDecFactorOffset IN 0.01 LREAL Specifies what percentage of the current
(In the MCC unit: acceleration/deceleration value should be
To_Name_OffsetAccDecFactor) applied as the superimposed value when a
superimposed motion is to be performed
[%] (max. 50%).
slave.
r64maxOffsetPositiondifference IN 0.0 LREAL Specifies the maximum offset which can be
(In the MCC unit: applied in the positive or negative direction
To_Name_OffsetMaxPositionDiff [mm].
erence) This input only has to be supplied for the
slave.
r64kpOffsetChangeOverPoint IN 1.0 LREAL This value is the gain factor for path
(In the MCC Unit: control, which is required for homing and
To_Name_Offset_kp_changeove offset motion in speed-controlled operation.
r) The higher the value, the higher the rate of
deceleration when reaching the homing
position.
The gain factor is only required in closed-
loop speed controlled synchronous
operation.
(Setting the gain factor is described in
Chapter Setting the closing velocity
(Page 458).)
slave.
Caution:
Select the gain factor such that this rate of
deceleration can also be achieved with the
current ramp-down time.
r64ActualOffsetSlaveSpeed OUT 0.0 LREAL Actual additional velocity for the
(In the MCC unit: superimposed motion for the slave
To_Name_OffsetActualSpeed) This output must be read from the slave.
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Possibility of adaptation 9
The possibility of adaptation of the standard project is described in the following using as an
example an expansion from one trolley to two trolleys. The entire connection is described in
full detail for the MCC level and DCC level in Ref. [11].
9.1 Inserting a drive object

To add a second Trolley to the project, drive Trolley_2 needs to be created and the script file
copied from Trolley_1.
Figure 9-1 Inserting Trolley_2 and copying Com_Trolley from Trolley_1
Then add the addresses for SIMOTION – SINAMICS communication into the hardware
configuration; see Communication, SIMOTION D – SINAMICS (internal SIMOTION D
communication) (Page 323).
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Possibility of adaptation
9.2 Inserting a technology object and a fixed gear
Figure 9-2 Inserting addresses for Trolley_2

In the next step you can insert and configure the technology object Trolley_2. Then you can
connect Trolley_1 to Trolley_2 via a fixed gear.
Figure 9-3 Inserting axis Trolley_2
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Figure 9-4 Fixed gear for synchronous operation
Set up the gears "Trolley_Position" and "Trolley_Velocity" for synchronous operation

between Trolley_1 and Trolley_2. In the configuration, only check "Ignore position" for the
"Trolley_Velocity" gear.
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Then connect the gears to the motion input of the slave axis (Trolley_2 in this case).
Figure 9-5 Gear connection to slave
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9.3 Creating input and output addresses

For SIMOTION – SINAMICS and S7 – SIMOTION communication, you still need to create
variables in the I/O container. Select and copy all variables called "trolley_1_…", paste them
in, and rename them "trolley_2_…". Modify the addresses by adding 64 to them.
Figure 9-6 Variables for Trolley_2
The 16 process data items used for exchanging data between the S7 and SIMOTION must
be set up in the I/O container (see Configuring the connection (Page 297)).
Note
Observe the following information when inserting variables into the I/O Container: The newly
inserted variables must be assigned to the strategy "Substitute value". Furthermore, the
addresses for S7 – SIMOTION communication also have to be set in NetPro. The address
1384 is reserved for Trolley_2.
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Figure 9-7 Addresses in NetPro for SIMATIC S7-400
Figure 9-8 Addresses in NetPro for SIMATIC S7-300
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9.4 Setting up the program
9.4.1 MCC level

You must copy the MCC source Gantp_2 to set up the MCC program Trollp_2. The MCC unit
Gantp_2 has the same functionality as the MCC unit Trollp_2.
Figure 9-9 Copying, pasting, and renaming the MCC program Gantry_2
● After copying, insert the MCC source under Programs.

● Under MCC unit properties, rename the MCC unit as "Trollp_2" and the MCC programs
"gantrymcc_2_s_1" and "gantrymcc_2_f_1" as "trolleymcc_2_s" and "trolleymcc_2_f".
● Open the interface area of Trollp_2 and rename all "Gantry_2_xxx" variables as
"Trolley_2_xxx".
● Add the global variable "my_Trolley_2_Referencing" of type
"fb_referencemode(*Crane_FB_Library-lib*)" too.
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Figure 9-10 Renaming interface variables
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● Open the MCC program "trolleymcc_2_s", the module "Receive S7", and then the
Variable assignment. Change all variable names from "Gantry_2_xxx" to "Trolley_2_xxx".
● This also needs to be done for all other user programs and instances of function blocks.
Figure 9-11 Changing variable names
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● Finally, link the user program "Trollp_2" to the execution system. This means that all user
programs are executed in a cyclic task. The Trollp_2.trolleymcc_2_f and
Trollp_2.trolleymcc_2s programs are called in different tasks. Trollp_2.trolleymcc_2_f
must be processed twice as fast as Trollp_2.trolleymcc_2_s.
● Trollp_2.trolleymcc_2_s and Trollp_2.trolleymcc_2_f in the execution system
Figure 9-12 Example: Trollp_2.trolleymcc_2_s and Trollp_2.trolleymcc_2_f in the execution system
9.4.2 DCC level
Note
If, in the case of the DCC block, the inputs and outputs which are not interconnected need to
be visible in the symbol browser of SIMOTION SCOUT, they must be published by inserting
an @ character in the comment line of the required input or output (Ref. [10], Chapter
3.1.3.4).
Proceed as follows for DCC to generate and integrate the Trolley_2 DCC chart:
● Select "Gantd_2" and click on it with the right-hand mouse key.
● Select Copy from the context menu.
● Select Programs and click on it with the right-hand mouse key.
Basic Technology
● Select Paste from the context menu.

● Select the newly added chart "Gantd_3" and click on it with the right-hand mouse key.
● Select Rename.
● Rename "Gantd_3" as "Trolld_2".
Figure 9-13 Create the DCC Trolld_2 (Copy, Paste und Rename)
Basic Technology
● Open the DCC chart "Trollyd_2"

All variables of the blocks must be newly linked with the MCC program Trollp_2 as these still
have a current link to Gantp_2
● Double click on the variable.
● Under Programs select the particular program, in this case "Trollp_2".
● Then search for the corresponding variable that is to be replaced. In the diagram, for
example "Trollp_2.trolley_2_comvelocity".
Figure 9-14 Example: Linking variables in the DCC chart of Trolld_2
Proceed in the same way with all variables that were taken from the MCC program Gantp_2.
You can identify the MCC variables in the DCC by the fact that they have a blue triangle by
the variable name.
After having interconnected the I/O of the DCC blocks with the correct MCC variable, check
the runtime system to determine whether all DCC blocks were integrated in time slice T3 in
the DCC chart folder of Trolld_2.
Basic Technology
Figure 9-15 View of the runtime system in the DCC of Trolld_2
Finally, the Compile button from the symbol bar must be selected. The Compile window
opens. In this window, click on the button OK.
Note
You can also open another standard project, which contains Trolley2; then first copy Trollp_2
and then Trolld_2.
Basic Technology
Basic Technology
Standard applications 10
The standard applications are arranged according to crane type. This means that we are
offering an initial basis both for ready-to-run and ready-to-apply applications.
Linking the digital output signals standard application
Table 10- 1 Linking the digital output signals in SIMOTION
Drives Terminal CU output Signal

Hoist -X142.3 DO 0 Hoist 1&2 velocity less than 70%
Trolley -X142.6 DO 2 Trolley velocity less than 70%
Boom -X142.9 DO 4 Boom velocity less than 70%
Table 10- 2 Linking the digital output signals in SINAMICS Integrated CU

Hoist 1 / Holding Gear 1 -X122.9 DO 8 Hoist 1 / Holding Gear 1: Pulses enabled
Hoist 1 / Holding Gear 1 -X122.10 DO 9 Hoist 1 / Holding Gear 1: Intelligent
overspeed
Hoist 2 / Closing Gear 1 -X122.12 DO 10 Hoist 2 / Closing Gear 1: Pulses enabled
Hoist 2 / Closing Gear 1 -X122.13 DO 11 Hoist 2 / Closing Gear 1: Intelligent
overspeed
Boom -X132.9 DO 12 Boom: Pulses enabled
Boom -X132.10 DO 13 Boom: Intelligent overspeed
Linking the digital output signals tandem standard application
Table 10- 3 Linking the tandem digital output signals in SIMOTION

Hoist (tandem master) -X142.3 DO 0 Hoist 1&2 velocity less than 70%
Hoist (tandem slave) -X142.4 DO 1 Hoist 3&4 velocity less than 70%
Trolley -X142.6 DO 2 Trolley velocity less than 70%
Boom -X142.9 DO 4 Boom velocity less than 70%
Basic Technology
Standard applications
10.1 STS crane (ship-to-shore)
Table 10- 4 Linking the tandem digital output signals in SINAMICS Integrated CU

overspeed
overspeed
overspeed
overspeed
Table 10- 5 Linking the tandem digital output signals on SINAMICS CX32-2 CU

Boom -X122.12 DO 10 Boom: Pulses enabled
Boom -X122.13 DO 11 Boom: Intelligent overspeed

The functionality and scope of the standard application for the STS Crane type are grouped
as follows.
There are three variants of this standard application:
● STS Crane
● STS Crane DCM
STS Crane DCM is intended for hoisting gear with DC motors and AC current on the
other axes
● STS Crane Backup
STS Crane Backup is based on the use of a single backup converter and only one trolley
drive.
Basic Technology
Quantity structure
Function Number of Control mode Operating mode Switchover

module axes
Hoist 2 1. Speed-controlled • AUTOMATIC All drives
2. Positioning (application)
• MANUAL
3. Master-slave operation • SPEED_CONTROLLED
4. Synchronous operation • SWAYCONTROL
Trolley 2 1. Speed-controlled • AUTOMATIC Boom
(1 for STS 2. Positioning (standard)
• MANUAL
Crane All drives
Backup) 3. Master-slave operation • SENSORLESS (application)
4. Synchronous operation EMERGENCY
(For STS Crane Backup only "closed-loop • SPEED_CONTROLLED
speed controlled" and "positioning" because
only one trolley) • SWAYCONTROL
Gantry 2 1. Speed-controlled • AUTOMATIC Boom
2. Positioning (application)
• MANUAL
All drives
3. Master-slave operation • SENSORLESS (application)
• SPEED_CONTROLLED
Boom 1 1. Speed-controlled • SPEED_CONTROLLED Trolley
(standard)
All drives
(application)
Note
"Standard" for switching means: The user does not need to become active explicitly.
"Application" for switching means: The user must create the drive data sets and determine
the selection using the function modules.
See Technology object switchover (Page 214), "External TO switchover" section
Basic Technology
Application of crane-specific technology
Function Crane-specific technology

module
Hoist • Time-optimized positioning
• Basic positioning
• Master-slave closed-loop torque control
• Synchronous operation
• Load-dependent field weakening
• Start pulse
• Switchover of the ramp-function generator in the field-weakening range and when
selecting heavy-duty operation
• Prelimit switch
• Non-linear setpoint of the master switch
• Optional: Advanced Technology (Sway Control, 2D trajectory)
• Brake test
Trolley • Time-optimized positioning
• Master-slave closed-loop torque control (except for "STS Crane Backup" because
only one trolley)
• Synchronous operation with offset compensatory control (except for "STS Crane
Backup" because only one trolley)
• Prelimit switch
• Traction control
• Flying homing
• Brake test
Basic Technology

module
Gantry • Time-optimized positioning
• Synchronous operation with offset compensatory control
• Prelimit switch
• Cornering movement
• Flying homing
Boom • Non-linear setpoint of the master switch
• Prelimit switch
• Start pulse
• Brake test
Description of functions
For information about each function module, refer to Chapter Function modules (Page 37) .
Commissioning
For information on commissioning the standard application, refer to Chapter Commissioning
(Page 351)
Basic Technology
10.2 RMG Crane (Rail-mounted Gantry)
Quantity structure

module axes
Hoist 1 1. Speed-controlled • AUTOMATIC
2. Positioning • MANUAL
• SWAYCONTROL
Trolley 1 1. Speed-controlled • AUTOMATIC
• SWAYCONTROL
Gantry 2 1. Speed-controlled • AUTOMATIC
3. Master-slave operation • SENSORLESS EMERGENCY
4. Synchronous operation • SPEED_CONTROLLED
Slewing 1 1. Speed-controlled • AUTOMATIC
Gear 2. Positioning • MANUAL
Basic Technology

module
• Start pulse
• Prelimit switch
• Brake test
• Prelimit switch
• Flying homing
• Brake test
Basic Technology

module
• Prelimit switch
• Flying homing
Slewing Gear • Time-optimized positioning
• Prelimit switch
• Velocity dependent on working radius
• Ramp-up / ramp-down time dependent on working radius and velocity
• Brake test
For information about each function module, refer to Chapter Function modules (Page 37)
Commissioning
(Page 351)
Basic Technology
10.3 RTG crane (Rubber-Tired Gantry)

There are two versions of this standard application:
● RTG Crane
● RTG Crane virtual S7
No real S7 exists for the RTG Crane virtual S7 standard application; program in the
SIMOTION performs the control.
Quantity structure

module axes
Gantry 4 1. Speed-controlled • SENSORLESS EMERGENCY
Basic Technology

module
• Start pulse
• Prelimit switch
• Brake test
• Prelimit switch
• Flying homing
• Brake test
• Prelimit switch
Commissioning
(Page 351)
Basic Technology
10.4 GSU (grab ship unloader) crane

● GSU Crane
● GSU Crane DCM
GSU Crane DCM is intended for holding and closing gear with a DC machine.
Quantity structure

module axes
Holding 1 1. Speed-controlled • SPEED_CONTROLLED
Gear 2. Synchronous operation between holding • SWAYCONTROL
gear and closing gear
Closing 1 1. Speed-controlled • SPEED_CONTROLLED
2. Positioning (standard)
• MANUAL
All drives
• SENSORLESS (application)
EMERGENCY
• SWAYCONTROL
Long travel 2 1. Speed-controlled • AUTOMATIC All drives
(Gantry) 2. Positioning (application)
• MANUAL
3. Master-slave operation • SENSORLESS
(standard)
All drives
(application)
Basic Technology
Note

module
Holding Gear • Time-optimized positioning
• Synchronous operation between holding gear and closing gear
• Constant field weakening
• Continuous load measurement
• Start pulse
• Slack rope control
• Prelimit switch
• Brake test
Closing Gear • Time-optimized positioning
• Start pulse
• Current equalization control
• Prelimit switch
• Brake test
Basic Technology

module
• Prelimit switch
• Flying homing
• Brake test
Long travel • Time-optimized positioning
(Gantry)
• Prelimit switch
• Flying homing
• Prelimit switch
• Start pulse
• Brake test
Commissioning
(Page 351)
Basic Technology
10.5 LSC (Luffing Slewing Crane)
Note
On the closing gear, only speed control is possible in grab operation. In hook operation,
positioning is also supported.
Quantity structure

module axes
Gear 2. Synchronous operation between holding • EASY_POSITIONING
Gear 2. Synchronous operation between holding
Slewing 1 1. Speed-controlled • AUTOMATIC
Gear 2. Positioning • MANUAL
• SENSORLESS
EMERGENCY
Luffing 1 1. Speed-controlled • SPEED_CONTROLLED
Gear
(Boom)
Basic Technology

module
• Start pulse
• Prelimit switch
• Brake test
• Start pulse
• Prelimit switch
• Brake test
Slewing Gear • Time-optimized positioning
• Prelimit switch
• Brake test
Basic Technology

module
Luffing Gear • Load-dependent field weakening
(Boom)
• Prelimit switch
• Start pulse
• Brake test
• Prelimit switch
• Flying homing
Commissioning
(Page 351)
Basic Technology
10.6 OHBC (Overhead Bridge Crane)
Quantity structure

module axes
4. Synchronous operation • EASY_POSITIONING
Basic Technology

module
• Start pulse
• Prelimit switch
• Synchronous operation with offset mode
• Brake test
• Prelimit switch
• Flying homing
• Brake test
• Prelimit switch
• Flying homing
Commissioning
(Page 351)
Basic Technology
10.7 GD Crane (Grab Dredger)
Quantity structure

module axes
Gear 2. Synchronous operation between holding • EASY_POSITIONING
Gear 2. Synchronous operation between holding
• SENSORLESS
EMERGENCY
Basic Technology

module
• Start pulse
• Prelimit switch
• Brake test
• Start pulse
• Prelimit switch
• Brake test
• Prelimit switch
• Flying homing
• Brake test
Basic Technology
10.8 STS tandem crane (ship-to-shore with four hoists)
Commissioning
(Page 351)

● STS Tandem Crane DP
Communication between the S7 and SIMOTION via PROFIBUS
● STS Tandem Crane PN
Communication between the S7 and SIMOTION via PROFINET
Quantity structure

module axes
4. Synchronous operation • SWAYCONTROL
• MANUAL
• SENSORLESS
EMERGENCY
• SWAYCONTRO
• EASY_POSITIONING L
(standard)
Basic Technology
Note
For switchover, see Technology object switchover (Page 214), "External TO switchover"
section

module
• Tandem mode
• Start pulse
• Prelimit switch
• Brake test
• Prelimit switch
• Flying homing
• Brake test
Basic Technology

module
• Prelimit switch
• Flying homing
• Prelimit switch
• Start pulse
• Brake test
The STS Tandem Crane standard application is stored in two versions on the product CD:
One DP version with 12 PZD and one PN version with 16 PZD; refer to Chapter
Communication (Page 293).
Commissioning
(Page 351)
Basic Technology
10.9 Easy RTG crane (simple rubber-tired gantry)
10.9 Easy RTG crane (simple rubber-tired gantry)
Quantity structure
Table 10- 6 Gantry2

module axes
Hoist 1 1. Speed-controlled • SPEED_CONTROLLED
Trolley 1 1. Speed-controlled • SENSORLESS EMERGENCY
Gantry 2 1. Speed-controlled • SENSORLESS EMERGENCY

module
Hoist • Load-dependent field weakening
• Start pulse
• Prelimit switch
• Monitoring overspeed
Trolley • Prelimit switch
Gantry • Prelimit switch
Commissioning
(Page 351)
Basic Technology
10.10 GSU Tandem Crane (GSU with two closing gear and two holding gear)
10.10 GSU Tandem Crane (GSU with two closing gear and two holding
gear)
Quantity structure

module axes
• MANUAL
All drives
• SENSORLESS (application)
EMERGENCY
• SWAYCONTROL
Long travel 2 1. Speed-controlled • AUTOMATIC All drives
(Gantry) 2. Positioning (application)
• MANUAL
(standard)
All drives
(application)
Note
Basic Technology

module
• Start pulse
• Prelimit switch
• Brake test
• Tandem Mode
• Start pulse
• Prelimit switch
• Brake test
• Tandem Mode
• Prelimit switch
• Flying homing
• Brake test
Basic Technology

module
Long travel • Time-optimized positioning
(Gantry)
• Prelimit switch
• Flying homing
• Prelimit switch
• Start pulse
• Brake test
For information about each function module, refer to Chapter Function modules (Page 37) .
Commissioning
(Page 351)
Note
On the closing gear, only speed control is possible in grab operation. In hook operation,
positioning is also supported.
Basic Technology
10.11 OHBC (Overhead Bridge Crane distributed synchronous operation over two SIMOTION D)
10.11 OHBC (Overhead Bridge Crane distributed synchronous operation

over two SIMOTION D)
Quantity structure for the first SIMOTION D

module axes
5. Synchronous operation with hoist
(second SIMOTION D)
5. Synchronous operation with trolley • SPEED_CONTROLLED
(second SIMOTION D)
5. Synchronous operation with gantry • SPEED_CONTROLLED
(second SIMOTION D)
CAUTION
This standard project implements the interconnection of technology objects between two
SIMOTION D, including the software extension, in order to activate the distributed
synchronous operation. The control with which the interface to the distributed synchronous
operation should be activated, as well as the error response and the monitoring functions
must be implemented by the user.
The distributed synchronous operation is possible only when position control is active
(operating mode: AUTOMATIC or MANUAL).
Basic Technology
Quantity structure for the second SIMOTION D

module axes
5. Synchronous operation with hoist (first
SIMOTION D)
5. Synchronous operation with trolley (first • SPEED_CONTROLLED
SIMOTION D)
5. Synchronous operation with gantry (first • SPEED_CONTROLLED
SIMOTION D)
Basic Technology

module
• Start pulse
• Prelimit switch
• Brake test
• Prelimit switch
• Flying homing
• Brake test
• Prelimit switch
• Flying homing
Commissioning
(Page 351)
Basic Technology
Spare parts/Accessories 11
Spare parts
● SIMOTION D435 (order no. 6AU1435-0AA00-0AA1)
● SIMOTION D435-2 (order no. 6AU1435-2AD00-0AA0)
● Memory card for SIMOTION D435 (order no. 6AU1400-2PA02-0AA0)
● Memory card for SIMOTION D435-2 (order no. 6AU1400-2PA22-0AA0)
● To request licenses, please contact
– Hotline (refer to the preface)
– Siemens A&D Web License Manager at
http://www.siemens.com/automation/license
Note
For questions relating to SIMOCRANE, such as application support, please contact
Siemens I DT Application Support (e-mail:
[email protected] ) or your local sales.
Supplementary components
Depending on the application, the following components can be required:
● SINAMICS Controller Extension SIMOTION CX32 (order no. 6SL3040-0NA00-0AA0)
● SINAMICS Controller Extension SIMOTION CX32-2 (order no. 6AU1432-2AA00-0AA0)
● SINAMICS DRIVE-CLiQ Hub Module DMC20 (order no. 6SL3055-0AA00-6AA0)
● SINAMICS Sensor Module Cabinet-Mounted SMC30 (order no. 6SL3055-0AA00-5CA2)
● SINAMICS Terminal Module TM31 (order no. 6SL3055-0AA00-3AA1)
● CBE30 (order no. 6FC5312-0FA00-0AA0)
● CBE30-2 (order no. 6FC5312-0FA00-2AA0)
● SIMOTION SCOUT V4.1.5 (order no. 6AU1810-1BA41-5XA0)
● Drive Control Chart DCC V2.0.5 option package
(order no. 6AU1810-1JA20-5XA0)
● SIMOTION SCOUT V4.1 SP5 upgrade DVD
(order no. 6AU1810-1BA41-5XE0)
● SIMOTION SCOUT V4.3.1 (order no. 6AU1810-1BA43-1XA0)
● SIMOTION SCOUT V4.3 SP1 upgrade DVD
(order no. 6AU1810-1CA43-1XE0)
Basic Technology
Spare parts/Accessories
● Drive Control Chart DCC V2.2.1 option kit

(order no. 6AU1810-1JA22-1XA0)
● Drive Control Chart DCC V2.2.1 option kit, upgrade license
(order no. 6AU1810-1JA22-1XE0)
Additional information is provided in the following Catalogs to select and order
supplementary components:
● Catalog CR1, 2012 – Drive and Control Components for Hoisting Gear
● Catalog PM21, 2011 – SIMOTION, SINAMICS S120 and Motors for Production Machines
● Distributed I/O, PROFIBUS:
Catalog IK PI (Industrial Communication)
Note
Drive systems, motors and connection systems are not included in the package. These
components must be ordered separately.
Basic Technology
Appendix A
A.1 References
Ref. 1 PROFIBUS and PROFINET, PROFIdrive Profile Drive Technology

PROFIBUS User Organization e. V.
Haid-und-Neu-Straße 7, D-76131 Karlsruhe
http://www.profibus.com
order no. 3.172 Version 4.0 August 2005
Ref. 2 SIMOTION, Motion Control, TO Axis Electric/Hydraulic, External Encoder,
Function Manual, Edition 02/2012
Ref. 3 SIMOTION, Technology Packages Alarms, Diagnostics Manual, Edition 02/2012
Ref. 4 SINAMICS S120, S150 List Manual, Edition 01/2012
Ref. 5 SINAMICS S120 Getting Started for the STARTER Commissioning Tool, Edition
11/2009
Ref. 6 CraneSoft-7 V0.6: Interface Description SINAMICS / SIMOTION
Ref. 7 SIMOTION, Technology Packages System Functions, List Manual,
Edition 02/2012
Ref. 8 SIMOTION, System Functions/Variables Devices, List Manual, Edition 05/2009
Ref. 9 SIMOTION, Motion Control Supplementary Technology Objects, Function
Manual, Edition 02/2012
Ref. 10 SINAMICS/SIMOTION Editor Description DCC, Edition 02/2012
Ref. 11 The Detailed Description of Connections of the Function modules in
SIMOCRANE Basic Technology V1.0, Edition 05/2008
Ref. 12 SIMOCRANE SC Integrated, Operating Instructions, Edition 04/2011
Ref. 13 SIMOTION Function Diagram, Edition 10/2010
Ref. 14 SIMOTION FAQ Profinet IO/RT RT I-Device Coupling SIMATIC/SIMOTION,
Edition 05/2008
Ref. 15 SIMOTION, Communication, System Manual, Edition 02/2012
Ref. 16 SIMATIC, Communication with SIMATIC, System Manual, Edition 09/2006
Basic Technology
Appendix
A.2 Abbreviations
A.2 Abbreviations
AppSTW Applikationssteuerwort/Application Control Word

AppZSW Applikationszustandswort/Application Status Word
CLM Continuous Load Measurement
DCC Drive Control Chart
DDS Drive Data Set
DO Drive Object for SINAMICS, e.g. Motor Module
DP-V1 Supplement to PROFIBUS DP in order to carry out acyclic communication.
FBD The function block diagram (FBD) is one of the three programming
languages for STEP 5 and STEP 7. FBD uses the logic boxes known from
Boolean algebra for mapping the logic.
FW Field Weakening
GSU Grab Ship Unloader
HG Holding Gear
IPO Interpolator
LDFW Load-dependent Field Weakening
MCC Motion Control Chart
MM Motor Module
MPI Multiple Point Interface
OHBC Overhead Bridge Crane
PLI Drive curve (polygon characteristic for current)
PWM Pulse-Width Modulation
PZD PROFIBUS process parameter
RMG Rail-Mounted Gantry
RTG Rubber-Tired Gantry
SG Slewing Gear
ST Structured Text; text-based high-level language for SIMOTION that has
been extended with motion control and other language commands. These
are integrated as functions or function blocks.
STS Ship-to-Shore
STW Steuerwort/Control Word
TO Technology Object in SIMOTION; symbol for a moving axis
ZSW Zustandswort/Status Word
Basic Technology
Appendix
A.3 Terminology (German/English)
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Basic Technology
Appendix
Basic Technology

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 Basic Technology ___________________

Basic Technology ___________________

Siemens AG Copyright © Siemens AG 2007 - 2012.

This document is part of the SIMOCRANE Basic Technology package. It describes a

Prerequisite (area of validity)

Siemens product support

Product support for SIMOCRANE

Application support for SIMOCRANE

5.2.13 DCC_MasterSwitch ................................................................................................................... 120

6.2.2 Defining the telegram.................................................................................................................306

8.6 SINAMICS drive object ............................................................................................................. 400

8.14.2.8 Setting the closing velocity.........................................................................................................458

A.3 Terminology (German/English) ................................................................................................. 531

6,0$7,& 6,027,21 6,1$0,&6

Figure 1-1 The SIMOCRANE platform

Special feature V3.0

Figure 1-3 SIMOCRANE Basic Technology scope of supply

SIMOCRANE Basic Technology V2.0 SP2

SIMOCRANE Basic Technology V3.0

Figure 1-4 Product structure for Basic Technology applications

Table 1- 1 Overview, function modules, axes and operating modes

Function Number Control mode Modes of operation

Table 1- 2 Overview, crane-specific technology functions

No. Function/block Brief description

No. Function/block Brief description

2.2 Interfaces of the SIMOTION D435-2 DP/PN

Table 2- 1 Overview of the available interfaces

Interface Designation Connector type

Ethernet interface PN/IE X127 P1 RJ45 socket

Interface Designation Connector type

Digital I/Os X122, X132, X142 Mini Combicon, 3.5 mm

PROFIBUS DP interface X126 9-pin Sub-D socket

Measuring sockets (T0, T1, T2 and M) X141 4-pin, socket

Table 2- 2 Overview of interfaces that cannot be used for SIMOTION D

Interface designation Interface Connector type

2.2.1 Ethernet ports

Interfaces for connection to Industrial Ethernet

Position of the connectors for SIMOTION D4x5-2 DP/PN

/,1. RUDQJH 7UDQVIHUUDWH0ELWV 

Table 2- 3 X127 P1 and X130 P1

2.2.2 PROFINET IO interface

'LVSOD\ 6WDWXV 0HDQLQJ 'LVSOD\

Table 2- 4 Ports X150 P1 to P3

Table 2- 5 Assignment of the ports X150 P1 to P3

Representation Pin Name Description

Second PROFINET interface

2.2.3 Digital I/Os

Table 2- 6 Wiring of X122, X132 and X142

Position of the connectors

; ; ;

2.3 Interfaces of the Communication Board Ethernet 30 (CBE30-2)

Properties of the CBE30-2

Figure 2-4 CBE30-2, X1400 interface front view

Figure 3-1 Software structure of a function module

3.2 Structure of a function module

Normal execution in Gantrymcc_1_s

Figure 3-2 Unit "Gantp_1", program sequence "Gantrymcc_1_s"

1. The "FB_TelegramS7ToSimotion" function block is called.

5. The function block "FB_ErrorPriority" is called.

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