SIEMENS
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Siemens CR 1 · 2015
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Function
(continued)
SIMOCRANE Advanced Technology
SIMOCRANE Sway Control
Schematic diagram of TLS movements
Each cylinder can be traversed individually for calibration pur-
poses. Through actuation of these hydraulic cylinders in pairs,
the spreader can be tilted to the left or right (trim), inclined to-
wards the waterside or landside (list) or rotated in a clockwise or
counterclockwise direction (skew). All of these TLS movements
can be carried out simultaneously. The current positions of all
4 cylinders can be saved as zero positions and approached
again. For TLS positioning, either the last TLS setting or the TL
setting with an externally definable rotational position can be
approached.
The TLS control function is subdivided into two categories, each
of which requires a separate license:
•
TLS Basic modes
- Cylinder inching
- Approach zero position
- TLS inching
•
TLS Advanced modes
- Cylinder inching
- Approach zero position
- TLS inching (also skew drive)
- TLS positioning
- Skew damping
Skew damping
Skew damping is an electronic anti-sway function which elimi-
nates the skewing motion of the spreader by means of the
hydraulic cylinder control or an additional electric drive. The
skewing motions are recorded by the camera. In the conven-
tional mechanical design, TLS positioning as well as skew
damping is performed via the hydraulic system. In a combined
mechanical system using a hydraulic system and electrical sys-
tem, TLS positioning is performed via the hydraulic system and
only skew damping is performed by the electrical system. This
ensures more efficient and more dynamic damping.
Semi-automatic mode (SAM)
The semi-automatic mode allows the system to be set up so that
the load is traversed along a "path curve". The path curve is
specified to ensure that the spreader or grab does not collide
with the crane structure or with containers or other obstacles,
and also reaches its target position accurately. This operating
mode can be used for ship to shore cranes (STS) and ship
unloaders (GSU).
The obstacles are stored in the system as blocked regions and
traversing is only permitted outside these areas. Depending on
the starting point and the target position, the fastest possible
travel path is generated from the data about the blocked re-
gions. Both axes (trolley and hoist) must be operated in the in-
ternal semi-automatic mode.
The container stack can be specified externally by the crane
controller or acquired internally (taught).
The path curve is calculated on the basis of a layout of the work-
ing area in which blocked regions are defined. Blocked regions
are individual or several combined obstacles or also areas which
the crane must not enter for safety reasons to avoid collisions. A
distinction is made between fixed and variable blocked regions.
A blocked region is described by two trolley positions and one
hoisting position.
CCW
left
Trailer
Spreader
CW
right
Waterside
Waterside
Landside
Landside
G_CR01_EN_00357
z (Skew)
x (List)
y (Trim)
© Siemens AG 2015