Hoisting - Industrial Crane M241 Safety - Project Template

Hoisting

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HoistingIndustrial Crane M241 Safety Project Template User Guide

05/2014

The information provided in this documentation contains general descriptions and/or technical characteristics of the performance of the products contained herein. This documentation is not intended as a substitute for and is not to be used for determining suitability or reliability of these products for specific user applications. It is the duty of any such user or integrator to perform the appropriate and complete risk analysis, evaluation and testing of the products with respect to the relevant specific application or use thereof. Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for misuse of the information contained herein. If you have any suggestions for improvements or amendments or have found errors in this publication, please notify us.

No part of this document may be reproduced in any form or by any means, electronic or mechanical, including photocopying, without express written permission of Schneider Electric.

All pertinent state, regional, and local safety regulations must be observed when installing and using this product. For reasons of safety and to help ensure compliance with documented system data, only the manufacturer should perform repairs to components.

When devices are used for applications with technical safety requirements, the relevant instructions must be followed.

Failure to use Schneider Electric software or approved software with our hardware products may result in injury, harm, or improper operating results.

Failure to observe this information can result in injury or equipment damage.

© 2014 Schneider Electric. All rights reserved.

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Table of Contents

Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5About the Book. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Chapter 1 Industrial Crane Application Template. . . . . . . . . . . . . 11Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Chapter 2 Industrial Crane Architecture and Environment . . . . . 15Architecture Related Safety Information . . . . . . . . . . . . . . . . . . . . . . . 16Hardware Architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Hoisting Application System Requirements. . . . . . . . . . . . . . . . . . . . . 19

Chapter 3 Hardware Configuration. . . . . . . . . . . . . . . . . . . . . . . . . 21Embedded I/Os of Controller 1 (MyController1) . . . . . . . . . . . . . . . . . 22Drive I/Os for Controller 1 (MyController1) . . . . . . . . . . . . . . . . . . . . . 24Embedded I/Os of Controller 2 (MyController2) . . . . . . . . . . . . . . . . . 25Embedded I/Os of Preventa XPSMC Safety Controller. . . . . . . . . . . . 27

Chapter 4 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Chapter 5 Drive Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41Hoisting Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42Drives for Horizontal Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Chapter 6 Application Software Controller 1 (MyController1) . . . 496.1 Library Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Library Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506.2 Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516.3 Global Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Global Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526.4 Using CSV File for Automatic Configuration . . . . . . . . . . . . . . . . . . . . 53

Using CSV File for Automatic Configuration . . . . . . . . . . . . . . . . . . . . 536.5 Crane Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Application_MastTask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Hoisting_Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62Trolley_Axis and Translation_Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

6.6 Application Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70Display Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

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6.7 CanOpenState Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77CanOpenState Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Chapter 7 Application Software Controller 2 (MyController2). . . 79Library Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81Global Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82Application_MastTask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Chapter 8 Interaction between Two Controllers . . . . . . . . . . . . . . 85Interaction between Two Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Chapter 9 Safety Relevant Functions . . . . . . . . . . . . . . . . . . . . . . 87Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88Safety Relevant Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89Preventa XPSMC Safety Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 95Preventa XPSMC Safety Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Chapter 10 Magelis HMI STU 855 Display . . . . . . . . . . . . . . . . . . . . 99Magelis HMI STU 855 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

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Safety Information

Important Information

NOTICE

Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, or maintain it. The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure.

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PLEASE NOTE

Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material.

A qualified person is one who has skills and knowledge related to the construction and operation of electrical equipment and its installation, and has received safety training to recognize and avoid the hazards involved.

BEFORE YOU BEGIN

Do not use this product on machinery lacking effective point-of-operation guarding. Lack of effective point-of-operation guarding on a machine can result in serious injury to the operator of that machine.

This automation equipment and related software is used to control a variety of industrial processes. The type or model of automation equipment suitable for each application will vary depending on factors such as the control function required, degree of protection required, production methods, unusual conditions, government regulations, etc. In some applications, more than one processor may be required, as when backup redundancy is needed.

Only you, the user, machine builder or system integrator can be aware of all the conditions and factors present during setup, operation, and maintenance of the machine and, therefore, can determine the automation equipment and the related safeties and interlocks which can be properly used. When selecting automation and control equipment and related software for a particular application, you should refer to the applicable local and national standards and regulations. The National Safety Council’s Accident Prevention Manual (nationally recognized in the United States of America) also provides much useful information.

In some applications, such as packaging machinery, additional operator protection such as point-of-operation guarding must be provided. This is necessary if the operator’s hands and other parts of the body are free to enter the pinch points or other hazardous areas and serious injury can occur. Software products alone cannot protect an operator from injury. For this reason the software cannot be substituted for or take the place of point-of-operation protection.

WARNINGUNGUARDED EQUIPMENT

Do not use this software and related automation equipment on equipment which does not have point-of-operation protection.

Do not reach into machinery during operation.

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

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Ensure that appropriate safeties and mechanical/electrical interlocks related to point-of-operation protection have been installed and are operational before placing the equipment into service. All interlocks and safeties related to point-of-operation protection must be coordinated with the related automation equipment and software programming.

NOTE: Coordination of safeties and mechanical/electrical interlocks for point-of-operation protection is outside the scope of the Function Block Library, System User Guide, or other implementation referenced in this documentation.

START-UP AND TEST

Before using electrical control and automation equipment for regular operation after installation, the system should be given a start-up test by qualified personnel to verify correct operation of the equipment. It is important that arrangements for such a check be made and that enough time is allowed to perform complete and satisfactory testing.

Follow all start-up tests recommended in the equipment documentation. Store all equipment documentation for future references.

Software testing must be done in both simulated and real environments.

Verify that the completed system is free from all short circuits and temporary grounds that are not installed according to local regulations (according to the National Electrical Code in the U.S.A, for instance). If high-potential voltage testing is necessary, follow recommendations in equipment documentation to prevent accidental equipment damage.

Before energizing equipment: Remove tools, meters, and debris from equipment. Close the equipment enclosure door. Remove all temporary grounds from incoming power lines. Perform all start-up tests recommended by the manufacturer.

CAUTIONEQUIPMENT OPERATION HAZARD

Verify that all installation and set up procedures have been completed. Before operational tests are performed, remove all blocks or other temporary holding means

used for shipment from all component devices. Remove tools, meters, and debris from equipment.

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

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OPERATION AND ADJUSTMENTS

The following precautions are from the NEMA Standards Publication ICS 7.1-1995 (English version prevails): Regardless of the care exercised in the design and manufacture of equipment or in the selection

and ratings of components, there are hazards that can be encountered if such equipment is improperly operated.

It is sometimes possible to misadjust the equipment and thus produce unsatisfactory or unsafe operation. Always use the manufacturer’s instructions as a guide for functional adjustments. Personnel who have access to these adjustments should be familiar with the equipment manufacturer’s instructions and the machinery used with the electrical equipment.

Only those operational adjustments actually required by the operator should be accessible to the operator. Access to other controls should be restricted to prevent unauthorized changes in operating characteristics.

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About the Book

At a Glance

Document Scope

This document describes an application template to be used with a Modicon M241 Logic Controller and an HMI STU 855 display for industrial crane applications.

NOTE: The term “functional safety” and “safety”, as used in this document, is defined by the standards EN ISO 13849-1, EN 15011 and EN 14439.

Validity Note

This document has been updated with the release of SoMachine 4.1 Hoisting Library and Project Template add-on.

Related Documents

You can download these technical publications and other technical information from our website at www.schneider-electric.com.

Title of Documentation Reference Number

SoMachine, Hoisting Application Functions, Hoisting Library Guide EIO0000000620

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Product Related Information

1 For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems" or their equivalent governing your particular location.

WARNINGLOSS OF CONTROL

The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop, power outage and restart.

Separate or redundant control paths must be provided for critical control functions. System control paths may include communication links. Consideration must be given to the

implications of unanticipated transmission delays or failures of the link.

Observe all accident prevention regulations and local safety guidelines.1

Each implementation of this equipment must be individually and thoroughly tested for proper operation before being placed into service.


WARNINGUNINTENDED EQUIPMENT OPERATION

Only use software approved by Schneider Electric for use with this equipment. Update your application program every time you change the physical hardware configuration.


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Hoisting

Industrial Crane Application Template

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Chapter 1Industrial Crane Application Template

Overview

This chapter gives brief introduction about application template.

What Is in This Chapter?

This chapter contains the following topics:

Topic Page

Introduction 12

Before You Begin 13

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Introduction

The template project is an example of an application used to control bridge and portal cranes. It includes a hardware configuration for a crane with three axes and programs for controlling the hoist, trolley, and translation movement. It also includes CANopen configuration for various drive configurations.

The functions requiring parameterization can be parameterized through comma separated values (CSV) file or through human machine interface (HMI). This makes commissioning without using PC possible. A PC with SoMachine software installed is necessary to download this template project to M241.

This template project is based on the template project for an M241 with HMI STU 855.

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Before You Begin

General

The products specified in this document have been tested under actual service conditions. Of course, your specific application requirements may be different from those assumed for this and any related examples, templates or architectures described herein. In that case, you will have to adapt the information provided in this and other related documents to your particular needs. To do so, you will need to consult the specific product documentation of the hardware and/or software components that you may add or substitute for any information specified in this documentation. Pay particular attention and conform to any safety information, different electrical requirements and normative standards that would apply to your adaptation.

Of particular relevance in many countries is the standards specifically addressing crane applications such as, among others, EN/ISO 60204-32, which governs many environmental characteristics of the equipment proposed in the architectures contained herein. If the intended environment of your machine does not conform to the environmental characteristics specified by the standards such as, but not limited to, temperature, vibration or electromagnetic interference, additional measures and or equipment may be required that are beyond the scope of the architectures presented by this document or other supporting material.

The use and application of the information contained herein require expertise in the design and programming of automated control systems. Only you, the user, machine builder or integrator, can be aware of all the conditions and factors present during installation and setup, operation, and maintenance of the machine or related processes, and can therefore determine the automation and associated equipment and the related safeties and interlocks which can be effectively and properly used. When selecting automation and control equipment, and any other related equipment or software, for a particular application, you must also consider any applicable local, regional or national standards and/or regulations.

Some of the major software functions and/or hardware components used in the proposed architectures and examples described in this document cannot be substituted without significantly compromising the performance or conformance of your application. Further, any such substitutions or alterations may completely invalidate any proposed architectures, descriptions, examples, instructions, wiring diagrams and/or compatibility between the various hardware components and software functions specified herein and in related documentation. You must be aware of the consequences of any modifications, additions or substitutions.

WARNINGREGULATORY INCOMPATIBILITY

Be sure that all equipment applied and systems designed comply with all applicable local, regional and national regulations and standards.


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A residual risk, as defined by EN/ISO 12100-1, Article 5, will remain if: it is necessary to modify the recommended logic and if the added or modified components are

not properly integrated in the control circuit. you do not follow the required standards applicable to the operation of the machine, or if the

adjustments to and the maintenance of the machine are not properly made (it is essential to strictly follow the prescribed machine maintenance schedule).

the devices connected to any safety outputs do not have mechanically-linked contacts.

CAUTIONEQUIPMENT INCOMPATIBILITY

Read and thoroughly understand all device and software documentation before attempting any component substitutions or other changes related to the application examples provided in the document.

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

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Hoisting

Industrial Crane Architecture and Environment

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Chapter 2Industrial Crane Architecture and Environment

Overview

This chapter provides the hardware architecture and environment. Altivar 312 does not support the Safe Torque Off (STO) function. Consider replacing it with Altivar 32. To use Altivar 312 in a performance level d (PLd) architecture, the output of Preventa XPSMC Safety Controller is normally connected to Safe Torque Off input of a drive. Use this input to galvanically disconnect the motor from the drive and to open the brake circuit. To reach performance level d (PLd), use two contactors to disconnect the motor and two contactors to disconnect the brake.



Topic Page

Architecture Related Safety Information 16

Hardware Architecture 17

Hoisting Application System Requirements 19

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Architecture Related Safety Information

Remote Devices

Remote control operating devices may lead to unintended equipment operation by: incorrect operation insufficient view on the machine during operation unintentional manipulation

The manufacturer or the operating company of the machine must take precautions to avoid unintentional equipment operation that may be caused by remote control.


Place operator devices of the control system near the machine or in a place where you have full view of the machine.

Protect critical operator commands against unauthorized access (for example, by access control, password protection, or key switch).

Ensure that unintended equipment operation (for example by remote control) is prohibited at machine site.

If remote control is a necessary design aspect of the application, ensure that there is a local, competent, and qualified observer present when operating from a remote location.

Configure and install the RUN/STOP input for the application so that local control over the starting or stopping of the controller can be maintained regardless of the remote commands sent to any controller.


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Hardware Architecture

Overview

The following figure shows supported hardware architecture of an industrial crane. Altivar 71 is used for Hoist axis. Altivar 312, Altivar 32, and Altivar 71 variable speed drives are supported for trolley and translation (bridge) axes.

The application supports two controllers in this architecture. One controller controls movement of the crane and the other supervises correct function of the first controller.

Example of Template Architecture

The following figure shows an architecture example of template architecture:

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1 Ewon VPN Gateway 11 Preventa XPSMC

2 Magelis HMI STU 855 12 Altivar active front end

3 Tesys Compact NSX 13 ATV71

4 Phaseo power supply 14 XCC multitum CANopen encoder

5 eXLHoist receiver 15 XCC incremental encoder

6 Harmony XALK 16 XCKVR limit switch

7 Modicon M241 17 XR2 gear limit switch

8 eXLHoist transmitter 18 Scaime load cell

9 Harmony XVGU 19 PM3255 power meter

10 TeSys GV2 – –

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Hoisting Application System Requirements

Using the Library

For more detailed information, see Schneider Electric Libraries (see SoMachine, Functions and Libraries User Guide).

For IEC 61131-3 compatibility, the ability to add the EN/ENO input/output automatically to Function Blocks of certain programming languages is available to the programmer. However, for certain applications that require the complex interaction of multiple function blocks, the use of the IEC 61131-3 input to disable a function block in a series of interrelated functions affecting a process may lead to unintended operation of the system as a whole. For the functions contained in the Library that is the topic of the current document, this is especially true.

The EN/ENO inputs and outputs as defined by IEC 61131-3 are maladapted to, and therefore inappropriate for, the targeted application of these functions. Suddenly disabling one function by a falling edge on the EN input would require all outputs of the function block to immediately fall to their default states, and such an unanticipated action would cause in abrupt change to the entire process. The implication is that such an event would have deleterious results that may invoke undesirable consequences. Therefore, the EN/ENO inputs/outputs as defined by IEC 61131-3 are incompatible with the functions contained within this library.

NOTE: Verify that the EN/ENO option is disabled in the compiler options menu of SoMachine.


Verify the SoMachine libraries contained in your program are the correct version after updating SoMachine software.

Verify that the library versions updated are consistent with your application specifications.


WARNINGUNINTENDED MACHINE OPERATION

Do not use the EN/ENO functionality defined by IEC 61131-3 to control the behavior of the Application Function blocks.


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System Requirements

Requirements Description

M241 The M241 controllers are connected to the HMI through an Ethernet cable.

Encoder An encoder is used to provide position feedback to the application.The application example uses the position value of an incremental encoder connected to the hoist drive. You can also use different position measurement methods. For example, you can use an absolute encoder on CANopen. However, any alternate method would require a modification of the application example.

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Hoisting

Hardware Configuration

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Chapter 3Hardware Configuration

Overview

This chapter describes the inputs and outputs of both controllers.



Topic Page

Embedded I/Os of Controller 1 (MyController1) 22

Drive I/Os for Controller 1 (MyController1) 24

Embedded I/Os of Controller 2 (MyController2) 25

Embedded I/Os of Preventa XPSMC Safety Controller 27

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Embedded I/Os of Controller 1 (MyController1)

Overview

Some of the digital inputs of the M241 are used for signals coming from the crane and operator. The remaining signals are connected to the digital and analog inputs of the drives. The digital outputs of M241 provide the information about state of the machine. Other signals of the crane are connected to the digital and analog inputs of the drives, and are brought into the logic of the controller through CANopen.

Input Variables

TMC4HOIS01 hoisting cartridge:

TM3AI2H analog input module:

Input Variable Description

I0 li_xLsHstSlowFwd Signal from hoist slow forward limit switch (NC)

I1 li_xLsHstSlowRev Signal from hoist slow reverse limit switch (NC)

I2 li_xLsTrolSlowFwd Signal from trolley slow forward limit switch (NC)

I3 li_xLsTrolSlowRev Signal from trolley slow reverse limit switch (NC)

I4 li_xLsTransSlowFwd Signal from translation slow forward limit switch (NC)

I5 li_xLsTransSlowRev Signal from translation slow reverse limit switch (NC)

I6 li_xSpeedHstBit1 Bit 1 of speed selection for hoist axis

I7 li_xSpeedTrolBit1 Bit 1 of speed selection for trolley axis

I8 li_xSpeedTransBit1 Bit 1 of speed selection for translation axis

I9 li_xAswEn Command to enable Anti-sway

I10-I11 – Reserved

I12 li_xDcAppOk Application OK signal from the second M241 controller

I13 li_xDcAppOkPuls Application OK pulse signal from the second M241 controller.


IW0 i_iTrolDistVal Distance measurement 4...20 mA trolley forward

IW1 i_iTransDistVal Distance measurement 4...20 mA translation forward


IW0 i_iHoistLoadVal Load measurement 4...20 mA

IW1 – –

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Output Variables

Output Variable Description

Q0 lq_xAswActive Anti-sway function currently active

Q1 lq_xAlrm Application detected alarm present

Q2 lq_xOrangeLamp Overload - Orange lamp signal

Q3 lq_xRedLamp Overload - Red lamp signal

Q4 lq_xHorn Overload - Horn signal

Q5 lq_xLsTrolOk Information about the validity of trolley limit switch for XPSMC (TRUE when both limit switch channel signals are equal)

Q6 lq_xLsTransOk Information about the validity of translation limit switch for XPSMC (TRUE when both limit switch channel signals are equal)

Q7 lq_AppOk Application OK output for MyController 2

Q8 lq_xAppOkPuls Application OK pulse output for MyController 2

Q9 – Alarm output for XPSMC

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Drive I/Os for Controller 1 (MyController1)

Overview

The digital and analog inputs of the connected drives are read through CANopen and are used in the application.

Input Variables

The following inputs mapping are common to drives:

The following inputs mapping are specific to hoist drive:


LI1 Forward command Applicable for all drives

LI2 Reverse

LI3 Speed selection bit 1

LI4 Limit switch forward

LI5 Limit switch reverse

LI6 Forced local mode Applicable for all drivesIn local mode, another drive configuration must be used (multi-assignment for LI6)

AI1 Analog speed reference Applicable for all drives


LI7 Load length selector bit 0 Hoisting axis Anti-sway load length selectionBasic I/O extension card (hoist drive only)

LI8 Load length selector bit 1 Hoisting axis Anti-sway load length selectionBasic I/O extension card (hoist drive only)

LI9 Alarm reset Detected alarm resetBasic I/O extension card (hoist drive only)

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Embedded I/Os of Controller 2 (MyController2)

Overview

The digital inputs of controller 2 are used for mutual exchange of diagnostic information between the two controllers and for detection of overspeed situation.

Input Variables

TMC4HOIS01 hoisting cartridge:

TM3AI2H analog input module:


I0 – Phase 1 of quadrature counter for speed measurement

I1 – Phase 2 of quadrature counter for speed measurement

I2-I11 – Reserved

I12 li_xDcAppOk Application OK signal from the first M241 controller

I13 li_xDcAppOkPuls Application OK pulse signal from the first M241 controller

Analog input channel Variable Description

IW0 i_iTrolDistVal Distance measurement 4...20 mA trolley reverse

IW1 i_iTransDistVal Distance measurement 4...20 mA translation reverse

Analog input channel Variable Description

IW0 i_iHoistLoadVal Load measurement 4...20 mA

IW1 – –

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Output Variables


Q0 lq_xLsTrolOk Limit switch consistency check trolley

Q1 lq_xLsTrolOk Limit switch consistency check translation

Q2 lq_xLoadMeasOk Load measurement consistency check

Q3 lq_xSpeedMeasOk Speed measurement consistency check

Q4 – –

Q5 – –

Q6 – –

Q7 lq_xAppOk Application OK output for controller 1

Q8 lq_xAppOkPuls Application OK pulse output for controller 1

Q9 Alarm output Configured alarm output handled by controller runtime. Signal is connected to the Preventa XPSMC Safety Controller

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Embedded I/Os of Preventa XPSMC Safety Controller

Overview

The safety controller provides the status overview of its digital inputs and authorizes movement of crane axes. If the conditions are not fulfilled, the controller stops related axis using Safe Torque Off input of corresponding Altivar variable speed drive. The status of the inputs and outputs is read through CANopen.

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Inputs


I1 – Limit switch trolley forward stop (from cross limit switch or digital output of the distance measurement sensor).

I2 Limit switch trolley reverse stop (from cross limit switch or digital output of the distance measurement sensor).

I3 Limit switch trolley forward slow (from cross limit switch or digital output of the distance measurement sensor).

I4 Limit switch trolley reverse slow (from cross limit switch or digital output of the distance measurement sensor).

I5 Limit switch trolley OK.

I6 Laser distance consistency trolley.

I7 Limit switch translation forward stop (from cross limit switch or digital output of the distance measurement sensor).

I8 Limit switch translation reverse stop (from cross limit switch or digital output of the distance measurement sensor).

I9 Limit switch translation forward slow (from cross limit switch or digital output of the distance measurement sensor).

I10 Limit switch translation reverse slow (from cross limit switch or digital output of the distance measurement sensor).

I11 Limit switch translation OK.

I12 Laser distance consistency trolley.

I13 Load signal consistency.

I14 Overspeed measurement speed consistency.

I15 Safety top limit switch hoist, contact 1.

I16 Safety top limit switch hoist, contact 2.

I17 eXLHoist emergency stop, contact 1.

I18 eXLHoist emergency stop, contact 2.

I19 Alarm output M241CEC24T/U (MyController1).

I20 Alarm output M241CEC24T/U (MyController2).

I21 Key switch - safety override.

I22–32 Reserved.

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Outputs


Q1 – Connected to safe torque off (PWR) input of hoist ATV71.

Q2 Connected to safe torque off (PWR) input of trolley ATV71.

Q3 Connected to safe torque off (PWR) input of translation ATV71.

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Hoisting

Communication

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Communication

Chapter 4Communication

Overview

This chapter describes the communication.

This template uses two communication interfaces. The CANopen fieldbus connects the Modicon M241 Logic Controller to Altivar 71, Altivar 312, Altivar 32 variable speed drives and the second M241. Both M241 controllers and Magelis HMI STU 855 communicate through Ethernet.



Topic Page

Ethernet 32

CANopen 33

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Communication

Ethernet

The M241 is configured with a fixed IP address 192.168.1.55 and subnet mask 255.255.255.0.

The second M241 is configured with a fixed IP address 192.168.1.56 and subnet mask 255.255.255.0.

The HMI is configured with a fixed IP address 192.168.1.57 and subnet mask 255.255.255.0.

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Communication

CANopen

Controller 1 (MyController1)

CANopen is used for communication with Altivar variable speed drives. The configuration contains one Altivar 71 for hoisting axis and three variable speed drives (Altivar 71, Altivar 32, and Altivar 312) for each of the trolley and translation axes. Only one of the three possible drives may be used on trolley and translation axes.

The drives have pre-defined node IDs that must be correctly configured. For example, Altivar 32 used on trolley axis must be configured with node ID 3.

This configuration is necessary for compatibility with various drives without changes in the template project.

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Communication

Each of the seven pre-configured drives has a pre-defined node ID. Baud rate of CANopen bus is configured to 500 kb/s. PDOs are configured with objects used in the application. The objects have variables mapped to them. The PDOs are transferred cyclically (transmission type 1). M241 produces SYNC object with period of 10 ms. The drives are set to produce heartbeat object with producer time of 200 ms. The drives are configured as optional.

It is essential that the heartbeat remains configured for the template. In the case of a broken cable, or other loss of communication between the drives and the controller, the heartbeat is what is used by the drives to determine the loss of communication, and to take appropriate actions.

NOTE: The configuration has seven total drives configured. However, only up to three drives are physically present on the bus. This causes the CANopen Status LED of the M241 to flash to indicate the absence of the other drive options that are configured. This is expected as, in order to provide the flexibility in the template configuration, the possible drives have been mapped. The actual status of drives is displayed on the HMI display. You may wish to modify the template to remove the drives that are not applied in your application, though doing so would involve major modifications to the configuration and the application.

DANGERUNCONTROLLED MOTOR OPERATION

Verify that heartbeat is enabled on the controller and for all CANopen nodes.

Failure to follow these instructions will result in death or serious injury.

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Communication

Altivar 71 Configuration - Hoisting Axes (Node ID 1)

Altivar 312 Configuration - Trolley312 Axis (Node ID 2)

Object Index/Subindex Variable

Receive process data object (RPDO1)

Control word 6040/00h Hoist_Cw

Target velocity 6042/00h Hoist_Tv

Acceleration 203C/02h Hoist_Acc

Deceleration 203C/03h Hoist_Dec

Transmit process data object (TPDO1)

Status word 6041/00h Hoist_Sw

Control effort 6044/00h Hoist_Ce

Motor current 2002/05h Hoist_Mc

Motor torque 2002/06h Hoist_Mt


IL1R 2016/03h Hoist_In

PUC 201A/0Ch Hoist_Puc

AI1 2016/2Bh Hoist_Ai1

AI2 2016/2Ch Hoist_Ai2



Drivecom command register

6040/00h Trolley312_Cw


Target velocity 6042/00h Trolley312_Tv

Acceleration ramp time 203C/02h Trolley312_Acc

Deceleration ramp time 203C/03h Trolley312_Dec



6041/00h Trolley312_Sw


Control effort 6044/00h Trolley312_Ce

Motor current 2002/05h Trolley312_Mc

Logic input/output image 2016/29h Trolley312_Li

Physical value AI1 2016/2Bh Trolley312_Ai

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Communication





Control word 6040/00h Trolley32_Cw


Acceleration 203C/02h Trolley32_Acc

Deceleration 203C/03h Trolley32_Dec


Status word 6041/00h Trolley32_Sw


LCR 2002/05h Trolley32_Mc

IL1R 2002/06h Trolley32_Li


AI1R 2016/03h Trolley32_Ai



Control word 6040/00h Trolley71_Cw


Acceleration 203C/02h Trolley71_Acc

Deceleration 203C/03h Trolley71_Dec


Status word 6041/00h Trolley71_Sw


Motor current 2002/05h Trolley71_Mc

IL1R 2002/06h Trolley71_Li


AI1R 2016/03h Trolley71_Ai

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Communication

Altivar 312 Configuration - Translation312 Axis (Node ID 5)





6040/00h Translation312_Cw


Target velocity 6042/00h Translation312_Tv

Acceleration ramp time

203C/02h Translation312_Acc

Deceleration ramp time

203C/03h Translation312_Dec



6041/00h Translation312_Sw


Control effort 6044/00h Translation312_Ce

Motor current 2002/05h Translation312_Mc

Logic input/output image

2016/29h Translation312_Li

Physical value AI1 2016/2Bh Translation312_Ai



Control word 6040/00h Translation32_Cw


Acceleration 203C/02h Translation32_Acc

Deceleration 203C/03h Translation32_Dec


Status word 6041/00h Translation32_Sw


LCR 2002/05h Translation32_Mc

IL1R 2002/06h Translation32_Li


AI1R 2016/03h Translation32_Ai

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Communication




Control word 6040/00h Translation71_Cw


Acceleration 203C/02h Translation71_Acc

Deceleration 203C/03h Translation71_Dec


Status word 6041/00h Translation71_Sw


Motor current 2002/05h Translation71_Mc

IL1R 2002/06h Translation71_Li


AI1R 2016/03h Translation71_Ai

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Communication

Preventa XPSMC Safety Controller (Node ID 9)



Status byte 2000/00h –

Mode byte 2001/00h

Reserved 2002/00h

2003/00h

Input data state (9-16) 2004/00h i_bXPSMC1





Output data state (1-8) 2008/00h i_bXPSMC4

Unused 2009/00h –

Detected input error (9-16) 200A/00h

Detected input error (1-8) 200B/00h

Detected input error (25-32) 200C/00h

Detected input error (17-24) 200D/00h

Detected output error (1-8) 200E/00h

Unused 200F/00h


Diagnostic information 2010/00h –

2011/00h

2012/00h

Unused 2013/00h

Diagnostic information 2014/00h

2015/00h

2016/00h

Unused 2017/00h


Diagnostic information 2018/00h –

2019/00h

201A/00h

Unused 201B/00h

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Communication

Slave M241 Configuration (Node ID 10)

Active Front End (AFE) (Node ID 11)



PosTrolFwdIn_1 3000/01h q_iPosTrolFwdIn

PosTrolRevIn_1 3001/01h q_iPosTrolRevIn

PosTransFwdIn_1 3002/01h q_iPosTransFwdIn

PosTransRevIn_1 3003/01h q_iPosTransRevIn


LoadHoistIn_1 3004/01h q_iLoadHoistIn

SpeedHoistIn_1 3005/01h q_iSpeedHoistIn

AppStatIn_1 3006/01h q_wAppStatIn


PosTrolFwdOut_1 3800/01h i_iPosTrollFwdOut

PosTrolRevOut_1 3801/01h i_iPosTrolRevOut

PosTransFwdOut_1 3802/01h i_iPosTransFwdOut

PosTransRevOut_1 3803/01h i_iPosTransRevOut


LoadHoistOut_1 3804/01h q_iLoadHoistOut

SpeedHoistOut_1 3805/01h q_iSpeedHoistOut



Status word 3010/01h i_wStatAFE

act_value 1 3010/02h –



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Hoisting

Drive Configuration

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Drive Configuration

Chapter 5Drive Configuration

Overview

This chapter describes a subset of parameters required for the optimum performance and operation of the template application. For more information concerning the configuration of Altivar variable speed drives, refer to the documentation of the devices.

NOTE: You must configure variable speed drives according to the crane and specific application conditions and circumstances.



WARNINGUNGUARDED EQUIPMENT

Do not use this software and related automation equipment on equipment which does not have point-of-operation protection.

Do not reach into machinery during operation.


Topic Page

Hoisting Drive 42

Drives for Horizontal Axes 44

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Drive Configuration

Hoisting Drive

Overview

The following steps describe the configuration of the hoisting drive: The drive must be configured to work in closed loop. Set the drive to factory settings. Set the correct motor parameters. The macro configuration selection has to be set first as it changes multiple parameters. Perform the autotuning and encoder check.

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Drive Configuration

Parameter Configuration - Altivar 71

The following table describes the configuration of parameters specific to the hoisting drive:

Menu Submenu Parameter Value Type

Simply start (SIM-) – Macro configuration (CFG)

Hoisting (HdG) Mandatory

Command (CtL-) Profile (CHCF) Not separ. (SIM)

Ref. 1 channel (Fr1) CANopen (CAn)

Settings (SEt-) Low speed (LSP) 0

Acceleration 2 (AC2) According to hardware

Optional

Deceleration 2 (dE2)

Motor control (DC) Motor control type (Ctt)

FC Mandatory

Number of pulses (PGI)

According to encoder used

Application function (FUn-)

Brake logic control (bLC-)

Brake assignment (bLC)

R2 (r2)

Movement type (bSt)

Hoisting (HOr)

Brake release time (brt)

According to hardware

Brake engage delay (tb)

Ramp (rPt-) Ramp switch ass. (rPS)

LI6(LI6)

Optional

Communication (COM-) Forced local (LCF-) Forced local assign. (FLO)

Forced local ref. (FLOC)

AI2(AI2)

Inputs/Outputs configuration (I_O-)

AI2 configuration (AI2-)

AI2 Interm. point Y (AI2S)

20% (20)

Fault management (FLt-)

Fault reset (rSt-) Fault reset (rSF) LI6(LI6)

Communication fault management (CLL-)

CANopen fault management (COL)

Freewheel (YES) Mandatory

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Drive Configuration

Drives for Horizontal Axes

Overview

The drives for trolley and translation axes are configured similarly. The drives for horizontal movements are expected to work in open loop. Vector motor control mode increases the accuracy of motor speed, which has a positive influence on performance of the Anti-sway function. However, some third-party equipment cannot support the Vector motor control mode. In this case, Scalar motor control mode may be used, though some degradation of performance may be realized.

The following steps describe the configuration of these drives: Set the drive to factory settings. Set the correct motor parameters. The macro configuration selection has to be set first as it changes multiple parameters. Perform the auto-tuning.

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Drive Configuration

Parameter Configuration - Altivar 71 and Altivar 32

The following table describes the configuration of parameters specific to the drives for horizontal axes:


Simply start (SIM-) – Macro configuration (CFG)

Start/Stop (HdG) Mandatory

Command (CtL-) Profile (CHCF) Not separ. (SIM)

Ref. 1 channel (Fr1)

CANopen (CAN)

Settings (SEt-) Acceleration 2 (AC2)

5.0 Optional

Deceleration 2 (dE2)

Low speed (LSP) 0

Application function (FUn-) Brake logic control (bLC-) Brake assignment (bLC)

R2 (r2) Mandatory

Movement type (bSt)

Traveling (HOr)



Brake engage delay (tb)

Ramp (rPt-) Ramp switch ass. (rPS)

LI6 (LI6) Optional

Communication (COM-� Forced local (LCF-) Forced local assign. (FLO)

Forced local ref. (FLOC)

AI2 (AI2)

Inputs/Outputs configuration (II_O-)

AI2 configuration (AI2-) AI2 Interm. point Y (AI2S)

20% (20)

Fault management (FLt-) Fault reset (rSt-) Fault reset (rSF) LI6 (LI6)

Communication fault management (CLL-)


Freewheel (YES)

Mandatory

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Drive Configuration

Parameter Configuration - Altivar 312

The following table describes the configuration of parameters specific to the Altivar 312 drive:


Control (CtL-) – Function access level (LAC)

Access to advanced function (L3)

Mandatory

Mixed mode (CHCF)

Combined (SIM)

Configuration reference (Fr1)

Reference from CANopen (CAN)

Settings (SEt-) Low speed (LSP) 0 Optional

Application function (FUn-) Second acceleration ramp time (AC2)

5.0

Second deceleration ramp time (dE2)

Brake control (bLC-) Brake control configuration (bLC)

(2) Mandatory

Brake engage frequency threshold (bEn)

0



Brake engage time (bEt)

Ramp switching (rPS)

LI6 Optional

Preset speeds (PSS-) 2 preset speeds (PS2)

nO Mandatory

4 preset speeds (PS4)



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Drive Configuration

Communication (COM-) – Forced local mode (FLO)

LI6 Optional

Forced local reference (FLOC)

AI2

Fault (FLt-) Reset of current fault (rSF)

LI6


Freewheel stop (YES)

Mandatory


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Drive Configuration

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Hoisting

Application Software

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Application Software Controller 1 (MyController1)

Chapter 6Application Software Controller 1 (MyController1)

Overview

This chapter describes the application software.


This chapter contains the following sections:

Section Topic Page

6.1 Library Manager 50

6.2 Task Configuration 51

6.3 Global Variables 52

6.4 Using CSV File for Automatic Configuration 53

6.5 Crane Control 58

6.6 Application Parameters 70

6.7 CanOpenState Program 77

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Library Manager

Section 6.1Library Manager

Library Manager

The Hoisting library is added manually. The rest of the libraries are configured automatically. The necessary libraries are already configured in the template project.

NOTE: The SoMachine Standard software includes the basic versions of the Hoisting library. The advanced versions of the Hoisting library must be purchased apart from the SoMachine Standard software. Both versions of the libraries must be licensed.

The Industrial Crane M241 safety project template requires the advanced version of the Hoisting library.

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Task Configuration

Section 6.2Task Configuration

Task Configuration

The following table describes the tasks configuration of the Hoisting application template project:

Task Program Organization Unit (POU) Type Description

MAST Application_MastTask Cyclic Contains hoisting POUs. It is a parent task for CANopen communication and runs with defined cycle time

Freewheel_Task DrivesConfigApplicParam

Freewheeling Contains POUs for configuration of drive data and parameterization of the application. The priority of this task is lower than the priority of MAST task.

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Global Variables

Section 6.3Global Variables

Global Variables

The object global variable list (GVL) contains global variables used for monitoring the system status and parameterization of the project template application. You can execute the initial variable values through external data file management after first start of the controller or while commissioning through HMI STU.

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Using CSV File for Automatic Configuration

Section 6.4Using CSV File for Automatic Configuration

Using CSV File for Automatic Configuration

Application Parameters

The ApplicationParameters.csv file contains set of application parameters. Each parameter is defined on one line.

Each line consists of 2 columns: Variable name Value to configure

You can parameterize the Hoist, Trolley, and Bridge programs either through HMI or a .csv file. The ApplicParam program allows initialization of up to 100 variables. The initialization of the application is done automatically after controller boot-up.

The ApplicParam program compares the variable names from a .csv file with the variable names defined in the application to help avoid writing values incorrectly. You can modify this program to meet customer-specific application requirements.

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Configuration of Variable Speed Drives

The DrivesConfiguration.csv file contains set of drive parameters. Each parameter is defined on one line.

Each line consists of 4 columns: Node Id CANopen index (hex) CANopen subindex (hex) Value to configure

This template includes seven drives of three different types, the hoisting drive is ATV 71, the trolley, and translation axes use Altivar 71, Altivar 312 or Altivar 32. Only three drives may be connected at a time. The configurations of the connected devices are automatically executed directly after the controller restart. The program DrivesConfig reads the device node Id, Index, Subindex of CANopen object from the .csv file.

Exporting Data from Excel File to CSV File

The following steps describe how to export data from an Excel file to .csv file:

Step Action

1 Create a spreadsheet that includes information in a form defined in the previous sections.

2 Click Save As to save the spreadsheet as a .csv file.

3 Select the file type as CSV (comma delimited) from the menu.

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Implementation of Parameterization in the Application Template

The following function blocks are used to open, read, and close the configuration files Application-Parameters.csv and DrivesConfiguration.csv.

File.Open

This function block of the CAA_File.Library opens an already existing file or creates a new one. The return value is a file handle, which can then be used as an input hFile in the function blocks File.Read and File.Close. There may be restrictions concerning the specification of the directory name. For example, only capital letters are allowed, for different targets.

The following table describes the inputs of this function block:

The following table describes the outputs of this function block:

Input Type Description

xExecute BOOL See CAA guidelines in SoMachine online help (CAA Libraries /CAA_FILE.library/Modules/Function blocks - File services/FILE.Open)

sFileName CAA.FILENAME File name including directory path: No special characters Separator for subdirectories / Absolute or relative path

specifications No empty spaces Use capital letters

eFileMode FILE.MODE Mode in which the file should be accessed.

xExclusive BOOL File access mode: TRUE: exclusive data access. FALSE: multiple data access

possible

Output Type Description

xDone BOOL See CAA guidelines in SoMachine online help (CAA Libraries /CAA_FILE.library/Modules/Function blocks - File services/FILE.Open)

xBusy

xError

eError FILE.ERROR ID error detected

hFile CAA.HANDLE File handle

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File.Read

This function block of the CAA_File.Library reads the file, which was previously opened through File.Open. If fewer characters can be read than specified in szBuffer, the function block returns an active xDone and indicates the current number of characters in szSize. The size of the target memory structure for the bytes to be read and the number of bytes to be read are not validated.




xExecute BOOL See CAA guidelines in SoMachine online help (CAA Libraries /CAA_FILE.library/Modules/Function blocks - File services/FILE.Read)

xAbort

udiTimeOut UDINT –


pBuffer CAA.PVOID Target address for the first byte to be read. This is retrieved through the operator ADR

szBuffer CAA.SIZE Maximum number of bytes to be read. This is retrieved through the operator sizeof


xDone BOOL See CAA guidelines in SoMachine online help (CAA Libraries /CAA_FILE.library/Modules/Function blocks - File services/FILE.Read)

xBusy

xError

xAborted


szSize CAA.SIZE Current number of successfully read bytes. This value is already valid before xDone has been set

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File.Close

This function block of the CAA_File.Library terminates the file access that is it closes the file.




xExecute BOOL See CAA guidelines in SoMachine online help (CAA Libraries /CAA_FILE.library/Modules/Function blocks - File services/FILE.Close)



xDone BOOL See CAA guidelines in SoMachine online help (CAA Libraries /CAA_FILE.library/Modules/Function blocks - File services/FILE.Close)

xBusy

xError


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Crane Control

Section 6.5Crane Control

Overview

This section provides brief description of the function blocks used in the template including description of their detected alarm identification outputs for a quick reference in case of a detected alarm. For a detailed description, refer to the online help of the function blocks in SoMachine.

What Is in This Section?

This section contains the following topics:

Topic Page

Application_MastTask 59

Hoisting_Axis 62

Trolley_Axis and Translation_Axis 67

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Application_MastTask

Introduction

Application master task executes programs for hoisting axes, monitoring the presence of CANopen devices, and calibration of cable length necessary for Anti-sway function. It also connects global variables used for configuration to the application.

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Components of Application_MastTask

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CanOpenState

Program CanOpenState provides basic information about status of eight configured CANopen nodes. For each node, it gives TRUE value if the device is in operational state and FALSE if the device is not in operational state or is not connected on the bus.

Load Length Selection

Load length selection consists of an instance of auxiliary function block BiMux that combines 2 bits to a number of WORD datatype and a multiplexer that selects one of three pre-defined load lengths or a zero value.

CableLengthEnc_2

The function block CableLengthEnc_2 calculates length of pendulum for Anti-sway function from the encoder pulses and load length value.

The following table describes the possible detected alarm states:

DiagnosticCoverage

The function block DiagnosticCoverage compares application signature and firmware version with a configured value. It also watches executions of subprograms and actual cycle time of a cyclic task and provides interface for cross-checking of the two controllers. Internally, it tests integrity of variable memory and accuracy of boolean and floating point operations.The output of the function block is used to authorize movement of axes.

NOTE: The function block requires the correct firmware version and application signature in order to authorize movement of the crane. This information must be entered during commissioning. For more information please refer to the description of the DiagnosticCoverage FB.

DriveMux

Auxiliary function block DriveMux selects the drive present on CANopen bus and forwards the input values to the translation and trolley axes program. If more than one CANopen node from the range is reserved for trolley (node IDs 2, 3, 4) or translation (node IDs 5, 6, 7) respectively, the function block enters a detected alarm state.

Axes Programs

The programs Trolley_axis, Translation_Axis, and Hoisting_Axis includes the functions associated with these axes. These are described further in this document.

Alarm Status Description

Bit 0 i_stCLE.rCbleLenMin < 0.5

Bit 1 i_stCLE.rCalbCbleLen < i_stCLE.rCbleLenMin

Bit 2 i_stCLE.rLoadLen < 0

Bit 3 i_stCLE.diCalbPulsVal < 0

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Hoisting_Axis

Introduction

This includes instances of function blocks used to control hoisting axis of the crane. Hoisting axis uses Altivar 71. To reach higher performance level, position of the hoist is limited by signal from limit switches and position acquired from an absolute encoder.

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Components of Hoisting_Axis

The following figure shows the components of Hoisting_Axis:

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Limit Switch Management

The LimitSwitch function block reads limit switch inputs from the field. It verifies the limit switch status and generates the control outputs used to control the movements of the hoist. The function block is to be used with cross and screw limit switches by using normally closed (NC) contacts. The contacts indicate the specific status, for example, the stop position.


Speed Select

This function block allows selection of pre-defined speed references using digital inputs. It reduces the speed reference if the slow-down limit switch is reached. It allows throughput of analog speed reference if the analog input is used.


Speed Optimisation Rope Slack

During the movement of a hoist, the load can range between the empty hook and maximum load, but the same nominal speed is used to drive the hoist. The speed optimization function helps you to maintain an optimum working time and increased productivity.


Alarm Status description

Bit 0 Incorrect order of limit switch signals detected

Bit 1 i_wDrvSpdNom is zero although stop on distance is enabled

Bit 2 i_wMotSpdLin is zero although stop on distance is enabled

Bit 3 i_wScalFact is zero although stop on distance is enabled


Bit 0 i_DrvSpdHsp ≤ i_wDrvSpdLsp

Bit 1 One of the preselectable speeds (1–8) is lower than i_wDrvSpdLsp

Bit 2 One of the preselectable speeds (1–8) is higher than i_wDrvSpdHsp


Bit 0 i_wDrvSpdLsp ≥ i_wDrvSpdHsp

Bit 1 i_wDrvSpdNom > i_wDrvSpdHsp

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Overload_EN15011

The function block reads the torque inputs from the hoist drive. This enables you to detect an overload situation according to the calibrated torque threshold. At 90% of nominal calibrated torque, an alert is indicated by lights and horn. If the torque value indicates an overload situation, the function block generates a detected overload alarm. This detected alarm must be interlocked with forward command for hoist axis to block upward (lifting) movement of the load.


Altivar 71_Control

This function block (available in Altivar library) is the device control function block used to control Altivar 71 drives through communication interface.

Load Overspeed Control

The LoadOverspeedCtrl function block helps you to detect overspeed, brake wear, detected alarm, and detected sensor feedback alarms. This function block detects a load overspeed by monitoring the pulse input of the controller. The brake wear function tests the wear of the hoist brake by detecting any movement of the load when the drive is not running.



Bit 0 i_stOVLD.wSpdDbnd > i_stOVLD.wMeasFreq

Bit 1 i_stOVLD.wAntiTip < 2

Bit 2 Overload timer > 5 hours


Bit 0 Overspeed

Bit 1 Brake wear

Bit 2 Detected sensor feedback alarm

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MaintenanceDataStorage_2

The function block helps you in choosing the right time for maintenance, with an accurate record of the movements and loads. In the case of many movements with a high load, you can schedule maintenance work before a component breaks down and helps you to remove long down times. When the loading is occasional, you can postpone maintenance, leading to a longer life cycle and optimized maintenance costs.


StatisticDataStorage_2

This function block measures the operation time and number of operations of an axis. It also measures the number of backtracking and pulsating operations, but those are not used in this template.


Bit 0 i_stMDS.wHstDrvOphrMax was left at zero (default) or is not connected

Bit 1 i_stMDS.rTrqLoadNom was left at zero (default) or is not connected (and i_stMDS.xLcEn is FALSE)

Bit 2 i_stMDS.dwCranLoadNom was left at zero (default) or is not connected (and i_stMDS.xLcEn is TRUE)

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Trolley_Axis and Translation_Axis

Introduction

The programs for control of trolley and translation axes are identical in this example. The programs contain instances of function blocks used to control horizontal movement of the crane. Each program contains three instances of Altivar control function blocks for Altivar 71, Altivar 32, and Altivar 312. As only one drive is allowed to be connected per axis, only one of these function blocks are connected to an active drive at a time.

Components of Trolley_Axis and Translation_Axis

The following figure displays the components of trolley and translation axes.

ScaleInput

The function block ScaleInput is used to scale analog input value from AI1 of the drive to speed reference range. Usage of analog input for speed reference is alternative to the selection of speed reference using digital inputs.



Bit 0 The sensor output is outside the hardware range.

Bit 1 Device hardware alarm detected. The detected alarm bit from the sensor is high.

Bit 2 Device input is lower than the threshold of minimum input-range.

Bit 3 Device input is higher than the threshold of maximum input-range.

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SpeedSelect

The function block SpeedSelect enables selection of pre-defined speed references using digital inputs. It reduces the speed reference if slow-down limit switch is reached. It allows throughput of analog speed reference if analog input is used.


AntiSwayOpenLoop_2

This function block for industrial cranes is designed to suppress the sway of a suspended load caused by movement of the bridge and trolley of the crane. It is suitable for both manually operated and automatic cranes. It is an evolution of AntiSwayOpenLoop function block.


StatisticDataStorage_2

The function block StatisticDataStorage_2 measures the operation time and number of operations of an axis. The information acquired by this function block is displayed in user menu 1.14 of local Altivar 71. Although, the StatisticDataStorage_2 function block is capable of measuring number of backtracking and pulsating operations, this information is not used by this hoisting application template project.

Altivar 71_Control, Altivar 32_Control, and Altivar 312_Control

These function blocks (available in Altivar library) are device control function blocks used to control Altivar drives through communication interface. Three function blocks are used in each of the programs for horizontal movement. This is possible as the application works only if one drive per axis is present.


Bit 0 i_DrvSpdHsp ≤ i_wDrvSpdLsp.

Bit 1 One of the preselectable speeds (1...8) is lower than i_wDrvSpdLsp.

Bit 2 One of the preselectable speeds (1...8) is higher than i_wDrvSpdHsp.


Bit 0 One or more of the function block inputs is/are out of range.

Bit 1 One or more of the function block input structure elements is/are out of range.

Bit 2 Tried to initialize the anti-sway, but the anti-sway speed profile is currently active → output of the anti-sway.

Bit 3 Command to enable anti-sway is given while previous profile has not yet been finished.

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Speed Consistency Check

The speed consistency check code detects a significant difference between actual speed of the motor and the speed reference. The difference that triggers the detected alarm is hard-coded to two-thirds of maximum speed. The margin is necessary to avoid false alarms detected at high accelerations and longer execution periods. This value can be changed in the code only (not through the interface).

Alarm Management

Alarm management consists of one OR block, which stops the axis using a quick stop input of an Altivar_Control function block.

Estimation of Stop Distance

The estimation of stop distance of trolley and translation axes is performed by AntiSwayOpenLoop_2 function block if display parameters TrDistCalcEn and respective BrDistCalcEn are set to TRUE. You can read over the calculated values Modbus TCP at the IP address of the M241 (Unit id 252). The values are available in 32-bit floating point form at the addresses %MW0, %MW1 for translation movement and %MW2, %MW3 for trolley movement.

Distance Measurement - Limit Switch

This routine calculates the actual position of the horizontal axes based on reading from laser range finders and gives limit switch signals based on the calculated position and pre-configured limits.

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Application Parameters

Section 6.6Application Parameters

Display Parameters

Overview

The following tables provide the details about the application parameters and application states. You can modify the application parameters either by using CSV file or through the HMI interface. For detailed information about the configuration of the function blocks, refer to the applicable function block documentation in SoMachine.

User Main Parameters (Menu 1)

Parameter Description Access

g_xCanStatNode01 CANopen status of hoisting Altivar 71 (NA/OK) R

g_xCanStatNode02 CANopen status of trolley Altivar 312 (NA/OK)



g_xCanStatNode05 CANopen status of translation Altivar 312 (NA/OK)



g_xCanStatNode09 CANopen status of Preventa XPSMC_ZC (NA/OK)

g_xCanStatNode10 CANopen status of M241 Slave Controller (NA/OK)

g_xCanStatNode11 CANopen status of AFE (NA/OK)

g_xHstAlrm Application alarm of hoisting axis

g_xTransAlrm Application alarm of translation axis

g_xTrolAlrm Application alarm of trolley axis

g_xHstOvld Hoist overload alarm

g_xHstOvldWrn Hoist overload warning

g_xOvspdAlrm Hoist overspeed alarm

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g_wHstMdsAlrmId Alarm ID of MaintenanceDataStorage_2 function block

R

g_wHstOvldAlrmId Alarm ID of Overload_EN15011 function block

g_wHstSorsAlrmId Alarm ID of SpeedOptRopeSlack function block

g_wHstSsAlrmId Alarm ID of SpeedSelect function block of hoist axis

g_wHstLsAlrmId Alarm ID of LoadOverspeedCtrl function block of hoist axis

g_wHstSi1AlrmId Alarm ID of ScaleInput function block for analog speed reference for hoist axis

g_wHstSi2AlrmId Alarm ID of ScaleInput function block for scaling of load cell reading

g_wCblLenAlrmId Alarm ID of CableLength_Enc_2 function block

g_wTransSSAlrmId Alarm ID of SpeedSelect function block for translation

g_wTransASAlrmId Alarm ID of AntiSwayOpenLoop_2 function block for translation

g_wTransSIAlrmId Alarm ID of ScaleInput function block for analog speed reference for translation axis

g_xTransSDAlrm Information about speed consistency alarm of translation movement (activates at high difference of actual speed of the motor and its speed reference)

g_wTrolSSAlrmId Alarm ID of SpeedSelect function block for trolley

g_wTrolASAlrmId Alarm ID of AntiSwayOpenLoop_2 function block for trolley

g_wTrolSIAlrmId Alarm ID of ScaleInput function block for analog speed reference for trolley axis

g_xTrolSDAlrm Information about speed consistency alarm of translation movement (activates at high difference of actual speed of the motor and its speed reference)


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Hoist Parameters (Menu 2)


g_rHstActlMass Actual measured mass (kg) R

g_wHstSpdRef1 Speed reference 1 for hoisting drive (rpm) R/W

g_wHstSpdRef2 Speed reference 2 for hoisting drive (rpm)



g_wHstMotCoef Hi-speed value for hoisting drive (rpm)

g_wHstCalbWght Weight for calibration of Overload_EN15011 function block (t)

g_wHstMotCoef Scaling factor for the motor speed limitation in motor mode (%)

g_wHstGenCoef Scaling factor for the motor speed limitation in generator mode (%)

g_wHstNomSpd Nominal speed of hoisting motor (rpm)

g_wHstHookTrqUp Hook torque in forward direction (%)

g_wHstGenTimeAvg Time of sampling of torque for calculation of maximum allowed speed in forward direction

g_wHstHookTrqDown Hook torque in reverse direction (%)

g_wHstSpdDbnd Speed dead band for the Overload_EN15011 to consider the measurement speed reached (rpm)

g_wHstTrqBndCnt Number of cycles at which the torque must be inside the dead band (–)

g_wHstTrqBndWdth Torque dead band (%)

g_wHstSmple Number of samples for calculation of actual load (–)

g_wHstMeasFreq Speed at which the load measurement takes place (rpm)

g_wHstTrqThres Torque increase threshold to detect the change of load (%)

g_wHstAntiTip Maximum number of turns of the motor shaft without torque measurement (–)

g_wHstEncPuls Number of pulses per revolution of the encoder (–)

g_wHstNoTrq No load torque of the motor (without hook) (%)

g_rHstOvldThres Tolerance of load for entering overload state (–) R/W

g_wHstActWghtThres Threshold to enable the actual load output pin (kg)

g_wHstMaxThshOput Maximum of the scaled value. Maximum measurable load (t)

g_wHstMinThshIput Minimum allowed raw value from the load cell sensor (–)

g_wHstMaxThshIput Maximum allowed raw value from the load cell sensor (–)

g_xHstOvldCalb Command to start the overload calibration

g_xHstOvldEn Command to enable the overload test

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Horizontal Parameters (Menu 3)


g_xCableLengthCalb Enables calibration of the cable length R/W

g_rLoadLength1 First preselected length of the load (m)

g_rLoadLength2 Second preselected length of the load (m)

g_rLoadLength3 Third preselected length of the load (m)

g_rCbleLenMin Minimum cable length - length of the pendulum when hoist is on the top limit switch (m)

g_rCalbCbleLen Length difference between top limit switch and calibration position of the hoist (m)

g_diCalbPulsVal Value containing number of encoder pulses of the incremental encoder corresponding to the calibration length. Used for anti-sway (optional) (–)

g_rLenAct Actual measured length of the hoist cable (m) R

g_wTrolHsp Maximum speed of trolley motor (rpm) R/W

g_wTrolSpdRef1 First speed reference for trolley motor (rpm)

g_wTrolSpdRef2 Second speed reference for trolley motor (rpm)

g_wTrolSpdRef3 Third speed reference for trolley motor (rpm)

g_wTrolSpdRef4 Fourth speed reference for trolley motor (rpm)

g_rTrolSpdLinMax Linear speed of the trolley movement at maximal speed of the trolley motor (m/s)

g_wTrolAccDsbl Acceleration time of the trolley movement used when the Anti-sway function is disabled

g_wTrolDecDsbl Deceleration time of the trolley movement used when the Anti-sway function is disabled

g_wTrolAswAccStrt Acceleration time of the trolley movement used for low speed before Anti-sway function is activated

g_wTrolAswDecStrt Deceleration time of the trolley movement used for low speed before Anti-sway function is activated

g_wTrolAswRampLim The steepest acceleration/deceleration time of the trolley movement the Anti-sway function block is allowed to use for calculation of speed profiles

g_wTrolDrvDecEmgy Emergency deceleration time of the trolley movements

g_wTrolBrakDly How long the trolley motor brake needs to open (ms)

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g_rTrolCoefFrct Friction coefficient of the rope-pulley system on trolley movement (–) R/W

g_wTrolAswSpdStrt Speed of the trolley motor at which the Anti-sway action starts (%)

g_wTrolAswSpdEnd Speed of the trolley motor at which the Anti-sway action stops (%)

g_wTrolAswTimeEnd Time window for stopping of the Anti-sway movement (ms)

g_rTrolCalcDistEn Command to enable the stop distance estimation for trolley axis

g_rLsStopFwdTrolDist Distance of limit switch forward of trolley axis (0.1 m)

g_rLsStopRevTrolDist Distance of limit switch reverse of trolley axis (0.1 m)

g_rLsSlowFwdTrolDist Distance of limit switch slow forward of trolley axis (0.1 m)

g_rLsSlowRevTrolDist Distance of limit switch slow reverse of trolley axis (0.1 m)

g_rDistMaxTrolFwd Maximum distance measured by the analog distance sensor for limit switch forward of trolley axis (0.1 m)

g_rDistMaxTrolRev Maximum distance measured by the analog distance sensor for limit switch reverse of trolley axis (0.1 m)

g_wLsModeTrol Mode of limit switch for trolley axis:0: forward cross and reverse cross1: forward cross and reverse analog2: forward analog and reverse cross3: forward analog and reverse analog

g_wTransHsp Maximum speed of translation motor (rpm)

g_wTransSpdRef1 First speed reference for translation motor (rpm)

g_wTransSpdRef2 Second speed reference for translation motor (rpm)

g_wTransSpdRef3 Third speed reference for translation motor (rpm)

g_wTransSpdRef4 Fourth speed reference for translation motor (rpm)


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g_rTransSpdLinMax Linear speed of the translation movement at maximal speed of the translation motor (m/s)

R/W

g_wTransAccDsbl Acceleration time of the translation movement used when the Anti-sway function is disabled

g_wTransDecDsbl Deceleration time of the translation movement used when the Anti-sway function is disabled

g_wTransAswAccStrt Acceleration time of the translation movement used for low speed before Anti-sway function is activated

g_wTransAswDecStrt Deceleration time of the translation movement used for low speed before Anti-sway function is activated

g_wTransAswRampLim The steepest acceleration/deceleration time of the translation movement the Anti-sway function block is allowed to use for calculation of speed profiles

g_wTransDrvDecEmgy Emergency deceleration time of the translation movements

g_wTransBrakDly How long the translation motor brake needs to open (ms)

g_rTransCoefFrct Friction coefficient of the rope-pulley system on translation movement (–)

g_wTransAswSpdStrt Speed of the translation motor at which the Anti-sway action starts (%)

g_wTransAswSpdEnd Speed of the translation motor at which the Anti-sway action stops (%)

g_wTransAswTimeEnd Time window for stopping the Anti-sway movement (ms)

g_xTransCalcDistEn Command to enable the stop distance estimation for translation axis

g_rLsStopFwdTransDist Distance of limit switch forward of translation axis (0.1 m)

g_rLsStopRevTransDist Distance of limit switch reverse of translation axis (0.1 m)

g_rLsSlowFwdTransDist Distance of limit switch slow forward of translation axis (0.1 m)

g_rLsSlowRevTransDist Distance of limit switch slow reverse of translation axis (0.1 m)

g_rDistMaxTransFwd Maximum distance measured by the analog distance sensor for limit switch forward of translation axis (0.1 m)

g_rDistMaxTransRev Maximum distance measured by the analog distance sensor for limit switch reverse of translation axis (0.1 m)

R/W

g_wLsModeTrans Mode of limit switch for translation axis:0: forward cross and reverse cross1: forward cross and reverse analog2: forward analog and reverse cross3: forward analog and reverse analog


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Monitoring Parameters (Menu 4)


g_dwHstLoadNom Nominal load of the hoist (kg) R/W

g_wHstFemHrs Lifetime of the hoist (h)

g_xHstHrsPrAl Pre-alarm state R

g_xHstHrsAlrm Alarm state

g_wHstDrvOphrRm Remaining hours of operation (h)

g_wHstDrvOphrActl Elapsed hours of operation (h)

g_wHstDrv300OpHr Number of hours with more than 300 operations (h)

g_wHstDrv600OpHr Number of hours with more than 600 operations (h)

g_wHstOpNb Number of operations of the hoist axis (–)

g_wTrolOpHrs Operation time of the trolley axis (–)

g_wTrolOpNb Number of operations of the trolley axis (–)

g_wTransOpHrs Operation time of the translation axis (–)

g_wTransOpNb Number of operations of the translation axis (–)

g_xHstRstMds Command to reset the values in monitoring data storage

R/W

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CanOpenState Program

Section 6.7CanOpenState Program

CanOpenState Program

This program detects whether configured CANopen devices are in operation state. This information is used to configure behavior of the application and enabling parts of the program.

The following example shows how to get the state of the CANopen node 5. The CIA405.GET_STATE function is automatically executed for a continuous state reading. The information about presence of the CANopen nodes is used in the application for enabling the related program.

Application of both controllers includes the program CanOpenState which monitors state of CANopen devices. The programs differ by number of configured devices.

The information between M241 controller and drives is transferred through CANopen. The drive configuration is done directly after the boot up phase of the controller. You can configure the drives that are present on CANopen.

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Hoisting


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Application Software Controller 2 (MyController2)

Chapter 7Application Software Controller 2 (MyController2)

Overview

This chapter describes the application software of the M241 controller.



Topic Page

Library Manager 80

Task Configuration 81

Global Variables 82

Application_MastTask 83

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Library Manager

The Hoisting library is added manually. The rest of the libraries are configured automatically. The necessary libraries are already configured in the template project.

NOTE: The SoMachine Standard software includes the basic versions of the Hoisting library. The advanced versions of the Hoisting library must be purchased apart from the SoMachine Standard software. Both versions of the libraries must be licensed.

The Industrial Crane CANopen M241 safety project template requires the advanced version of the Hoisting library.

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Task Configuration

The following table describes the tasks configuration of the Hoisting application template project for the second controller:

Task Program Organization Unit (POU) Type Description

MAST Application_MastTask Cyclic Includes the program needed for diagnostic coverage. It is a parent task for CANopen communication and runs with defined cycle time

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Global Variables

The object global variable list (GVL) includes global variables used for parameterization of overspeed function in the second controller.

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Application_MastTask

Introduction

Application master task executes function blocks for diagnostic coverage, overload and over-speed functions

Components of Application_MastTask

LoadOverspeedControl

The Load overspeed control function helps you to detect overspeed, brake wear, detected alarm and detected sensor feedback alarms.

The Load overspeed control function (LoadOverspeedCtrl) helps to detect load overspeed and brake wear. The load overspeed function detects a load overspeed by monitoring the pulse input of the controller. The brake wear function checks the wear of the hoist brake by detecting any movement on the load when the drive is not running. For detailed information, refer to the online help of this function block in SoMachine.



Bit 0 Overspeed

Bit 1 Brake wear

Bit 2 Detected sensor feedback alarm

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Hoisting

Interaction between Two Controllers

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Chapter 8Interaction between Two Controllers


Both controllers are monitoring load and speed signals using separate channels.

If an inconsistency of load or speed signal is detected on any of the two controllers or if inconsistency of limit switch inputs is detected, the movement of the crane is stopped.

The information is transferred between controllers using their digital I/Os and CANopen.

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This table shows the connection between the controllers:

MyController1 MyController2 Comments

Output Variable Input Variable

Q7 Iq_xAppOk I12 Li_xDcAppOk Application OK signal (TRUE when OK)

Q8 Iq_xAppOkPuls I13 Li_xDcAppOkPuls Application OK pulse signal

Q9 – – – Alarm output to DI of XPSMC

CANopen q_iPosMeasTrol CANopen i_iPosMeasTrol Position measurement trolley

q_iPosMeasTrans i_iPosMeasTrans Position measurement translation

q_iLoadMeasHoist i_iLoadMeasHoist Hoist load measurement

q_iSpdMeasHoist i_iSpdMeasHoist Hoist speed measurement

Input Variable Output Variable

I12 Li_xDcAppOk Q7 Iq_xAppOk Application OK signal (TRUE when OK)

I13 Li_xDcAppOkPuls Q8 Iq_xAppOkPuls Application OK pulse signal

– – Q9 – Alarm output to DI of XPSMC

CANopen i_iPosMeasTrol CANopen q_iPosMeasTrol Position measurement trolley

i_iPosMeasTrans q_iPosMeasTrans Position measurement translation

i_iLoadMeasHoist q_iLoadMeasHoist Hoist load measurement

i_iSpdMeasHoist q_iSpdMeasHoist Hoist speed measurement

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Safety Relevant Functions

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Chapter 9Safety Relevant Functions



Topic Page

Introduction 88

Safety Relevant Functions 89

Preventa XPSMC Safety Controller 95

Preventa XPSMC Safety Program 96

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Introduction

To meet the demands of the required performance level of EN 13849-1, either PLc Cat. 2 or PLd, a programmable safety relay, the Preventa XPSMC, is used. All safety-related functions requiring a certified signal path, for example, the emergency stop, will be handled by this controller.

The Preventa XPSMC features redundancy principle micro-processor based technology to provide advanced functions and flexibility regarding the choice of the safety-related functions and more precise diagnostics are just some of the advantages that can benefit crane manufacturers and users by integrating these innovative solutions.

The Hoisting template for industrial cranes based on the M241 controller is delivered with a respective .MCC file containing the code for the Preventa XPSMC safety controller.

Using the Preventa XPSMC safety controller allows compliance to the required safety level, without the need to exclusively use safety certified components and therefore without the high price usually found in this kind of architecture.

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Overview

This chapter describes a subset of safety relevant functions of a typical industrial bridge crane with one hoist, one trolley, and one bridge axis. Perform a risk analysis of every individual crane to define which safety functions are relevant.

Limit Switch Management - Horizontal Axes

The following figure describes a single horizontal axis (trolley or translation). The cross limit switch has two normally closed mechanically independent contacts for each of the four switching positions (forward stop, forward slow, reverse slow, reverse stop). Alternatively, you can use two limit switches, each with four contacts.

Both M241 and the safety controller test plausibility of limit switch signals and stop the movement using Safe Torque Off (STO) function if a non-standard state is detected.

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A second option is a combination of analog distance measurement and digital cross limit switch.

You can also use two separate analog distance sensors per axis. Both controllers have to transmit the measured values through CANopen and compare them to detect incorrect reading.

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Limit Switch Management - Hoist Axis

The following figure describes the hoist axis. The safety controller has to stop the movement of hoist axis when the emergency stop limit switch on top of the movement is reached. This switch must have two mechanically independent normally closed contacts that are both wired to the safety controller. The M241 and its program are not safety related in this case.

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Overload

The following figure describes the implementation of overload detection. Both controllers measure the load using analog input values from two independent load measurement devices.(load measurement device with two redundant sensors). The load information is compared by both controllers to detect incorrect reading.

The safety controller stops the movement using STO when inconsistent signal readings are detected. If overload is detected, the movement is stopped by the M241 controller.

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Overspeed

The following figure describes the implementation of overspeed detection. Both controllers measure the speed of hoist axis using incremental encoders connected to the hoist drive and to the counter input of the second M241. The speed information is compared by both controllers to detect incorrect reading.

The safety controller stops the movement using STO when inconsistent signal readings are detected. If overspeed is detected, the movement is stopped by the M241 controller.

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Safety Circuit

The following figure gives an overview of signals connected to inputs and outputs of the safety controller for three axes of the crane.

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Preventa XPSMC Safety Controller

The safety controller is an important element of the safety chain. It evaluates status of the crane based on its digital inputs. It authorizes movement of all axes by digital signals connected to Safe Torque Off (STO) inputs of respective variable speed drives (Altivar 71, Altivar 32).

The drives without STO function (Altivar 312) must be galvanically isolated from the motor using two motor contactors. Their brake circuit must also be disconnected using two contactors.

The following figure schematically describes XPSMC connection:

The program for the Preventa XPSMC safety controller is a part of this application template. It is available in the SoMachine installation folder in the following directory: \Documents and Settings\All Users\Documents\SoMachine Software\V4.1\Project Templates\Hoisting\M241_safetyXPSMC.mcc

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Preventa XPSMC Safety Program

Overview

The safety controller controls Safe Torque Off (STO/PWR) inputs of the 3 variable speed drives. It manages the emergency stop circuit and also controls the additional safety brake of the hoist axis.

Safe Torque Off - Hoist Drive

Following conditions are required for enabling the hoist drive: The crane is not stopped using emergency stop switch. The hoist is not at the emergency limit switch. The signals of both load cells are consistent or safety override switch is activated. The hoist speed signals are consistent or safety override switch is activated.

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Safe Torque Off - Trolley and Translation Drives

Following conditions are required for enabling the trolley and translation drives: The crane is not stopped using emergency stop switch. Laser distance signals are consistent. Limit switch signals are consistent.

Emergency Stop Circuit

Following conditions are required for the emergency stop circuit: The crane is not stopped using emergency stop switch. Main contactor feedback is present. The crane start is authorized using the start button. Both M241 controllers are operating correctly. The signals of both load cells are consistent or safety override switch is activated. The hoist speed signals are consistent or safety override switch is activated.

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Open Safety Brake Control

Following conditions are required to open the safety brake control: The crane is not stopped using emergency stop switch. The hoist speed signals for over speed measurement are consistent.

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Hoisting

Magelis HMI STU 855 Display

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Chapter 10Magelis HMI STU 855 Display


The panel used in this template is a Magelis HMI STU 855. You can parameterize and monitor the hoist, trolley, and translation axes. You can perform the calibration of CableLength_Enc_2 function block and Overload_EN15011 function block and the application parameterization through the Magelis HMI.

Programming of the Magelis HMI is done by using Vijeo Designer integrated in SoMachine.

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