CRANE_COLLISION_AVOID
Anti-collision between cranes sharing a runway: a speed cap that closes with the gap and a stop that accounts for stopping distance.
When to use it
Use CRANE_COLLISION_AVOID when two or more cranes share a runway or a travel path, each knows its own position and can be told a neighbour's, and travel toward that neighbour must be slowed and then stopped before they meet.
Interface
The published port signature. This is the whole of what the block exposes to your program — the implementation body is not shown here and ships with the download.
Inputs
| Port | Type | Unit |
|---|---|---|
| ENABLE | BOOL | — |
| OWN_POS | REAL | m |
| OWN_OK | BOOL | — |
| NEIGHBOR_POS | REAL | m |
| NBR_OK | BOOL | — |
| SPEED | REAL | m/s |
| DIR_CMD | REAL | m/s |
| MIN_GAP | REAL | m |
| A_MAX | REAL | m/s2 |
| WARN_BAND | REAL | m |
| REL_BAND | REAL | m |
| ACK | BOOL | — |
Outputs
| Port | Type | Unit |
|---|---|---|
| SLOWDOWN | REAL | 0-1 |
| STOP_CMD | BOOL | — |
| GAP | REAL | m |
| MARGIN | REAL | m |
| STOP_DIST | REAL | m |
| CLOSING | BOOL | — |
| AWAY | BOOL | — |
| VALID | BOOL | — |
| ALM_ZONE | BOOL | — |
| ALM_MIN_GAP | BOOL | — |
| ALM_POS_FAULT | BOOL | — |
| ALM_CFG_ERR | BOOL | — |
IEC 61499 event interface
EI INIT, REQ·EO INITO, CNF
Supervised control write
CRANE_COLLISION_AVOID commands a real actuator. It is written to sit underneath your own interlock, permissive and protection logic — not to replace it. Commission it as you would any control block you wrote yourself.
Validation evidence
- Tests
- 11
- Simulated scans
- 53
- Simulator
- v0.1.0
Complete IEC 61131-3 implementation with a published test suite that runs on the vplant simulator. The counts above are that suite, executed on this build.
- Conforms to IEC 61131-3
- Conforms to IEC 61499
Download CRANE_COLLISION_AVOID — free
Create a free Ri Tech account to download the block. You get the Structured Text body, the Rockwell Add-On Instruction (.L5X), the Schneider Control Expert DFB (.XDB), PLCopen XML, the IEC 61499 function block type (.fbt) and the datasheet.
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Source is never published on this page. The implementation is released to a signed-in Ri Tech account — free of charge, but never anonymously.