T300technologysoftwarefor cranesystems

Siemens HE 1 . 1999 5/1

5/2 Product description

5/2 Application

5/2 Software modules

5/3 Brief description of the functions

5/4 Selecting and ordering data

he_1_Kap5IVZ.fm Seite 1 Dienstag, 4. Mai 1999 2:40 14

Schwarz Prozeß 45,0° 150,0 LPIGelb Prozeß 0,0° 150,0 LPIMagenta Prozeß 15,0° 150,0 LPICyan Prozeß 75,0° 150,0 LPI

Siemens HE 1 . 1999

T300technologysoftwarefor cranesystems

5/2

Product description

Application

For the closed-loop control ofhoisting gear drives with theSIMOVERT MASTERDRIVESsystem and SIMOREG DCMASTER, the T300 technolo-gy module and the hoistinggear-specific software can beused to implement additionalfunctions which are not con-tained in the basic unit.

Some examples of applica-tions are:

• Formation of the load-dependent additional set-point with field weakening

• Position detection andposition control

• Grab-specific software forthe holding and closingwinch

• Synchro control

Six hoisting gear-specific soft-ware modules are available forthe various applications.These modules are createdusing the STRUC ® configuringlanguage.

The software is provided in anEPROM with the correspond-ing documentation (in Germanor English).

The corresponding T300module with terminal blockSE300 must be ordered sepa-rately. The detailed descriptionof the T300 technology mod-ule is contained in CatalogDA65.10, Edition 1998,Section 6.

Software modules

The following is a list of thevarious software modules:

Note: The functions notshown in bold type can beimplemented as standard inthe basic unit. These functions

are also stored on the T300module to ensure reliableexecution of the softwaremodules.

Software module for Functions contained

Hoisting gear 1. Load-depended field weakening2. Nonlinear master controller setpoint3. Heavy-duty operation (reduced setpoint)4. Position/displacement control5. Pre-limit switching6. Inching operation7. Starting pulse8. Changeover of ramp-function generator

for field weakening and heavy-duty service9. Speed zero signal

10. Control monitoring11. Speed actual value monitoring12. Synchro control (master/slave drive)13. Current distribution monitoring

(master/slave drive)

Holding gear 2. Nonlinear master controller setpoint3. Heavy-duty service (reduced setpoint)4. Position/displacement control5. Pre-limit switching6. Jogging operation7. Starting pulse8. Changeover of ramp-function generator for

field weakening and heavy-duty service9. Speed zero signal

10. Control monitoring11. Speed actual value monitoring14. Constant field weakening15. Slack cable control

Closing gear 6. Jogging operation7. Starting pulse9. Speed zero signal

10. Control monitoring11. Speed actual value monitoring16. Grab displacement control17. Grab adjustment18. Synchro control for lifting beam

operation19. Current compensation control20. Cactus grab operation

Software module for Functions contained

Slewing gear 2. Nonlinear master controller setpoint4. Position/displacement control5. Pre-limit switching6. Jogging operation9. Speed zero signal

10. Control monitoring11. Speed actual value monitoring21. Reach-dependent ramp-up time22. Override of ramp-up and down times

according to error signal23. Reach-dependent speed of rotation

Travelling gear1) 2. Nonlinear master controller setpoint4. Position/displacement control5. Pre-limit switching6. Jogging operation9. Speed zero signal

10. Control monitoring11. Speed actual value monitoring12. Synchro control (master/slave drive)

Travelling gear1)(slave drive)

9. Speed zero signal10. Control monitoring11. Speed actual value monitoring13. Current distribution monitoring

(master/slave drive)24. Synchro control

1) If travelling gear is operated with two power units, both modules are used. The function "Synchro control (master/slave drive) No. 12"is not effective in travelling gear with one power unit.

he_1_Kap5.fm Seite 2 Dienstag, 4. Mai 1999 2:42 14

Gelb Prozeß 0,0° 150,0 LPICyan Prozeß 75,0° 150,0 LPI Magenta Prozeß 15,0° 150,0 LPI Schwarz Prozeß 45,0° 150,0 LPI

Siemens HE 1 . 1999

T300technologysoftwarefor cranesystems

5/2

Product description

Application

For the closed-loop control ofhoisting gear drives with theSIMOVERT MASTERDRIVESsystem and SIMOREG DCMASTER, the T300 technolo-gy module and the hoistinggear-specific software can beused to implement additionalfunctions which are not con-tained in the basic unit.

Some examples of applica-tions are:

• Formation of the load-dependent additional set-point with field weakening

• Position detection andposition control

• Grab-specific software forthe holding and closingwinch

• Synchro control

Six hoisting gear-specific soft-ware modules are available forthe various applications.These modules are createdusing the STRUC ® configuringlanguage.

The software is provided in anEPROM with the correspond-ing documentation (in Germanor English).

The corresponding T300module with terminal blockSE300 must be ordered sepa-rately. The detailed descriptionof the T300 technology mod-ule is contained in CatalogDA65.10, Edition 1998,Section 6.

Software modules

The following is a list of thevarious software modules:

Note: The functions notshown in bold type can beimplemented as standard inthe basic unit. These functions

are also stored on the T300module to ensure reliableexecution of the softwaremodules.

Software module for Functions contained

Hoisting gear 1. Load-depended field weakening2. Nonlinear master controller setpoint3. Heavy-duty operation (reduced setpoint)4. Position/displacement control5. Pre-limit switching6. Inching operation7. Starting pulse8. Changeover of ramp-function generator

for field weakening and heavy-duty service9. Speed zero signal

10. Control monitoring11. Speed actual value monitoring12. Synchro control (master/slave drive)13. Current distribution monitoring

(master/slave drive)

Holding gear 2. Nonlinear master controller setpoint3. Heavy-duty service (reduced setpoint)4. Position/displacement control5. Pre-limit switching6. Jogging operation7. Starting pulse8. Changeover of ramp-function generator for

field weakening and heavy-duty service9. Speed zero signal

10. Control monitoring11. Speed actual value monitoring14. Constant field weakening15. Slack cable control

Closing gear 6. Jogging operation7. Starting pulse9. Speed zero signal

10. Control monitoring11. Speed actual value monitoring16. Grab displacement control17. Grab adjustment18. Synchro control for lifting beam

operation19. Current compensation control20. Cactus grab operation

Software module for Functions contained

Slewing gear 2. Nonlinear master controller setpoint4. Position/displacement control5. Pre-limit switching6. Jogging operation9. Speed zero signal

10. Control monitoring11. Speed actual value monitoring21. Reach-dependent ramp-up time22. Override of ramp-up and down times

according to error signal23. Reach-dependent speed of rotation

Travelling gear1) 2. Nonlinear master controller setpoint4. Position/displacement control5. Pre-limit switching6. Jogging operation9. Speed zero signal

10. Control monitoring11. Speed actual value monitoring12. Synchro control (master/slave drive)

Travelling gear1)(slave drive)

9. Speed zero signal10. Control monitoring11. Speed actual value monitoring13. Current distribution monitoring

(master/slave drive)24. Synchro control

1) If travelling gear is operated with two power units, both modules are used. The function "Synchro control (master/slave drive) No. 12"is not effective in travelling gear with one power unit.

he_1_Kap5.fm Seite 2 Dienstag, 4. Mai 1999 2:42 14

Gelb Prozeß 0,0° 150,0 LPICyan Prozeß 75,0° 150,0 LPI Magenta Prozeß 15,0° 150,0 LPI Schwarz Prozeß 45,0° 150,0 LPI

T300technologysoftwarefor cranesystems

Siemens HE 1 . 1999 5/3

123456

Brief description of the functions

The functions described beloware standard modules. Appli-cation-specific functions canalso be implemented at extracost.

The corresponding documen-tation is supplied in German orEnglish.

1. Load-dependent fieldweakening

Load-dependent field weak-ening allows speeds abovethe rated speed, with partialloads.

In this case, when field weak-ening is selected (via the mas-ter controller) a supplementaryspeed setpoint is formed as afunction of the load, in additionto the value specified by themaster controller for the ratedspeed range, and the fieldweakening mode is initiated.The load actual value is deter-mined from the motor currenttaking into account the accel-eration. The load actual valuecan also be determined usingload measuring equipment(e.g. load measuring pins orboxes) and evaluated by thismodule.

2. Nonlinear mastercontroller setpoint

The sensor fitted to the mastercontroller supplies a setpointwhich is directly proportionalto its angle of excursion. Toallow the crane operator tomake more accurate position-ing at slow speeds, the set-point follows a nonlinear func-tion, and the output character-istic is thus converted into aprogressively bent characteris-tic. This permits fine adjust-ment even of small speeds.

3. Heavy-duty operation

In heavy-duty operation, loadsgreater than the rated loadcan occasionally be lifted.However, this is only permissi-ble at reduced speed. In thismode, therefore, the mastercontroller setpoint is multi-plied by a selectable factor of< 1. This results in full utiliza-tion of the excursion area withreduced presetting of the set-point.

4. Position/displacementcontrol

Using position control, thedrive can approach a presetpoint with displacement con-trol and time optimization.From a specified point on-wards, the speed setpoint islimited according to the dis-placement. The displacementactual value is available via apulse generator.

5. Pre-limit switching

The function "Pre-limit switch-ing" permits limitation of thespeed setpoint to an adjust-able speed when the pre-limitswitch is run over. This pre-vents the drive from moving atfull speed into the limit switch.

6. Inching operation

For inching, an adjustablejogging setpoint is applied asthe speed setpoint in order todefine small speeds, e.g. forcable changing.

7. Starting pulse

To prevent sagging of theload, a constant or load-dependent setpoint is appliedto the precontrol input of thespeed controller in the hoistingwinch.

8. Changeover of ramp-function generator withfield weakening andheavy-duty service

At the transition into the fieldweakening region, the ramp-up time can be extended toprevent moderately rateddrives from reaching thecurrent limits.

In heavy-duty service, how-ever, the ramp-up time isextended from the beginning,compared to the rated ramp-up time, and not only when aparticular speed is reached.

9. Speed zero signal

Speed zero detection forbrake control at speedsbetween 5 and 10 % of ratedspeed.

10. Control monitoring

This function carries out acomparison between speedsetpoint and actual value.

11. Speed actual valuemonitoring

In actual value monitoring, aprerequisite is the presence oftwo speed actual value gener-ators, for example a normalspeed actual value generatorand a displacement actual val-ue generator (which also sup-plies a speed). With hoistingwinches, a generator can befitted at the motor and a gen-erator at the drum. This allowsmonitoring of the mechanicalelements between them (gearbreakage monitoring).

12. Synchro control(master/slave drive)

When a load is to be lifted ormoved by two hoisting winch-es or trolleys which are notmechanically coupled, a dis-placement synchro control be-tween the drives is required.This function is implementedwith the synchro control be-tween the two drives as amaster/slave drive.

13. Current distributionmonitoring (master/slave drive)

With a master/slave drive, cur-rent distribution monitoringserves for monitoring the sym-metrical current distribution ofboth motors.

14. Constant fieldweakening

With hoisting winches withoutload measurement, the speedduring lowering can be in-creased by the square of theefficiency.

15. Slack cable control

The slack cable controller canbe used to prevent the cablefrom becoming slack whenthe grab is closed in the loadmaterial. It also ensures thatthe grab can dig into filling ma-terial, thus achieving the maxi-mum degree of filling.

16. Grab displacementcontrol

With grab displacement con-trol, the setpoint formed by theposition controller is limited viathe master controller of theclosing winch. To adjust thegrab during grab change, asmall setpoint is applied viathe master controller.

17. Grab adjustment

To adjust the grab, the dis-placement actual values arestored as setpoints for the"opened" and "closed" endpoints.

18. Synchro control forlifting beam operation

During lifting beam operationof the holding and closingwinch, the closing winch fol-lows the holding winch withdisplacement control.

19. Current compensationcontrol

During hoisting and loweringof the closed grab, the ten-sions of the holding and clos-ing cables should be approxi-mately the same. The requiredhoisting power is optimallydistributed over both motors.

The current actual values arecompared in the current com-pensation control, and the dif-ference applied to the speedcontroller of the closing winch.

20. Cactus grab operation

In cactus grab operation, thegrabs usually require greatertension at the closing cablethan at the holding cable. Asupplementary circuit in thecurrent equalization controllerallows the current to be dis-tributed asymmetrically in thedesired ratio.

A prerequisite is a correspond-ing motor design.

21. Reach-dependent ramp-up time

With cranes with a boom, anincreasing reach results in anincrease in the load torque forthe rotating gear during accel-eration. To prevent reaching ofthe current limits and the re-sulting error signal, the ramp-up and ramp-down times ofthe ramp-function generatorare adjusted linearly as a func-tion of reach of the boom.

he_1_Kap5.fm Seite 3 Dienstag, 4. Mai 1999 2:42 14

Gelb Prozeß 0,0° 150,0 LPICyan Prozeß 75,0° 150,0 LPI Magenta Prozeß 15,0° 150,0 LPI Schwarz Prozeß 45,0° 150,0 LPI

T300technologysoftwarefor cranesystems

Siemens HE 1 . 1999 5/3

123456

Brief description of the functions

The functions described beloware standard modules. Appli-cation-specific functions canalso be implemented at extracost.

The corresponding documen-tation is supplied in German orEnglish.

1. Load-dependent fieldweakening

Load-dependent field weak-ening allows speeds abovethe rated speed, with partialloads.

In this case, when field weak-ening is selected (via the mas-ter controller) a supplementaryspeed setpoint is formed as afunction of the load, in additionto the value specified by themaster controller for the ratedspeed range, and the fieldweakening mode is initiated.The load actual value is deter-mined from the motor currenttaking into account the accel-eration. The load actual valuecan also be determined usingload measuring equipment(e.g. load measuring pins orboxes) and evaluated by thismodule.

2. Nonlinear mastercontroller setpoint

The sensor fitted to the mastercontroller supplies a setpointwhich is directly proportionalto its angle of excursion. Toallow the crane operator tomake more accurate position-ing at slow speeds, the set-point follows a nonlinear func-tion, and the output character-istic is thus converted into aprogressively bent characteris-tic. This permits fine adjust-ment even of small speeds.

3. Heavy-duty operation

In heavy-duty operation, loadsgreater than the rated loadcan occasionally be lifted.However, this is only permissi-ble at reduced speed. In thismode, therefore, the mastercontroller setpoint is multi-plied by a selectable factor of< 1. This results in full utiliza-tion of the excursion area withreduced presetting of the set-point.

4. Position/displacementcontrol

Using position control, thedrive can approach a presetpoint with displacement con-trol and time optimization.From a specified point on-wards, the speed setpoint islimited according to the dis-placement. The displacementactual value is available via apulse generator.

5. Pre-limit switching

The function "Pre-limit switch-ing" permits limitation of thespeed setpoint to an adjust-able speed when the pre-limitswitch is run over. This pre-vents the drive from moving atfull speed into the limit switch.

6. Inching operation

For inching, an adjustablejogging setpoint is applied asthe speed setpoint in order todefine small speeds, e.g. forcable changing.

7. Starting pulse

To prevent sagging of theload, a constant or load-dependent setpoint is appliedto the precontrol input of thespeed controller in the hoistingwinch.

8. Changeover of ramp-function generator withfield weakening andheavy-duty service

At the transition into the fieldweakening region, the ramp-up time can be extended toprevent moderately rateddrives from reaching thecurrent limits.

In heavy-duty service, how-ever, the ramp-up time isextended from the beginning,compared to the rated ramp-up time, and not only when aparticular speed is reached.

9. Speed zero signal

Speed zero detection forbrake control at speedsbetween 5 and 10 % of ratedspeed.

10. Control monitoring

This function carries out acomparison between speedsetpoint and actual value.

11. Speed actual valuemonitoring

In actual value monitoring, aprerequisite is the presence oftwo speed actual value gener-ators, for example a normalspeed actual value generatorand a displacement actual val-ue generator (which also sup-plies a speed). With hoistingwinches, a generator can befitted at the motor and a gen-erator at the drum. This allowsmonitoring of the mechanicalelements between them (gearbreakage monitoring).

12. Synchro control(master/slave drive)

When a load is to be lifted ormoved by two hoisting winch-es or trolleys which are notmechanically coupled, a dis-placement synchro control be-tween the drives is required.This function is implementedwith the synchro control be-tween the two drives as amaster/slave drive.

13. Current distributionmonitoring (master/slave drive)

With a master/slave drive, cur-rent distribution monitoringserves for monitoring the sym-metrical current distribution ofboth motors.

14. Constant fieldweakening

With hoisting winches withoutload measurement, the speedduring lowering can be in-creased by the square of theefficiency.

15. Slack cable control

The slack cable controller canbe used to prevent the cablefrom becoming slack whenthe grab is closed in the loadmaterial. It also ensures thatthe grab can dig into filling ma-terial, thus achieving the maxi-mum degree of filling.

16. Grab displacementcontrol

With grab displacement con-trol, the setpoint formed by theposition controller is limited viathe master controller of theclosing winch. To adjust thegrab during grab change, asmall setpoint is applied viathe master controller.

17. Grab adjustment

To adjust the grab, the dis-placement actual values arestored as setpoints for the"opened" and "closed" endpoints.

18. Synchro control forlifting beam operation

During lifting beam operationof the holding and closingwinch, the closing winch fol-lows the holding winch withdisplacement control.

19. Current compensationcontrol

During hoisting and loweringof the closed grab, the ten-sions of the holding and clos-ing cables should be approxi-mately the same. The requiredhoisting power is optimallydistributed over both motors.

The current actual values arecompared in the current com-pensation control, and the dif-ference applied to the speedcontroller of the closing winch.

20. Cactus grab operation

In cactus grab operation, thegrabs usually require greatertension at the closing cablethan at the holding cable. Asupplementary circuit in thecurrent equalization controllerallows the current to be dis-tributed asymmetrically in thedesired ratio.

A prerequisite is a correspond-ing motor design.

21. Reach-dependent ramp-up time

With cranes with a boom, anincreasing reach results in anincrease in the load torque forthe rotating gear during accel-eration. To prevent reaching ofthe current limits and the re-sulting error signal, the ramp-up and ramp-down times ofthe ramp-function generatorare adjusted linearly as a func-tion of reach of the boom.

he_1_Kap5.fm Seite 3 Dienstag, 4. Mai 1999 2:42 14

Gelb Prozeß 0,0° 150,0 LPICyan Prozeß 75,0° 150,0 LPI Magenta Prozeß 15,0° 150,0 LPI Schwarz Prozeß 45,0° 150,0 LPI

Siemens HE 1 . 1999

T300technologysoftwarefor cranesystems

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Brief description of the functions

22. Override of ramp-upand down timesaccording to the errorsignal

If an error signal occurs duringthe acceleration phase, it ispossible to continuously opti-mize the ramp-up times de-pending on the magnitude ofthe error signal (tracking oframp-function generator).

23. Reach-dependentspeed of rotation

The angular velocit ω = v/r isadjusted as a function of reachof the boom, to keep the cir-cumferential speed constant.

24. Synchro control(master/slave drive)

This function is used forcranes with a soft constructionfor synchronous control offixed and pendulum supports.Synchronization of the cranerunning gear at specific inter-vals is carried out using sen-sors fitted along the carriage-way.

Selecting and ordering data

s s s

Software module/documentation for Order No.

Hoisting gear 6GA7 010-1S @ @ @

Holding gear 6GA7 010-2S @ @ @

Closing gear 6GA7 010-3S @ @ @

Slewing gear 6GA7 010-4S @ @ @

Travelling gear 6GA7 010-5S @ @ @

Travelling gear (slave drive) 6GA7 010-6S @ @ @

Module including documentation M

Documentation D

Documentation, German 0 0

Documentation English 7 6

he_1_Kap5.fm Seite 4 Montag, 17. Mai 1999 9:57 09

Gelb Prozeß 0,0° 150,0 LPICyan Prozeß 75,0° 150,0 LPI Magenta Prozeß 15,0° 150,0 LPI Schwarz Prozeß 45,0° 150,0 LPI

Siemens HE 1 . 1999

T300technologysoftwarefor cranesystems

5/4

Brief description of the functions

22. Override of ramp-upand down timesaccording to the errorsignal

If an error signal occurs duringthe acceleration phase, it ispossible to continuously opti-mize the ramp-up times de-pending on the magnitude ofthe error signal (tracking oframp-function generator).

23. Reach-dependentspeed of rotation

The angular velocit ω = v/r isadjusted as a function of reachof the boom, to keep the cir-cumferential speed constant.

24. Synchro control(master/slave drive)

This function is used forcranes with a soft constructionfor synchronous control offixed and pendulum supports.Synchronization of the cranerunning gear at specific inter-vals is carried out using sen-sors fitted along the carriage-way.

Selecting and ordering data

s s s

Software module/documentation for Order No.

Hoisting gear 6GA7 010-1S @ @ @

Holding gear 6GA7 010-2S @ @ @

Closing gear 6GA7 010-3S @ @ @

Slewing gear 6GA7 010-4S @ @ @

Travelling gear 6GA7 010-5S @ @ @

Travelling gear (slave drive) 6GA7 010-6S @ @ @

Module including documentation M

Documentation D

Documentation, German 0 0

Documentation English 7 6

he_1_Kap5.fm Seite 4 Montag, 17. Mai 1999 9:57 09

Gelb Prozeß 0,0° 150,0 LPICyan Prozeß 75,0° 150,0 LPI Magenta Prozeß 15,0° 150,0 LPI Schwarz Prozeß 45,0° 150,0 LPI