1. Purpose

By applying ASSCS (Anti-Sway & Snag Control System) technology, the sway can be minimized, and the production can be improved by preventing safety accidents.

2. Anit-Sway Control System

Calculate the offset angle and offset distance from the center of the hook by detecting the reflecting panel installed on the upper hook by the camera installed on the bottom of the trolley.

Prevent the sway by reflecting the calculated offset distance on the trolley and the movement speed control. Prevent the horizontal movement of the load caused by the misarrangement of trolley and hook from the ground.

2.1) Anti-Sway: Using the offset angle identified by the height of the hook and the camera, prevent the sway during the traverse movement.

2.2) Anti-Snag: While moving up the load, the sudden horizontal strain caused by the different positions of the trolley and the load is automatically detected to be prevented. Using the arranging function, it automatically arranges the position of the crane (trolley) on the position of the load (hook).

2.3) Precision: about +/- 6 cm

3. System diagram

4. The range / purpose of the new installation and remodeling

4.1) Main PLC

1) Function

-. Control the crane main Function

-. Control Interlock

-. Communication with motor drive

-. Communication with ASS control

2) Configuration

-. Power Supply: 10A, 110~230VAC

-. CPU: CPU315, 10M memory, Com1 RS232, Com2 RS485

-. Network module: PBM300 Profibus Master, interface with motor drive

-. Counter module: HSC304, connect to hoist motor encoder

-. Discrete I/O module: connect to remote controller, load cell controller and others

4.2) Infrared Camera

Camera Reflecting panel

1) Function

-. It detects the angle of reflecting panel (hook) and communicatively transmits the information to the ASS controller.

2) TECHNICAL SPECIFICATIONS

Numerical resolution : 1/1000 degree on both axis

Passive beacon, reflector of 10 cm*10 cm or more

Sensor’s repeatability : at 200 Hz : < 0,025°

at 20 Hz : < 0,006°

Working range : From 1 to 12 m with a 10 x 10 cm reflector

From 2 to 18 m with a 10 x 20 cm reflector

Measurement frequency : Up to 200Hz in mode 1 “mono beacon”: anti-sway function and X, Y positioning

Output frequency : Programmable by the outside calculator

Average of measures : Programmable by the outside calculator

Detector type : Optical : View angle of +/- 6°

Narrow band interferential filters

Infrared source : 880 nm LEDs beacon

Communication : With a serial line computer : RS422 or RS232

Power supply : 220VAC / 0,8A or 110 VAC / 0,16A 50/60 Hz

Environment : Working temperature : -20°C to +50°C

Storage temperature : -20°C to +70°C

Protection : IP 54

Weight : About 2,6 Kg

Dimensions : About 120 x 120 x 260 mm

Notes : All the results are given in R.M.S. values at 20°C

Software : Functioning mode choice : 1 ; angular speed option choice

Reflector : Honey comb ; maximal recommended inclination +/-10°

3) Installation methods

-. Reflecting panel (10x20 cm): Horizontally install the panel on the upper part of the hook.

-. Camera: Install the camera in the vertical upper air of the reflecting panel.

[Camera: take videos from the bottom]

[Camera and reflecting panel: take videos from the above]

4.3) Smart PRO (KTS)

[Smart PRO]

1) Main Features (high-performance Industrial Embedded Controller)

-. Powerful Processor ARM9 CPU 400MHz,32bits

-.8MB Data Flash Memory

-.32MB SDRAM

-.External SD Memory (Data backup)

-.Supported by Dev Kit includung SDK,

-.APIEmbedded Linux Kernel

-.Supported by Eclipse based IDE LemonIDE™

2) TECHNICAL SPECIFICATIONS

-. LCD : 128 x 64 Graphic LCD(Backlight)

KEYPAD : 5 Function KEY

LED : 6 Indication LED

A/D : 14Bit 1Ch (0~10V)

D/O : 8Ch 24V Output,

D/I 8Ch 24V

Input

COMMUNICATION

RS232C, RS485, RS422

LAN : Ethernet 10 Mbps

Supply Power : 24 VDC, Consumption 2W

Environmental

Operation : -10 to 60℃, Storage : -20 to 80℃

Dimensions(WxDxH) : 218 x 150 x 40mmMounting 198 x 60mm, 0.8kg

4.4) Hoist position detection

Calculate the offset distance by referring to the offset angle measured by the camera.
Encoder: Use the speed-feedback encoder installed in the existing hoist motor.
Line Connection: Parallel connection

4.5) Improved inverter response

1) Traverse motion inverter constitution

-. PM340 Power Module: 6SL3210-1SE22-5UA0

SINAMICS S120 CONVERTER POWER MODULE PM340 INPUT: 3AC 380-480V,

50/60HZ OUTPUT: 3AC 25A (11KW) FRAME SIZE: BLOCKSIZE SIZE FSC INTERNAL AIR COOLING

-. CONTROL UNIT: 6SL3040-1LA00-0AA0

SINAMICS S120 CONTROL UNIT CU310-2 DP WITH PROFIBUS INTERFACE WITHOUT COMPACTFLASH CARD

-. BREAKING MODULE: 6SL3100-1AE31-0AB1

SINAMICS BREAKING MODULE INPUT: 600 V DC OUTPUT: PEAK 100 KW/2 S

-. BRAKING RESISTOR

-. Encoder

2)Drive inverter constitution

-. PM340 Power Module: 6SL3210-1SE22-5UA0

SINAMICS S120 CONVERTER POWER MODULE PM340 INPUT: 3AC 380-480V, 50/60HZ OUTPUT: 3AC 60A (30KW) FRAME SIZE: BLOCKSIZE SIZE FSD INTERNAL AIR COOLING

-. CONTROL UNIT: 6SL3040-1LA00-0AA0

SINAMICS S120 CONTROL UNIT CU310-2 DP WITH PROFIBUS INTERFACE WITHOUT COMPACTFLASH CARD

-. BREAKING MODULE: 6SL3100-1AE31-0AB1

SINAMICS BREAKING MODULE INPUT: 600 V DC OUTPUT: PEAK 100 KW/2 S

-. BRAKING RESISTOR

-. Encoder

4.6) Load Cell

Transmit the real-time weight (0 ton) to the main PLC, and reflect the data in the anti-snag and anti-sway control loop.
Line Connection: Parallel connection

4.7) Remote Controller

All of the final output from the remote controller is transferred to the main traverse motion inverter by the program reflecting the interlock conditions.