Description

Driver to decode the wire lengths and boom angle from the PLC of an Hitachi Sumitomo wire crane. The driver will calculate the corrected vertical distances from the forward sheave to the grab's upper and lower table and to the tips of the grab shell and output them as USBL observations. It contains user interface that enables the user to set up the calculation and to perform the calibration of the wire length measurements.
The driver can decode the raw miscellaneous observations, various USBL observations that can be used to position the grab, the grab angle as a pitch observation and a flag observation that indicates if the grab is open or closed.

The driver creates automatically a grab definition XML file (named "GrabDefinitions.xml") in the support subfolder of the current project folder. This file is used to store one or multiple grab definitions. The different grab types can be selected by the user in the setup page. The grab definition is used in the calibration and calculation so it is important to select the correct grab.

Driver Information

Driver Hitachi Sumitomo WireCrane  Interface Type Serial Driver Class Type Terminated <LF>
UTC Driver (question) No Input / Output Input Executable DrvQPSTerminatedUI.exe WIRECRANE_HITACHI 
Related Systems
Related Pages  



Interfacing Notes

Only a one way serial cable is required from the PLC to QINSy.
The PLC uses the following serial communication settings: 4800 baud, 8 Databits, No parity bit, 1 Stop bit.

Unable to render {include} The included page could not be found.

USBL

Define a USBL system, select Driver "Hitachi Sumitomo WireCrane (dZ)" and define up to 5 observations:

Purpose

Slot String

From front sheave to upper table (only Z)

UPPER

From front sheave to lower table (only Z)

LOWER

From front sheave to forward tip (only Y,Z)

TIP_FORE

From front sheave to aft tip (only Y,Z)

TIP_AFT

From front sheave to bottom of grab (only Z)

BOTTOM

Pitch Roll and Heave Sensor

Define a pitch roll and heave sensor, Select Driver "Hitachi Sumitomo WireCrane (Pitch) and set the same com port parameters as for the USBL system. The grab angle will be decoded as pitch when slot string GRAB is selected. The boom  angle will be decoded as pitch when slot string BOOM is selected. A boom angle of e.g. 60 degrees will be translated to a pitch of 60 degrees.

Purpose

Slot String

Pitch angle of boom

BOOM

Pitch angle of tool

GRAB

If two shells are to be used and displayed then a Clone driver can be used. Be sure to use the slot GRAB also in the clone driver.

Dredging Sensor Flag observations

Define a dredging sensor, Select Driver "Hitachi Sumitomo WireCrane (Grab Open/Close)" and set the same com port parameters as for the USBL system.

Grab Open/close flag

Add a flag observation,  it can be used for the grab open close switch required for the grab dredging system. The observation is "0" when the grab is closed and "1" when the grab is opened. The grab angle is larger than the defined threshold. Slot String should be "OPEN".

Miscellaneous System

Define a Miscellaneous System, select Driver "Hitachi Sumitomo WireCrane (Raw Values)" and set the same com port parameters as for the USBL system. Add three observations with the following slots:

Value

Slot String

Boom Angle

BOOM_ANGLE

Front Winch wire Length

FW_LENGTH

Rear Winch wire Length

BW_LENGTH