Hoist

4

• Positioning single axis
• Master?slave operation
• Synchronous operation

• Automatic
• Manual
• Speed controlled (jogging)
• Sway control
• Basic positioning

Trolley

2

• Speed controlled
• Positioning single axis
• Master?slave operation
• Synchronous operation

• Automatic
• Manual
• Speed controlled (jogging)
• Encoderless emergency mode
• Sway control
• Basic positioning

Gantry

2

• Speed controlled
• Positioning single axis
• Master?slave operation
• Synchronous operation

• Automatic
• Manual
• Speed controlled (jogging)
• Encoderless emergency mode
• Basic positioning

Boom

1

• Speed controlled

• Speed controlled (jogging)

Holding and closing gear

4

• Speed controlled
• Separate positioning with one axis (holding or closing gear)
• Synchronous operation between both axes

• Speed controlled (jogging)
• Sway control
• Basic positioning

Slewing gear

1

• Speed controlled
• Positioning

• Automatic
• Manual
• Speed controlled (jogging)
• Encoderless emergency mode
• Basic positioning

1

Load?dependent field weakening

Using the DCC block, a supplementary speed setpoint is calculated dependent on the load. This speed increase for partial loads above the rated speed is required for cranes to increase the handling capacity.

2

Prelimit switch (selectable limiting)

The velocity of the drive can be limited using the DCC block when a pre?defined prelimit switch is reached.

3

Start pulse

Using the DCC block, "load sag" when starting hoists with a suspended load is prevented.

4

Switch?over of the ramp?function generator in the field?weakening range and when selecting heavy?duty operation

Using the DCC block, the acceleration and deceleration times are modified for heavy?duty operation or in field weakening.

5

Current distribution monitoring

Using the DCC block, the current setpoint/actual values from the master and slave are monitored. A signal is generated if a specified difference is exceeded.

6

Slack rope controller

This function prevents a slack rope developing in the goods being handled when the grab is closed. The slack rope controller also ensures that the grab can bury itself into the material to be moved and therefore ensuring the maximum filling level.

7

Current equalization control for orange?peel bucket operation

When raising and lowering the closed grab, the tension levels in the holding and closing ropes should be approximately the same. This means that the hoisting power is optimally distributed across the two motors.

8

Slewing velocity dependent on the length of overhang

The speed of the slewing gear is adapted depending on the luffing gear length of overhang in order to keep the circumferential velocity constant.

9

Ramp?up/ramp?down time dependent on the length of overhang + influence of the ramp?function generator dependent on the velocity

For cranes with luffing gear, with increasing length of overhang, the load torque for the slewing gear increases while accelerating. In order to avoid that the current limits are reached, the ramp?up and ramp?down times are linearly adapted as a function of the length of overhang.

10

Master switch

Using the DCC block, the drive can be moved with a fine sensitivity using the master switch for manual positioning.

11

Anti?slip control

The velocity between the motor encoder and the external encoder is monitored using the DCC block. If an excessively high velocity deviation occurs, the velocity or the acceleration is adapted in steps.

12

Heavy duty or constant field weakening

With the DCC block, the drive becomes capable of heavy?duty operation (HeavyDuty) or operation with constant field weakening (FieldWeak) through variation in the velocity.

13

Monitoring for overspeed

For hoist applications, using the DCC block, an overspeed condition is monitored or a setpoint?actual value deviation is detected (this is not a fail?safe function).

14

Monitoring the setpoints

The DCC block is used to monitor whether the velocity, acceleration or deceleration have been reduced between the command being output from the S7 and implementation in the drive. Further, it is monitored as to whether the drive is in field weakening.

15

Continuous load measurement

This DCC block is required for grab cranes. A continuous load measurement is carried out to guide the crane driver if the grab is not visible. The message "Grab touchdown" is also displayed.

16

Grab monitoring

In the case of closing gear, the block DCC GrabMonitor can be used to detect bulky load material.

17

Time?optimized positioning for a single axis

Using the SIMOTION system function, the drive can be moved to the target position as quickly as possible and precisely with the specified maximum velocity and acceleration/deceleration.

18

Master?slave closed?loop torque control

Master?slave operation is used if 2 motors are connected to a common shaft. The master operates either closed?loop position controlled or closed?loop speed controlled depending on the operating mode. The slave only operates closed?loop torque controlled. The master sends the torque as torque setpoint to the slave.

19

Synchronous operation

Synchronous operation control is used if 2 motors are connected to a common load. Depending on the operating mode, the master and slave operate either closed?loop position controlled or closed?loop speed controlled. The slave receives a speed or position setpoint depending on the operating mode from the master via a gear (gear ratio 1 : 1). The functional scope has been expanded with the implementation of flying referencing/homing, offset compensatory control, establishing/canceling fixed offset, and cornering movement.

20

Tandem operation

Tandem operation is an extension of the synchronous operation control mode. Synchronous operation motion control takes place between 2 groups. In each group, 2 drives can be coupled in master?slave closed?loop torque control or also in synchronous operation. The function is suitable to address applications for both harbor cranes, such as a double spreader container crane or large ship unloaders with 4 drum grabs, as well as industrial cranes with several hoists and trolleys.

21

Cornering movement

Using this function, cornering movement for crane long travel (gantry) can be executed in closed?loop speed controlled operation.

22

Brake test

The mechanical brake function (e. g. hoist) should be regularly checked using this function. To do this, the axis moves against the closed brake with a certain torque setpoint in order to check the braking capability of the brake.

23

Basic positioning

This is a positioning that does not use the position controller of the axis but is calculated in the Crane FB Library; it is suitable for systems that tend to be subject to mechanical vibration, such as trolleys on STS cranes.