CRANE_POSITION_CTRL
Single-axis crane positioning with a jerk-limited travel profile, creep spotting band and no-progress supervision.
When to use it
Use CRANE_POSITION_CTRL when one crane travel axis — a bridge, a trolley, a gantry long-travel or a stacker traverse — has position feedback and must be driven to a commanded coordinate and spotted accurately, with the drive following a speed setpoint.
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 | — |
| GOTO | BOOL | — |
| TARGET | REAL | m |
| POS | REAL | m |
| POS_OK | BOOL | — |
| V_MAX | REAL | m/s |
| A_MAX | REAL | m/s2 |
| J_MAX | REAL | m/s3 |
| CREEP_SPD | REAL | m/s |
| CREEP_DIST | REAL | m |
| POS_WIN | REAL | m |
| STALL_TMO | TIME | — |
| ACK | BOOL | — |
Outputs
| Port | Type | Unit |
|---|---|---|
| SPEED_SP | REAL | m/s |
| ACC_SP | REAL | m/s2 |
| IN_POSITION | BOOL | — |
| MOVING | BOOL | — |
| CREEPING | BOOL | — |
| DIST_REM | REAL | m |
| ALM_STALL | BOOL | — |
| ALM_POS_FAULT | BOOL | — |
| ALM_CFG_ERR | BOOL | — |
IEC 61499 event interface
EI INIT, REQ·EO INITO, CNF
Validation evidence
- Tests
- 9
- Simulated scans
- 399
- 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_POSITION_CTRL — 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.