Hoisting Application Template 2014 PDF

Hoisting
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Hoisting
User Guide for Industrial Crane ATV
IMC Project Template
04/2014
EIO0000001690.01
www.schneider-electric.com
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.
2 EIO0000001690 04/2014
Table of Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 Industrial Crane Application Template. . . . . . . . . . . . . 11
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Architecture and Application Template Certification in Regard to
EN 13849-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 2 Industrial Crane Architecture and Environment . . . . . 17
Hardware Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Hoisting Application System Requirements. . . . . . . . . . . . . . . . . . . . . 21
Chapter 3 SoMachine - Device Configuration . . . . . . . . . . . . . . . . 23
Library Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Global and Persistent Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Embedded IOs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Drive IOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Hoist Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Chapter 4 Drive Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Hoisting Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Drives for Horizontal Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Chapter 5 Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
5.1 Crane Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Application_MastTask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Hoisting_Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Trolley_Axis and Translation_Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.2 Extended Display Management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Custom Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
POUs for Extended Display Management . . . . . . . . . . . . . . . . . . . . . 57
Display Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
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4 EIO0000001690 04/2014
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.
WARNING
UNGUARDED EQUIPMENT
z Do not use this software and related automation equipment on equipment which does not have
point-of-operation protection.
z Do not reach into machinery during operation.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.
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 Councils 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 operators 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.
6 EIO0000001690 04/2014
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.
CAUTION
EQUIPMENT OPERATION HAZARD
z Verify that all installation and set up procedures have been completed.
z Before operational tests are performed, remove all blocks or other temporary holding means
used for shipment from all component devices.
z Remove tools, meters, and debris from equipment.
Failure to follow these instructions can result in injury or equipment damage.
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:
z Remove tools, meters, and debris from equipment.
z Close the equipment enclosure door.
z Remove all temporary grounds from incoming power lines.
z Perform all start-up tests recommended by the manufacturer.
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OPERATION AND ADJUSTMENTS
The following precautions are from the NEMA Standards Publication ICS 7.1-1995 (English
version prevails):
z 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.
z It is sometimes possible to misadjust the equipment and thus produce unsatisfactory or unsafe
operation. Always use the manufacturers instructions as a guide for functional adjustments.
Personnel who have access to these adjustments should be familiar with the equipment
manufacturers instructions and the machinery used with the electrical equipment.
z 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.
8 EIO0000001690 04/2014
About the Book
At a Glance
Document Scope
This document describes an application template to be used in Altivar ATV IMC Drive Controller
for the industrial crane applications.
Validity Note
This document has been updated with the release of SoMachine V4.1.
Related Documents
Title of Documentation Reference Number

SoMachine, Hoisting Application Functions, Hoisting Library Guide EIO0000000620
You can download these technical publications and other technical information from our website
at www.schneider-electric.com.
Product Related Information
WARNING
UNINTENDED EQUIPMENT OPERATION
z Only use software approved by Schneider Electric for use with this equipment.
z Update your application program every time you change the physical hardware configuration.
damage.
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WARNING
LOSS OF CONTROL
z 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.
z Separate or redundant control paths must be provided for critical control functions.
z System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
z Observe all accident prevention regulations and local safety guidelines.1
z Each implementation of this equipment must be individually and thoroughly tested for proper
operation before being placed into service.
damage.
1For 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.
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Hoisting
Industrial Crane Application Template
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Chapter 1
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
Architecture and Application Template Certification in Regard to EN 13849-1 15
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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 3 axes and programs for controlling the hoist,
trolley, and translation movement. It also includes CANopen configuration for various drive
configurations.
All functions requiring parameterization can be parameterized through ATV71 display of the
Altivar 71 containing the Altivar ATV IMC Drive Controller. This makes commissioning without
using a PC possible. A PC with SoMachine software installed is necessary to download this
template project to ATV IMC.
This template project is based on the template project for an ATV IMC.
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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.
WARNING
REGULATORY INCOMPATIBILITY
Be sure that all equipment applied and systems designed comply with all applicable local,
regional and national regulations and standards.
damage.
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.
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A residual risk, as defined by EN/ISO 12100-1, Article 5, will remain if:

z it is necessary to modify the recommended logic and if the added or modified components are
not properly integrated in the control circuit.
z 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).
z the devices connected to any safety outputs do not have mechanically-linked contacts.
CAUTION
EQUIPMENT 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.
14 EIO0000001690 04/2014
Architecture and Application Template Certification in Regard to EN 13849-1
General
To satisfy the requirements of EN 13849-1, Schneider ElectricSchneider Electric is providing
example documents which can help you obtain certification of the crane.
To access the suggested documents, please visit www.Schneider-Electric.com and navigate to the
Hoisting page.
With the listed Schneider ElectricSchneider Electric Hoisting architectures, you will find a link to the
following example/template documents:
z Sample risk assessment according to EN ISO 12100
z Sample FMEA according to EN 60812
z A document containing the MTTFd values for all relevant products that are part of a safety
related hoisting function.
z Sample Sistema calculations for each safety related hoisting function.
NOTE: The sample documents may not be directly applied to your specific machine.They will
necessarily need to be modified to meet the requirements and local regulations of your machine.
WARNING
damage.
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To assist you to select the right target architecture, a selection flowchart is provided as follows:
Please contact Schneider Electric support to obtain assistance by a Schneider Electric Hoisting
expert if you are not familiar with the certification process or need additional assistance.
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Hoisting
Industrial Crane Architecture and Environment
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Chapter 2
Overview
This chapter provides the hardware architecture and environment.

Topic Page
Hardware Architecture 18
Hoisting Application System Requirements 21
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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.
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Example of Hoisting Optimized ATV IMC Architecture

The following figure shows an architecture example of Hoisting Optimized ATV IMC:
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1 Ewon VPN Gateway 11 TeSys GV2

2 ConneXium switch 12 TeSys GV2L
3 Magelis HMI STU 855 13 ATV32
4 Tesys Compact NSX 14 ATV71
5 Phaseo power supply 15 ATV IMC controller
6 eXLHoist receiver 16 XCC encoder
7 Harmony XALK 17 XCKVR cross limit switch
8 Modicon TM5 CANopen 18 XR2 gear limit switch
9 eXLHoist transmitter 19 scaime load cell
10 Harmony XVGU
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Hoisting Application System Requirements
Using the Library
WARNING
UNINTENDED EQUIPMENT OPERATION
z Verify the SoMachine libraries contained in your program are the correct version after updating
SoMachine software.
z Verify that the library versions updated are consistent with your application specifications.
damage.
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.
WARNING
UNINTENDED MACHINE OPERATION
Do not use the EN/ENO functionality defined by IEC 61131-3 to control the behavior of the
Application Function blocks.
damage.
NOTE: Verify that the EN/ENO option is disabled in the complier options menu of SoMachine.
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System Requirements
Requirements Description
Altivar ATV IMC Drive Controller
Encoder with encoder interface card for Altivar 71 An encoder and encoder interface card for the
Altivar 71 are required 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
SoMachine - Device Configuration
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Chapter 3
Overview
This chapter describes the device configuration in SoMachine.

Topic Page
Library Manager 24
Task Configuration 25
Global and Persistent Variables 26
Embedded IOs 27
Drive IOs 28
Hoist Drive 30
Ethernet 31
CANopen 32
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Library Manager
The Hoisting library is added manually. The rest of the libraries are configured automatically. All
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 ATV IMC project template requires the advanced version of the Hoisting
library.
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Task Configuration
Task configuration of the Hoisting application template project is identical to the ATV IMC template
project configuration. 5 tasks are defined. 2 tasks out of these 5 are used in the template. The rest
is available for further extension.
The following figure shows the task configuration:
The following table describes the defined tasks:
Task Program Organization Type Description

Unit (POU)
MAST Application_MastTask Cyclic Contains all hoisting POUs. It is a
parent task for CANopen
communication and runs with defined
cycle time.
Freewheel_Task PLC_PRG Freewheeling Contains POUs to communicate with
local drive and display. The priority of
this task is lower than the priority of
MAST task.
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Global and Persistent Variables
Overview
The template contains the following object variables:
z 1 global variable object GVL_Display
z 1 persistent variable object GVL_Persistent
Global Variables
The object GVL_Display contains global variables used for parameterization of the application.
The extended display management uses initial values of these variables after first start of the
controller.
Persistent Variables
The object GVL_Persistent contains persistent variables used by extended display
management.
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Embedded IOs
Overview
Some of the digital inputs of the ATV IMC are used for signals coming from the crane and operator.
The remaining signals are connected to digital and analog inputs of the drives. The digital outputs
of ATV IMC provide the information about state of the machine. Other signals fo the crane are
connected to the digital and analog inputs of the drives, and are brought into the logic of the
controller via CANopen.
Input Variables
Input Variable Description

CI_LI51 li_xLsHstSlowFwd Signal from hoist slow forward limit switch (NC)
CI_LI52 li_xLsHstSlowRev Signal from hoist slow reverse limit switch (NC)
CI_LI53 li_xLsTrolSlowFwd Signal from trolley slow forward limit switch
(NC))
CI_LI54 li_xLsTrolSlowRev Signal from trolley slow reverse limit switch
(NC)
CI_LI55 li_xLsTransSlowFwd Signal from translation slow forward limit switch
(NC)
CI_LI56 li_xLsTransSlowRev Signal from translation slow reverse limit switch
(NC)
CI_LI57 li_xSpeedHstBit1 Bit 1 of speed selection for hoist axis
CI_LI58 li_xSpeedTrolBit1 Bit 1 of speed selection for trolley axis
CI_LI59 li_xSpeedTransBit1 Bit 1 of speed selection for translation axis
CI_LI60 li_xAswEn Command to enable Anti-sway
Output Variables
Output Variable Description

CI_LO51 lq_xAswActive Anti-sway function currently active
CI_LO52 lq_xCalbActive Cable length or overload calibration active
CI_LO53 lq_xAlrm Application alarm present
CI_LO54 lq_xOrangeLamp Orange lamp signal
CI_LO55 lq_xRedLamp Red lamp signal
CI_LO56 lq_xHorn Horn signal
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Drive IOs
Overview
The digital and analog inputs of the connected drives are read through CANopen and are used in
the application. The digital inputs LI7 to LI10 are located on a basic I/O extension card
(VW3A3201) for Altivar 71.
Input Variables
The following inputs mapping are common to all drives:

LI1 Forward command All drives
LI2 Reverse All drives
LI3 Speed selection bit 1 All drives
LI4 Limit switch forward All drives
LI5 Limit switch reverse All drives
LI6 Forced local mode All drives
In local mode, another drive configuration must
be used (multi assignment for LI6)
AI1 Analog speed reference All drives
The following inputs mapping are specific to hoist drive:

AI2 Load cell input Hoist drive only
LI7 Load length selector bit 0 Hoisting axis Anti-sway load length selection
Basic I/O extension card (hoist drive only)
LI8 Load length selector bit 1 Hoisting axis Anti-sway load length selection
LI9 Alarm reset Alarm reset
LI10 Encoder calibration Calibration procedure when the encoder card is
present
28 EIO0000001690 04/2014
Output Variables
Output Variable Description

AO1 4Q Torque Mapped to AO1 for PDO transfer - Needs to be
scaled to 420 mA (hoist drive only)
NOTE: Do not use Torque Actual Value parameter (because it reacts slowly to the changes
of the load) or Motor Torque Scope parameter (which has a high jitter) as the value of the actual
torque of the drive. Use 4 Quadrant Torque instead.
4 Quadrant Torque cannot be read by CANopen directly. Assign 4 Quadrant Torque to the AO1
output of the hoist Altivar 71 and then map the value of analog output 1 to a transmit PDO.
Some standards, for example, EN 15011, have performance requirements that would not be
respected if you do not use the 4 Quadrant Torque.
WARNING
damage.
Verify the scaling of analog output 1; it must be set to 420 mA. A value of 12000 represents a zero
torque, 4000 is 300% torque and 20000 is 300% torque. A possible way of handling this scaling
is shown in the program example below. The raw value is divided by 26.66 to reach a scaling of
1.0%.
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Hoist Drive
The configuration of the hoist drive is not used in this template project. The drive is fully controlled
through CANopen. The input values are read through CANopen.
As you need to exchange more than 50 parameters, the embedded display configuration cannot
be used. It is done using the extended display management in the application.
30 EIO0000001690 04/2014
Ethernet
The application contains an Ethernet configuration. It allows connection to the ATV IMC through
Ethernet after the IP has been written. It is configured with a fixed IP address 192.168.1.55 and
subnet mask 255.255.255.0
The following figure shows the details of Ethernet configuration:
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CANopen
CANopen Configuration
CANopen is used for communication with Altivar variable speed drives. The configuration contains
1 Altivar 71 for hoisting axis and 3 variable speed drives (Altivar 71, Altivar 32, and Altivar 312) for
each of the trolley and translation axes. Only 1 of the 3 possible drives may be used on trolley and
translation axes.
All 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.
The following figure shows supported drive configurations:
z Each of the 7 pre-configured drives has a pre-defined node ID.

z Baud rate of CANopen bus is configured to 500 kb/s.
z PDOs are configured with objects used in the application.
z All objects have variables mapped to them.
32 EIO0000001690 04/2014
z All PDOs are transferred cyclically (transmission type 1).

z ATV IMC produces SYNC object with period of 10 ms.
z All drives are set to produce Heartbeat object with producer time of 200 ms.
z All drives and the Osicoder absolute CANopen encoder are configured as optional.
NOTE: The configuration has 7 total drives configured to account for all the options available
concerning the drive models. However, only up to 3 drives are physically present on the bus. This
causes the CANopen Status LED of the ATV IMC to flash to indicate the absence of the other drive
options that are configured. This is expected as, in order to provide the most flexibility in the
template configuration, the possible drives have all been mapped. The actual status of all drives is
displayed on the HMI display. You may wish to modify the template to eliminate the drives that are
not applied in your application, though doing so may would involve major modifications to the
configuration and the application.
Altivar 71 Configuration - Hoisting Axes (Node ID 1)
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_Ac
Deceleration 203C/03h Hoist_De
Transmit process data object (TPDO1)
Status word 6041/00h Hoist_Sw
Control effort 6044/00h Hoist_Ce
Motor current 2002/05h Hoist_Mc
AO1 (4Q-Torque) 2016/48h Hoist_Mt
IL1R 2016/03h Hoist_In
PUC 201A/0Ch Hoist_Puc
AI1 2016/2Bh Hoist_Ai1
AI2 2016/2Ch Hoist_Ai2
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Altivar 312 Configuration - Trolley312 Axis (Node ID 2)

Drivecom command 6040/00h Trolley312_Cw
register
Target velocity 6042/00h Trolley312_Tv
Acceleration ramp 203C/02h Trolley312_Acc
time
Deceleration ramp 203C/03h Trolley312_Dec
time
Drivecom command 6041/00h Trolley312_Sw
register
Control effort 6044/00h Trolley312_Ce
Motor current 2002/05h Trolley312_Mc
Logic input/output 2016/29h Trolley312_Li
image
Physical value AI1 2016/2Bh Trolley312_Ai

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
34 EIO0000001690 04/2014

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
Altivar 312 Configuration - Translation312 Axis (Node ID 5)

Drivecom command 6040/00h Translation312_Cw
register
Target velocity 6042/00h Translation312_Tv
Acceleration ramp 203C/02h Translation312_Acc
time
Deceleration ramp 203C/03h Translation312_Dec
time
Drivecom command 6041/00h Translation312_Sw
register
Control effort 6044/00h Translation312_Ce
Motor current 2002/05h Translation312_Mc
Logic input/output 2016/29h Translation312_Li
image
Physical value AI1 2016/2Bh Translation312_Ai
EIO0000001690 04/2014 35

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

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
Osicoder Configuration (Node ID 8)

Position value 6004/00h diOsicoderOvspPos
36 EIO0000001690 04/2014
Hoisting
Drive Configuration
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Drive Configuration
Chapter 4
Drive Configuration
Overview
This chapter describes a subset of parameters required for the best 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.
WARNING
UNGUARDED MACHINERY CAN CAUSE SERIOUS INJURY
z Do not use this software and related automation equipment on equipment, which does not
have point-of-operation protection.
z Do not reach into machinery during operation.
damage.
NOTE: You must configure all variable speed drives according to the crane and local conditions.

Topic Page
Hoisting Drive 38
Drives for Horizontal Axes 40
EIO0000001690 04/2014 37
Drive Configuration
Hoisting Drive
Overview
The following steps describe the configuration of the hoisting drive:
z The drive must be configured to work in closed loop.
z Reset the drive to factory settings.
z Set the correct motor parameters.
z The macro configuration selection has to be set first as it changes multiple parameters.
z Perform the autotuning and encoder check.
The input LI6 switches the drive to forced local mode. It is also used to switch
acceleration/deceleration ramps.
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 Hoisting (HdG) Mandatory
(CFG)
Command (CtL-) Profile (CHCF) Not separ. (SIM) Mandatory
Command (CtL-) Ref. 1 channel CANopen (CAn) Mandatory
(Fr1)
Settings (SEt-) Low speed (LSP) 0 Mandatory
Settings (SEt-) Acceleration 2 According to Optional
(AC2) hardware
Settings (SEt-) Deceleration 2 According to Optional
(dE2) hardware
Motor control (D C) Motor control type F C Mandatory
(Ctt)
Motor control (D C) Number of pulses According to Mandatory
(PGI) encoder used
Application function Brake logic Brake assignment R2 (r2) Mandatory
(FUn-) control (bLC-) (bLC)
Application function Brake logic Movement type Hoisting (HOr) Mandatory
(FUn-) control (bLC-) (bSt)
Application function Brake logic Brake release time According to Mandatory
(FUn-) control (bLC-) (brt) hardware
Application function Brake logic Brake engage delay According to Mandatory
(FUn-) control (bLC-) (tb ) hardware
Application function Ramp (rPt-) Ramp switch ass. LI6 Optional
(FUn-) (rPS) (LI6)
38 EIO0000001690 04/2014
Drive Configuration

Communication Forced local Forced local assign. LI6 Optional
(COM-) (LCF-) (FLO) (LI6)
Communication Forced local Forced local ref. AI2 Optional
(COM-) (LCF-) (FLOC) (AI2)
Inputs/Outputs AI2 configuration AI2 Interm. point Y 20% (20) Optional
configuration (AI2-) (AI2S)
(I_O-)
Fault management Fault reset Fault reset (rSF) LI6 Optional
(FLt-) (rSt-) (LI6)
Fault management Communication CANopen fault Freewheel] Mandatory
(FLt-) fault management (YES)
management] (COL)
(CLL-)
Inputs/Outputs AO1 configuration AO1 assignment Torque 4Q Mandatory
configuration (AO1-) (AO1)
(I_O-)
Inputs/Outputs AO1 configuration AO1 minimum output 4 mA Mandatory
configuration (AO1-)
(I_O-)
EIO0000001690 04/2014 39
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 Anti-sway function. Scalar motor
control mode is also useable with certain performance decrease.
The following steps describe the configuration of these drives:
z Set the drive to factory settings.
z Set correct motor parameters.
z The macro configuration selection has to be set first as it changes multiple parameters.
z Perform the auto-tuning.
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 Start/Stop (HdG) Mandatory
(CFG)
Command (CtL-) Profile (CHCF) Not separ. (SIM) Mandatory
Command (CtL-) Ref. 1 channel CANopen (CAN) Mandatory
(Fr1)
Settings (SEt-) Acceleration 2 5.0 Optional
(AC2)
Settings (SEt-) Deceleration 2 5.0 Optional
(dE2)
Settings (SEt-) Low speed (LSP) 0 Optional
Application function Brake logic control Brake assignment R2 (r2) Mandatory
(FUn-) (bLC-) (bLC)
Application function Brake logic control Movement type Traveling (HOr) Mandatory
(FUn-) (bLC-) (bSt)
Application function Brake logic control Brake release time According to Mandatory
(FUn-) (bLC-) (brt) hardware
Application function Brake logic control Brake engage delay According to Mandatory
(FUn-) (bLC-) (tb ) hardware
Application function Ramp (rPt-) Ramp switch ass. LI6 (LI6) Optional
(FUn-) (rPS)
Communication Forced local Forced local assign. LI6 (LI6) Optional
(COM- (LCF-) (FLO)
40 EIO0000001690 04/2014
Drive Configuration

Communication Forced local Forced local ref. AI2 (AI2) Optional
(COM- (LCF-) (FLOC)
Inputs/Outputs AI2 configuration AI2 Interm. point Y 20% (20) Optional
configuration (I_O-) (AI2-) (AI2S)
Fault management Fault reset Fault reset (rSF) LI6 (LI6) Optional
(FLt-) (rSt-)
Fault management Communication CANopen fault Freewheel Mandatory
(FLt-) fault management (YES)
management] (COL)
(CLL-)
Parameter Configuration - Altivar 312

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

Control (CtL-) Function access Access to Mandatory
level (LAC) advanced function
(L3)
Control (CtL-) Mixed mode Combined (SIM) Mandatory
(CHCF)
Control (CtL-) Configuration Reference from Mandatory
reference (Fr1) CANopen (CAN)
Settings (SEt-) Low speed (LSP) 0 Optional
Application function Second acceleration 5.0 Optional
(FUn-) ramp time (AC2)
Application function Second deceleration 5.0 Optional
(FUn-) ramp time (dE2)
Application function Brake control Brake control ( 2) Mandatory
(FUn-) (bLC-) configuration (bLC)
Application function Brake control Brake engage 0 Mandatory
(FUn-) (bLC-) frequency threshold
(bEn)
Application function Brake control Brake release time According to Mandatory
(FUn-) (bLC-) (brt) hardware
Application function Brake control Brake engage time According to Mandatory
(FUn-) (bLC-) (bEt) hardware
Application function Brake control Ramp switching LI6 Optional
(FUn-) (bLC-) (rPS)
Application function Preset speeds 2 preset speeds nO Mandatory
(FUn-) (PSS-) (PS2)
EIO0000001690 04/2014 41
Drive Configuration

(FUn-) (PSS-) (PS4)
(FUn-) (PSS-) (PS8)
(FUn-) (PSS-) (PS16)
Communication Forced local mode LI6 Optional
(COM-) (FLO)
Communication Forced local AI2 Optional
(COM-) reference (FLOC)
Fault (FLt-) Reset of current fault LI6 Optional
(rSF)
Fault (FLt-) CANopen fault Freewheel Mandatory
management (YES)
(COL)
42 EIO0000001690 04/2014
Hoisting
Application
EIO0000001690 04/2014
Application
Chapter 5
Application
Overview
This chapter describes the applications of industrial crane.

This chapter contains the following sections:
Section Topic Page
5.1 Crane Control 44
5.2 Extended Display Management 55
EIO0000001690 04/2014 43
Application
Crane Control
Section 5.1
Crane Control
Overview
This section provides brief description of the function blocks used in the template including
description of their alarm identification outputs. In case of an alarm, the actual value is available in
the display menu 1.14 in menu 1 - UserMain.
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 45
Hoisting_Axis 47
Trolley_Axis and Translation_Axis 52
44 EIO0000001690 04/2014
Application
Application_MastTask
Introduction
Application master task executes programs for all hoisting axes, monitoring the presence of
CANopen devices and calibration of hoisting cable length necessary for Anti-sway function. It also
connects global variables used in display configuration to the application.
Components of Application_MastTask
The following figure shows the components of application master task:
EIO0000001690 04/2014 45
Application
CanOpenState
Program CanOpenState provides basic information about status of 8 configured CANopen
nodes. For each of the nodes, 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 3 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 alarm states:
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
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 2 controllers. Internally, it tests integrity of
variable memory and accuracy of boolean and floating point operations.The output of the FB is
used to authorize movement of all axes.
DriveMux
Auxiliary function block DriveMux selects the drive that is present on CANopen bus and forwards
the input values to translation and trolley axes programs. If more than 1 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 an alarm state.
Axes Programs
The programs Trolley_axis, Translation_Axis, and Hoisting_Axis include the
functions associated with these axes. These are described further in this document.
46 EIO0000001690 04/2014
Application
Hoisting_Axis
Introduction
This includes instances of function blocks used to control hoisting axis of the crane. Hoisting axis
uses Altivar 71.
EIO0000001690 04/2014 47
Application
Components of Hoisting_Axis
The following figure shows the components of Hoisting_Axis:
48 EIO0000001690 04/2014
Application
LimitSwitch Management
The LimitSwitch function block reads limit switch inputs from the field. It checks the limit switch
status and generates the control outputs which are 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.

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
SpeedSelect
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.

Bit 0 i_DrvSpdHsp i_wDrvSpdLsp
Bit 1 One of the preselectable speeds (18) is lower than i_wDrvSpdLsp
Bit 2 One of the preselectable speeds (18) is higher than i_wDrvSpdHsp
SpeedOptimisationRopeSlack
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.

Bit 0 i_wDrvSpdLsp i_wDrvSpdHsp
Bit 1 i_wDrvSpdNom > i_wDrvSpdHsp
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, a warning is indicated by lights and horn. If the torque value indicates an overload situation,
the function block generates an overload alarm. This alarm must be interlocked with forward
command for hoist axis to block upward (lifting) movement of the load.
EIO0000001690 04/2014 49
Application
A second instance of the function block using information from a load cell is present in the example
application. Usage of the second instance is optional.

Bit 0 i_stOVLD.wSpdDbnd > i_stOVLD.wMeasFreq
Bit 1 i_stOVLD.wAntiTip < 2
Bit 2 overload timer > 5 hours
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.
LoadOverspeedControl
The Load overspeed control function block helps you to detect overspeed, brake wear,
alarm, and sensor feedback alarms. This function block detects a load overspeed by monitoring
the value of OsiCoder - a CANopen absolute encoder (Node ID 8). The brake wear function checks
the wear of the hoist brake by detecting any movement on the load when the drive is not running.

Bit 0 Overspeed
Bit 1 Brake wear
Bit 2 Sensor feedback alarm
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 eliminate long down times.
When the loading is occasional, you can postpone maintenance, leading to a longer lifecycle and
optimized maintenance costs.

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)
50 EIO0000001690 04/2014
Application
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.
EIO0000001690 04/2014 51
Application
Trolley_Axis and Translation_Axis
Introduction
The programs for control of trolley and translation axes are identical in this example. They contain
instances of function blocks used to control horizontal movement of the crane. Each of the
programs contains 3 instances of Altivar control function blocks for Altivar 71, Altivar 32, and Altivar
312. As only 1 drive is allowed to be connected per axis, only 1 of these function blocks is
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 selection of speed
reference using digital inputs.

Bit 0 The sensor output is outside the hardware range.
Bit 1 Device hardware alarm detected. The 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.
52 EIO0000001690 04/2014
Application
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.

Bit 0 i_DrvSpdHsp i_wDrvSpdLsp.
Bit 1 One of the preselectable speeds (18) is lower than i_wDrvSpdLsp.
Bit 2 One of the preselectable speeds (18) is higher than i_wDrvSpdHsp.
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.

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.
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 that are used
to control Altivar drives through communication interface. 3 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.
EIO0000001690 04/2014 53
Application
Speed Consistency Check

The speed consistency check code detects a high difference between actual speed of the motor
and the speed reference. The difference that triggers the alarm is hard-coded to 2/3 of maximum
speed. The margin is necessary to prevent false alarms at high accelerations and longer execution
periods. This value can be changed in the code only (not over display).
Alarm Management
Alarm management consists of 1 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 yes. You can read the calculated values over Modbus TCP at the IP
address of the IMC (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.
54 EIO0000001690 04/2014
Application
Extended Display Management
Section 5.2
Extended Display Management
Overview
This section provides the configuration of the extended display management.
Extended display management replaces the standard display management of ATV IMC. The
standard display management allows maximum of 50 WORD variables to be displayed. This is not
enough to allow for configuration of all application function blocks used in this project.
The extended display management allows configuration of multiple parameter sets of up to 50
WORD variables. You can switch between these sets. In addition, it allows protection of
parameters with password. The password is defined as a global variable (wPassword: WORD) in
object GVL_Display.
What Is in This Section?

This section contains the following topics:
Topic Page
Custom Data Types 56
POUs for Extended Display Management 57
Display Parameters 59
EIO0000001690 04/2014 55
Application
Custom Data Types
The extended display management uses custom data unit types (STRUCT and ENUM).
The dependency of these data types are shown in the following figure:
56 EIO0000001690 04/2014
Application
POUs for Extended Display Management
The following programs of extended display management take over the tasks of standard display
management:
z Display_Configure contains a state machine, which calls POUs for configuration and
management of display menu. (This does not need to be edited.)
z Display_ExchangeValuesWithDisplay writes values from the display to objects of the
display structure and vice versa. (This does not need to be edited.)
z Display_ExchangeValuesWithGVL performs data exchange between display structure and
associated global variables. (This needs to be edited to modify the user menus.)
The following example shows the exchange of data between display structure and global
variables that are used in the program:
z Display_InitParameter initializes the parameters that can be written in display structure

with default values of associated global variables. It is executed only once after the application
is downloaded. (This needs to be edited to modify the user menus.)
The following example shows the assignment of global variables to the retained values of
display structure:
z Display_SetupList writes long and short text elements for the items of 4 available lists.
(This does not need to be edited.)
z Display_SetupParameter sets properties (for example, appli lock, run lock, minimum,
maximum, decimals, and so on) of display menu parameters. (This does not need to be edited.)
z Display_SetupText sets the name and unit to active 50 parameters. (This does not need to
be edited.)
z Display_TextInit defines the properties of the display parameters in all parameter sets.
The active set is then written to the active parameters by Display_SetupParameter. (This
needs to be edited to modify the user menus.)
EIO0000001690 04/2014 57
Application
The following example shows configuration of 2 parameters of different type:
z Display_WriteParameter writes parameter value to defined index. (This does not need to
be edited.)
z Display_WriteValuesToDisplay writes values to display after start of the controller or
after change of active menu. (This does not need to be edited.)
58 EIO0000001690 04/2014
Application
Display Parameters
Overview
The following tables provide the details about the display parameters. For detailed information
about configuration of the function blocks, refer to function block documentation in SoMachine.
User Main Parameters (Menu 1)
Parameter Description Access

CANStatHst CANopen status of hoisting Altivar 71 (NA/OK) R
CANStatTr312 CANopen status of trolley Altivar 312 (NA/OK) R
CANStatBr312 CANopen status of translation Altivar 312 (NA/OK) R
CANStatOsi CANopen status of Osicoder used for over speed R
(NA/OK)
ControllerOK Status of DiagnosticCoverage function block R
HsAxisAppAlrm Application alarm of hoisting axis R
BrAxisAppAlrm Application alarm of translation axis R
TrAxisAppAlrm Application alarm of trolley axis R
HstOvldAlrm Hoist overload alarm R
HstOvldWrn Hoist overload warning R
HstMdsAlrmId Alarm ID of MaintenanceDataStorage_2 function R
block
HstOvldAlrmId Alarm ID of Overload_EN15011 function block R
HstSorsAlrmId Alarm ID of SpeedOptRopeSlack function block R
HstSSAlrmId Alarm ID of SpeedSelect function block of hoist axis R
HstLSAlrmId Alarm ID of LimitSwitch function block of hoist axis R
HstSI1AlrmId Alarm ID of ScaleInput function block for analog R
speed reference for hoist axis
HstSI2AlrmId Alarm ID of ScaleInput function block for scaling of R
load cell reading
CblLenAlrmId Alarm ID of CableLength_Enc_2 function block R
BrSpSelAlrmId Alarm ID of SpeedSelect function block for R
translation
EIO0000001690 04/2014 59
Application

BrAswlAlrmId Alarm ID of AntiSwayOpenLoop_2 function block for R
translation
BrSclInAlrmId Alarm ID of ScaleInput function block for analog R
speed reference for translation axis
BrSpdDiffAlrm Information about speed consistency alarm of R
translation movement (activates at high difference of
actual speed of the motor and its speed reference)
TrSpSelAlrmId Alarm ID of SpeedSelect function block for trolley R
TrAswlAlrmId Alarm ID of AntiSwayOpenLoop_2 function block for R
trolley
TrSclInAlrmId Alarm ID of ScaleInput function block for analog R
speed reference for trolley axis
TrSpdDiffAlrm Information about speed consistency alarm of R
translation movement (activates at high difference of
actual speed of the motor and its speed reference)
HstOvspAlrmId Alarm ID of LoadOverspeed_2 function block R
Hoist Parameters (Menu 2)

ActlMass Actual measured mass (t) R
SpeedRef1 Speed reference 1 for hoisting drive (rpm) R/W
HstHSP Hi-speed value for hoisting drive (rpm) R/W
CalbWeight Weight for calibration of Overload_EN15011 FB (t) R/W
EnablLoadCell Enables usage of the load cell R/W
MotCoeff Scaling factor for the motor speed limitation in motor R/W
mode (%)
GenCoeff Scaling factor for the motor speed limitation in R/W
generator mode (%)
NomSpeed Nominal speed of hoisting motor (rpm) R/W
HookTrqFwd Hook torque in forward direction (%) R/W
TrqSampleTime Time of sampling of torque for calculation of maximum R/W
allowed speed in forward direction (s)
HookTrqRev Hook torque in reverse direction (%) R/W
NomTrqOvld Torque of hoisting drive at nominal load (%) R/W
60 EIO0000001690 04/2014
Application

SpeedDbnd Speed dead band for the Overload_EN15011 to R/W
consider measurement speed reached (rpm)
DbndHits Number of cycles torque must be inside the dead band R/W
()
TrqDbnd Torque dead band (%) R/W
SampleNo Number of samples for calculation of actual load () R/W
MeasSpeed Speed at which the load measurement takes place R/W
(rpm)
TrqSlopeVal Torque increase threshold to detect change of load (%) R/W
AntitipTurns Maximum number of turns of the motor shaft without R/W
torque measurement ()
EncPulses Number of pulses per revolution of the encoder () R/W
LowTorque No load torque of the motor (without hook) (%) R/W
OvldTolerance Tolerance of load for entering overload state () R/W
MassThres Threshold to enable actual load output pin (kg) R/W
MaxOputScal Maximum of the scaled value. maximum measurable R/W
load (t)
MinIputScal Maximum allowed raw value from the load cell sensor R/W
()
MaxIputScal Maximum allowed raw value from the load cell sensor R/W
()
OvldCalb Command to start the overload calibration R/W
Ovldtest Command to enable overload test R/W
OvspNum Nominator of gear ratio between hoist motor and R/W
CANopen absolute encoder used for over-speed
detection
OvspDenom Denominator of gear ratio between hoist motor and R/W
CANopen absolute encoder used for over-speed
detection
EIO0000001690 04/2014 61
Application
Horizontal Parameters (Menu 3)

CblLngthCalib Enables the calibration of cable length R/W
LoadLngth1 First preselected length of the load (m) R/W
LoadLngth2 Second preselected length of the load (m) R/W
LoadLngth3 Third preselected length of the load (m) R/W
CblLngthMin Minimum cable length - length of the pendulum when R/W
hoist is on the top limit switch (m)
CalibCblLngth Length difference between top limit switch and R/W
calibration position of the hoist (m)
CalibIncValLo Low word of value containing number of encoder R/W
pulses corresponding to the calibration length
(optional) ()
CalibIncValHi High word of value containing number of encoder R/W
pulses corresponding to the calibration length
(optional) ()
CblLngthAct Actual measured length of the hoist cable (m) R
TrHsp Maximum speed of trolley motor (rpm) R/W
TrSpeedRef1 First speed reference for trolley motor (rpm) R/W
TrSpeedRef2 Second speed reference for trolley motor (rpm) R/W
TrSpeedRef3 Third speed reference for trolley motor (rpm) R/W
TrSpeedRef4 Fourth speed reference for trolley motor (rpm) R/W
TrLinSpdMax Linear speed of the trolley movement at maximal R/W
speed of the trolley motor (m/s)
TrAccDisabl Acceleration time of the trolley movement used when R/W
the Anti-sway function is disabled (s)
TrDecDisabl Deceleration time of the trolley movement used when R/W
the Anti-sway function is disabled (s)
TrAccStart Acceleration time of the trolley movement used for low R/W
speed before Anti-sway function is activated (s)
TrDecStart Deceleration time of the trolley movement used for low R/W
speed before Anti-sway function is activated (s)
TrAccLimit The steepest acceleration/deceleration time of the R/W
trolley movement the Anti-sway function block is
allowed to use for calculation of speed profile (s)
TrDecEmcy Emergency deceleration time of the trolley movement R/W
(s)
TrBrakDelay How long the trolley motor brake needs to open (ms) R/W
62 EIO0000001690 04/2014
Application

TrFrictCoeff Friction coefficient of the rope-pulley system on trolley R/W
movement ()
TrAswSpdStart Speed of the trolley motor at which the Anti-sway R/W
action starts (%)
TrAswSpeedEnd Speed of the trolley motor at which the Anti-sway R/W
action stops (%)
TrAswTimeEnd Time window for stopping of the Anti-sway movement R/W
(ms)
TrDistCalcEn Command to enable the stop distance estimation for R/W
trolley axis
BrHsp Maximum speed of translation motor (rpm) R/W
BrSpeedRef1 First speed reference for translation motor (rpm) R/W
BrSpeedRef2 Second speed reference for translation motor (rpm) R/W
BrSpeedRef3 Third speed reference for translation motor (rpm) R/W
BrSpeedRef4 Fourth speed reference for translation motor (rpm) R/W
BrSpdLinMax Linear speed of the translation movement at maximal R/W
speed of the translation motor (m/s)
BrAccDisabl Acceleration time of the translation movement used R/W
when the Anti-sway function is disabled (s)
BrDecDisabl Deceleration time of the translation movement used R/W
when the Anti-sway function is disabled (s)
BrAccStart Acceleration time of the translation movement used for R/W
low speed before Anti-sway function is activated (s)
BrDecStart Deceleration time of the translation movement used for R/W
low speed before Anti-sway function is activated (s)
BrAccLimit The steepest acceleration/deceleration time of the R/W
translation movement the Anti-sway function block is
allowed to use for calculation of speed profile (s)
BrDecEmcy Emergency deceleration time of the translation R/W
movement (s)
BrBrakDelay How long the translation motor brake needs to open R/W
(ms)
BrFrictCoeff Friction coefficient of the rope-pulley system on R/W
translation movement ()
BrAswSpdStart Speed of the translation motor at which the Anti-sway R/W
action starts (%)
BrAswSpeedEnd Speed of the translation motor at which the Anti-sway R/W
action stops (%)
EIO0000001690 04/2014 63
Application

BrAswTimeEnd Time window for stopping of the Anti-sway movement R/W
(ms)
BrDistCalcEn Command to enable the stop distance estimation for R/W
translation axis
Monitoring Parameters (Menu 4)

NominalLoad Nominal load of the hoist (t) R/W
FEM Hours Lifetime of the hoist (h) R/W
PrealarmMDS Pre-alarm state R
AlarmMDS Alarm state R
HstRemOpHrs Remaining hours of operation (h) R
HstActlOpHrs Elapsed hours of operation (h) R
Hst300OpHrs Number of hours with more than 300 operations (h) R
Hst600OpHrs Number of hours with more than 600 operations (h) R
HstNoOfOper Number of operations of the hoist axis () R
TrOperHrs Operation time of the trolley axis () R
TrNoOfOper Number of operations of the trolley axis () R
BrOperHrs Operation time of the translation axis () R
BrNoOfOper Number of operations of the translation axis () R
ResetMds Command to reset values in monitoring data storage R/W
NomTrqMds Torque of hoisting drive at nominal load (%) R/W
64 EIO0000001690 04/2014

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Hoisting

BEFORE YOU BEGIN

START-UP AND TEST

Title of Documentation Reference Number

Product Related Information

Industrial Crane Application Template

What Is in This Chapter?

Before You Begin

A residual risk, as defined by EN/ISO 12100-1, Article 5, will remain if:

Architecture and Application Template Certification in Regard to EN 13849-1

Industrial Crane Architecture and Environment

What Is in This Chapter?

Example of Hoisting Optimized ATV IMC Architecture

1 Ewon VPN Gateway 11 TeSys GV2

Hoisting Application System Requirements

Using the Library

SoMachine - Device Configuration

What Is in This Chapter?

The following table describes the defined tasks:

Task Program Organization Type Description

Global and Persistent Variables

Input Variable Description

Output Variable Description

Input Variable Description

The following inputs mapping are specific to hoist drive:

Input Variable Description

Output Variable Description

z Each of the 7 pre-configured drives has a pre-defined node ID.

z All PDOs are transferred cyclically (transmission type 1).

Altivar 71 Configuration - Hoisting Axes (Node ID 1)

Object Index/Subindex Variable

Altivar 312 Configuration - Trolley312 Axis (Node ID 2)

Object Index/Subindex Variable

Altivar 32 Configuration - Trolley32 Axis (Node ID 3)

Object Index/Subindex Variable

Altivar 71 Configuration - Trolley71 Axis (Node ID 4)

Object Index/Subindex Variable

Altivar 312 Configuration - Translation312 Axis (Node ID 5)

Object Index/Subindex Variable

Altivar 32 Configuration - Translation32 Axis (Node ID 6)

Object Index/Subindex Variable

Altivar 71 Configuration - Translation71 Axis (Node ID 7)

Object Index/Subindex Variable

Osicoder Configuration (Node ID 8)

Object Index/Subindex Variable

What Is in This Chapter?

Parameter Configuration - Altivar 71

Menu Submenu Parameter Value Type

Menu Submenu Parameter Value Type

Drives for Horizontal Axes

Parameter Configuration - Altivar 71 and Altivar 32

Menu Submenu Parameter Value Type

Menu Submenu Parameter Value Type

Parameter Configuration - Altivar 312

Menu Submenu Parameter Value Type

Menu Submenu Parameter Value Type

What Is in This Chapter?

What Is in This Section?

Load Length Selection

Alarm Status Description

Alarm Status Description

Alarm Status Description

Alarm Status Description