Skew Damping Via Cylinders" Function - Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual

TLS control function description
7.2 TLS modes and TLS functions
Section 3:
● The "motion_terminated_SkA" status bit (ZSW1_TLS_PLC, bit 1) changes to "true" when
movement of the electric drive ends.
● Deactivate the move command by resetting the "move_SkA" control bit (STW1_PLC_TLS,
bit 11).
● Deactivate the "Skew damping via electric drive" function by resetting the "mode_comm"
control bit (STW1_PLC_TLS, bit 6).
7.2.5.2

"Skew damping via cylinders" function

The TLS function "Skew damping via cylinders" damps skew oscillation of the spreader
actively, that is, by closed-loop control. This function implements a superimposed movement.
It can be applied concurrently with TLS modes "TLS jogging", "go to zero positions" or "TLS
positioning". "Cylinder jogging" mode is the exception here. The function is not operative in
"cylinder jogging" mode.
● Activate the "Skew damping via cylinders" function by setting the "as_on" control bit
(STW1_PLC_TLS, bit 15).
The "skew_removed" status bit (ZSW1_PLC_TLS, bit 14) is set at the end of compensation.
● A linear transformation between the skew angle and the cylinder positions is implemented
in DCC block SCTLS2.
Parameterize this transformation on the basis of the information provided in
Chapter Commissioning TLS (hydraulic system) (Page 350).
● A skew oscillation status observer is integrated in DCC block SCTLS2. This status observer
contains the internal oscillation model and compares it to the camera values.
By setting the parameters of the status observer, you can determine the speed at which the
model is synchronized with the camera values; for information, see Chapter Commissioning
TLS (hydraulic system) (Page 350).
● The TLS function "Skew damping via cylinders" requires a camera.
● This variant is relevant for the constellation TLS_A; see Chapter TLS control function
description (Page 237).
Note
Rotation of the spreader during skew damping
For both TLS functions "skew damping via cylinders" and "skew damping via electric drive", the
rotation of the spreader must be acquired by the camera measuring system (e.g. SIMOCRANE
CenSOR) for comparison with an internal oscillation model. In the case of skew damping, both
the rotation and the velocity of rotation of the camera measuring system are used.
The quality of skew oscillation compensation also depends on the quality of the camera signal:
The greater the noise in the camera signal, the larger the minimum angle to which the system
can damp the oscillations.
Please take this fact into account, especially when setting parameter P301. The value should
be larger than the maximum signal noise so that the "skew_removed" status bit
(ZSW1_PLC_TLS, bit 14) is set at the end of compensation.
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SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA