Structure of an axis grouping with the SIMOTION D435?2 Motion Control System in the crane application

The following components comprise a SIMOTION D crane application:

• A SIMOTION D435?2 Control Unit, designed for open and closed?loop control of a multi?axis drive line?up
• One or several SIMOTION CX32?2 Controller Extensions for more than 6 axes (see the application example "Topology of container quay crane" > "Hardware configuration")
• Several SINAMICS S120 Motor Modules (power units)
• Several SINAMICS DC Master Power Modules (power units)
• Other drive components, such as
  • Power supply
  • Filter
  • Reactor, etc.
• The connection between SIMOTION D and the SINAMICS S120 Motor Modules which is implemented with DRIVE?CLiQ in a star topology to ensure axis redundancy (see the application example "Topology of container quay crane" > "Hardware configuration").
• A CU320?2 Control Unit for open and closed?loop control of the parallel infeed (up to 4 infeed units)
• One or several SINAMICS S120 Line Modules (in SIMOCRANE Basic Technology, the infeed unit is separately controlled by the SIMATIC S7, see the application example "Topology of container quay crane" > "Hardware configuration").

Hardware configuration

The hardware configuration based on the example of a container quay crane on the SIMOTION/SINAMICS platform is shown in the figure below.

The performance of the SIMOTION D hardware allows all crane technologies, not only Basic Technology, but also Advanced Technology, e.g. sway control (SIMOCRANE Sway Control), to be operated from one controller. The individual crane technologies build on each other systematically.

Additional crane technologies of SIMOCRANE are described in Sections SIMOCRANE Advanced Technology and SIMOCRANE CMS Crane Management System.

Topology of container quay crane

Configurations with mixed three?phase AC drives (DC/AC) and DC drives (DC/DC) are possible in the SIMOCRANE Basic Technology V3.0. Applications such as these are frequently found in modernization projects (see the application example "Container quay crane").

Topology of a container quay crane with mixed three?phase AC and DC drives (DC/AC)

SIMOCRANE Basic Technology software

The SIMOCRANE Basic Technology package not only provides the basic functionality, the SIMOTION Motion Control technology package (for positioning, synchronous operation, etc.) and standard libraries, but also the Crane Basic Technology package complete with 2 libraries. The package also contains several complete standard applications for cranes.

The modular software concept makes it easier to automate different crane types. With the help of the open software, all crane?specific technologies or functions can be supplied to the user in the form of function blocks. The software structure is shown for a coil crane, a container quay crane and a ship unloading crane in the following examples. Each axis of motion is mapped using a function module in the software. Controlling and coordinating the axes are realized at the application level.

Function blocks for coil crane

Function blocks for container quay crane

Function blocks for ship unloading crane

Each function module (e.g. hoist) has two MCC units and one DCC chart. Two application programs created in the MCC call the necessary function blocks from the "Cranes FB Library" for execution of the function module (e.g. operating mode management). In a program created by DCC, the setpoint channel for velocity and acceleration/deceleration is set up that takes into account the crane?specific technology (e.g. load?dependent field weakening) cyclically.

The standard application is created according to crane type, e.g. "Container quay crane". For "ready?to?run" users, only parameterization is necessary. For "ready?to?apply" users, this provides the starting point for individual expansions and adaptation to address specific crane applications.