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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 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.
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.
The PLC uses a unique identification of its internal variables. The driver uses this convention by default but in case a new crane is used with different PLC variable assignment it is possible to tell the driver which variables are used for the boom angle and wire lengths by defining a miscellaneous system with a specific slot string.
For more info see the section on Database Setup below. The grab angle will be decoded as pitch when slot string GRAB is selected. A boom angle of e. 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.
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.
Now whenever the joystick button is pressed this observation becomes "1", else it will be "0". This observation can be used in an eventing system or dredging system. If value MD1. This also applies to back winch length and boom angle:.
Description Driver to decode the wire lengths, boom angle and any other variable e.
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