Crane Control and Automation

Global Solutions

metals cranes mining testing oil & gas paper utilities cement
Organization of Document
TMEIC designs, tests, and commissions complete crane automation systems. This document provides an overview
of the engineering processes and technology used in these systems. The figures below illustrate these processes and
technologies with each section identified with a numbered page icon ( ).
#
Comprehensive Engineering Process
A smooth crane system startup depends on a well-planned and executed engineering process. Starting with the system
proposal and specification, TMEIC’s application engineers manage the entire project through commissioning. This critical
engineering process is illustrated below and detailed in the Project Engineering section. Icons indicate where the various
teams of engineers in the factory and field service organizations are involved in the project.

Detailed
Technical System
Hardware & System
System Maintenance
Proposal Software Design Commissioning
Test and
Specification and Component
15 Service
Procurement
Customer Team 16 17 19 20
Field Team
Factory Team
Training Team

Project Engineering Process

A Flexible Control System Architecture

The Maxspeed® crane control system architecture uses a master controller to coordinate all the networked drives and
to communicate with the operator interfaces, input/output devices, and the yard management system. The Maxview®
system employs vision systems to automate the crane operation. TMEIC has adopted industry standards to simplify the
configuration and integration of these complex control systems for your application:
• Globally-accepted communication protocols and open data interfaces for seamless integration of third-party systems,
and maximum flexibility for future growth and minimum risk of obsolescence
• Ethernet® communications between the controller, operator interfaces, and yard management, providing high-speed
communication and low-cost, standard spare parts availability
• Windows®-based configuration tools, familiar to all users, for all system components

Engineering Station Operator Screens Master Switch Controller

RX3i Link to Yard Management System 7

Toolbox 25 28 5 26 Vision
TMGE Systems
+ AC
-
Manual & Automatic TM-DC 7
Adjustable Speed Drives TM-10e2
Crane Systems 4 22 24

Technologies Employed

Page 2 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

Why Our Equipment Helps Set Production Records
The advanced features of the TMEIC Maxspeed® and the Maxview® visions system allow operation of the yard at a
higher rate, often setting production records. In addition, the increased reliability helps reduce container and equipment
damage. The main system features providing this superior performance are outlined below.

System Features and Benefits

Maxview® Vision System allows Fast and Reliable Crane Operation

• Automatic landing system for accurate pick-up, drop-off, and stacking of containers
• Ship and Yard container profiling system provides safe and efficient operation of both
manned and unmanned cranes
• Chassis Guidance System guides the truck driver into the exact target position
• Direct position measurements are unaffected by rope stretch and wheel slippage

Maxspeed® Fast Operator Response Increases Throughput

• High-speed LANs (local area networks) link the I/O system, master controller, and drives so
the container precisely follows the operator input in manual mode, and follows the system
input in automatic mode
• Multi-tasking controller and the drives are all optimized for the fastest response

Remote Operator Console Streamlines Operation

• Automatic operation allows the operator to manage several cranes at the same time
• Remote operation facilitated with live video feed of container location and container corners
• Point and click container inventory interface allows the operator to locate containers and
associated data in real-time
• Point and click generation of crane work instructions

Ethernet Connectivity Increases Productivity

• Master controller, HMI system, and drives reside on industry standard Ethernet for rapid
exchange of data with computer systems, and for fast configuration
• Standard software, including MS Open Data Base Connectivity (ODBC), XML, OLE for Process
Control, plus drivers for MS SQL and Oracle, speed up communication between computer
systems

CraneDirector™ Container Tracking & Inventory System Provides Faster Operation

• All container movements are tracked and stored in a central data base accessible to yard
management and all crane automation systems

Graphical, Real-Time Maintenance & Diagnostic Reporting

• System level equipment diagnostics makes crane status available in many locations
• Maintenance management planning system creates alarms when equipment maintenance
is required

© 2011 TMEIC Corporation. All Rights Reserved. Page 3 of 32

Maxspeed Crane Systems
Manual Crane Control Systems
The Maxspeed crane control system uses adjustable speed drives
to control the speed and direction of the crane motors driving
the gantry, trolley, boom, cable reels, and hoist. The speeds and
directions are set by the operator using a master switch (joystick),
which inputs signals to the controller through the I/O racks. A high-
speed local area network (LAN) transmits the control signals to the
individual drives, which generate the variable frequency three-phase
AC power to the induction motors.

The link between the operator switch and the controller is optimized
for speed so the operator has fast and responsive control of the
motor.

Earlier crane systems used DC drives and motors, but most regions
of the world are now standardized on AC technology. A typical
manually-controlled system is shown below.
40,000 Hr MTBF
15 Minute MTTR

Remote I /O

Tachometer T T T
Benefits
Motor M M M ¥ Same architecture for Ship to Shore & Yard cranes
Brake B B ¥ Crane duty drives and Fast
motorsResponse
with global AC Drives
recognition for their quality and reliability
Hoist Trolley Gantry 1 ¥ Open architecture
Boom Gantry 2 ¥ System scalability allows a smooth integration of
Spreader Cable & advanced options
Main Cable Reel

Maxview vision systems can be added to fully automate is designed for computer control, but allows operator
the crane so that, in the case of rail mounted gantry control from a remote location if a problem occurs. A
cranes for example, no operator is required. The system typical computer-automated system is shown on page 7.

Page 4 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

Fast Response to Operator Inputs
Since the introduction of electronic controls, operator The Local Area Network (LAN) protocol has been specifically
joystick response has been an issue because of designed for the frequent transmission of small packets of
communication delays. The time for an operator input data, in contrast to most popular protocols, which are
to reach the motor depends on three factors: optimized for occasional transmission of large packets
• The data rate that is possible with the plant cable of data. The crane control system is illustrated below
and communication components showing the three high-speed communication links:

• The efficiency of the protocol, driven by the size • A fast hard-wired link from the operator’s master
and quantity of messages required to transmit the switch to the cab input/output modules
packet of data • A high-speed LAN between the cab input/output
• The turnaround delay time in the sending and modules and the controller
receiving devices • A high-speed LAN between the controller and the
drive cabinet

Control Cab Crane Motor Room Trolley

Cab I/O
RX3i Controller
Hoist Drive
CPU

Hoist Motor
Hard Wired LAN LAN
M

Master Switch

Fast hard-wired High-speed LAN High-speed LAN

link from the between the cab between the PLC
operator's master I/O modules and and the drive
switch to the cab the PLC cabinet Load
I/O modules

Input logic in the Input logic in the

controller optimized controller optimized
for speed. for speed.

Immediate Operator Response using Fast Communications

Optimized Communications System Benefits

The RX3i controller has the latest • The load precisely follows the operator input, even with the higher
technology with microsecond loads currently being used.
processing times. To provide • The yard achieves a higher rate of productivity than previously
the fastest possible response to possible, often setting production records.
operator inputs, the input logic in
both the controller and the drives • The use of single cable LANs means there are no expensive wiring
has been optimized. So, from the requirements to link the various parts of the control system.
operator’s perspective using the • All the drives are on the LAN, so all motors have the same
master switch, this technology instantaneous response to operator inputs.
provides responsive control with
• The response using the remote operator station is just as fast as
hardwired-like functionality.
using inputs from the cab.

© 2011 TMEIC Corporation. All Rights Reserved. Page 5 of 32

Energy-Saving RTG uses the MaxFuelSaver™ System
RTG energy RTG
saving tests operation
in Yantai

Save 30% diesel fuel using the MaxFuelSaver system

Engine PLC
Ethernet Gateway
RX3i
Engine speed feedback Reset Characteristics:
Engine temperature Twistlock locked
Engine torque ref. Engine
Existing
y Standard TMdrive converter
Speed Hoist accelerating
Engine status Regulator Power limit crane PLC supplying DC bus
ECM Power demand
y Standard TMdrive-10 inverter
supplying auxiliary loads
D DC Bus y Option to include a regenerated
Sinewave
Constant Inverter filter energy storage and recovery
Voltage Aux. function to increase fuel savings
Diesel Loads
Generator
y Option for a stand alone unit to
Set retrofit to third party inverters
IGBT converter Trolley
Line reactor Benefits:
G
y Reduced crane fuel consumption
of 30% by optimizing engine
Variable Hoist/Gantry 1
AVR
speed and partially recovering
Voltage &
V/Hz Frequency regenerated energy
y Reduced engine emissions
Gantry 2
y Reduced audible noise
y Reduced engine maintenance
cost

Energy Saving RTG Test Results

Engine speed
Fuel consumption
(accumulated)
Power demand

Several months of tests

on both Tier 2 and Tier
3 diesel generators
produced fuel savings
up to 42% depending
on the operating
conditions.

RTG before retrofit RTG after retrofit with MaxFuelSaver

Page 6 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

Maxspeed Sensorless Electronic Sway Control
This patented system reduces the sway of the spreader Features of the TMEIC anti-sway control system:
caused by motion in the trolley direction or gantry • Faster moves and shorter cycle times
direction during load moves. • Hardware sensors are not required so the initial and
operating costs are lower, and the reliability higher
In Manual operation the operator is sending a speed • The system is not weather-dependent, so snow and
reference to catch the load as it swings, see the dotted rain do not effect its operation
blue line in the time plot below. Manually catching • Installation is fast since there are no sensors to
the load is difficult and not all operators can do it calibrate
successfully. The green line shows the swing motion of • Sway control can operate in manual as well as in
the load. automatic moves
• The trolley and gantry sway performance is ±50 mm,
In Automatic operation with Sway Control, the system
which can be improved if required
figures out how to catch the load by controlling the
• Skewing sway performance is less than one degree
speed of the spreader, see the lower time plot. The
• The system is less expensive and more reliable than
operation is faster since the trolley and load come to
hydraulic anti-sway control systems
rest at the same time, with no waiting for sway damping.
The TMEIC sensor-less crane load measurements are
The load is controlled in one swing of the pendulum, and
covered by U.S. Patent 6,527,130.
does not overshoot the stop position.

Manual Operation Manual Inputs

from Master
Switch
Speed/Position

Time
Trolley Speed
Feedback
Load Sway
Speed Feedback
Position

Ref. Ramp
Automatic Operation with Sway Control
Trolley and Manual Input
Load come to
Speed/Position

rest here
Sway Position

Time

© 2011 TMEIC Corporation. All Rights Reserved. Page 7 of 32

Automated Crane System
The Maxview vision system, added to the basic Maxspeed control system and
CraneDirector™ crane automation interface, provides several levels of scalable crane
automation from semi-automatic with manual assistance up to fully-automatic, unmanned
operation:
• Laser scanners detect the edges and ends of the container
• The controls position the trolley, chassis, and spreader
• Cameras read the container IDs and communicate with the yard director computer
• The gantry is positioned using transponders or satellite signals

Terminal Operating System Remote Operator Stations

Yard Planning CraneDirector
& Container Crane Management &
Tracking System System Yard Director

ODBC
Server Computer
XML

Data Base

Ethernet

Maxview
Local Crane Management RX 3i Controller

Trolley
Position
Maxspeed
Sensor

Trolley

Adjustable Remote I /O Remote I/O

Video Speed
Cameras Drives
Laser
Scanners Spreader

T T T Tachometer
M M M Motor
Video B B Brake
Cameras
Hoist Trolley Gantry 1
Boom Gantry 2
Gantry Position Sensor Antenna Spreader Cable Reel
Main Cable Reel
Embedded Transponders

Page 8 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

Yard Data Flow & Control Functions
TMEIC supplies all of the crane control and automation equipment, operator interfaces, and software shown in the
diagram below.
• The yard management system software in the central office is usually supplied by others
• The CraneDirector software linking the crane automation system with the yard management computer may be on
the crane or in the central office
• The remote crane operator station may be on the crane or in the central office

Yard Management
Yard Management Database
System
Generates Work Instructions
for container movement Work Instructions

Yard Layout

Yard Inventory

Central/Remote Office
Work Instructions Operator-Generated
Dock Yard
(Commands and Status) Work Instructions,
Inventory View
ODBC
ODBC

Remote Crane Operator Station

x Video displays
TM
CraneDirector x HMI screens
x Desk devices
x Crane ground
x Work Instruction Processing level or central
x Container & Crane Tracking
x Data Collection & Logging

Manual Commands,
Status, Video

Tasks and
Status
Basic Crane Control
Control Logic y Drive Control
y Manual Control
y Relay Ladder
Crane Automation Logic

Positioning y Positioning
y Auto Landing
y Profile Scanning Crane Drives
y Anti-Sway
Local Operation
y Anti-Collision
(Cab - Optional)
Input/Output

Motors

© 2011 TMEIC Corporation. All Rights Reserved. Page 9 of 32

Maxview® Systems
Maxview systems provide the measurements required for full
automatic crane operation, as well as for increased productivity and
reduced damage for manually operated machines.

Maxview Automatic Landing™ System

This Maxview Automatic Landing system provides simultaneous
measurement of the landing target and spreader during container
pickup and drop-off so the load can be positioned directly over the
landing target. This is essential for automatic pick-up and stacking of
containers in the yard.

Laser scanners on the trolley measure the position of the spreader

relative to the target container below (refer to the illustration on the
right). Using these measurements, the Maxspeed® crane control
automatically picks and lands containers in the yard, or places them
onto trucks or automatic guided vehicles.

The stack profile option provides a profile of the containers in the

yard for safe and efficient operation of both manned and unmanned
cranes. The stack profile is used by the crane automation system to
continuously calculate the safe height for automatic moves.

Maxview Smart Move™ System

The Maxview Smart Move system is tailored for RTG and RMG
cranes. It dynamically measures the spreader position and the
objects below the crane, providing trolley slowdown and stop inputs
to the crane control system to help prevent spreader collisions and
stack topples.

Maxview Clear Path® System

The Maxview Clear Path system provides collision and area protection
for both dockside and yard cranes. The distance between the
crane and obstacles in its motion path is continuously calculated;
the Maxspeed crane control uses these measurements to assure
operation at the optimum, yet safe, speed. Measurement data
and sensor diagnostic information is readily available via Crane
Management System (CMS) screens.
Maxview Sensors detect
Maxview Gate Monitor™ System container ends and sides
The Maxview Gate Monitor system provides a continuous view
of the lanes at your truck gates, 24 hours per day, 7 days per
week. This Maxview system analyzes this view and provides your
systems with critical data about the traffic through your gates,
including confirmation of empty chassis at the gate, detection of
all combinations of loaded and empty chassis, and detection of any
vehicle in a gate lane.

Maxview Chassis Guidance™ System

The Maxview Chassis Guidance system cuts cycle times and increases
productivity by guiding the truck driver into the exact target position
under the container-handling crane for a quick container transfer.

Custom Maxview Systems

We can design systems to meet your special measurement needs, on
the cranes or elsewhere in the terminal.
Maxview Smart Move system on an RTG Crane

Page 10 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

Maxview Smart Landing®
The Maxview Smart Landing system is a laser-based
ship profile and operator landing assist system
that increases ship-to-shore crane productivity and
reduces damage and operating noise. The system is
in service on ship-to-shore cranes today.

The design is based on TMEIC’s extensive experience

in crane automation applications in the container
handling and other heavy material handling
industries.

The system is particularly effective in assisting

the operator during container pick-up and drop-
off in deep vessel cells, resulting in increased
productivity. Once in the cell, the operator can
lower the spreader at “full stick”, while the system
reduces the speed as required for an optimal, soft
landing at a predetermined speed.

Benefits
• Reduced wear and tear on the spreader and head block - the hoist speed is limited to a pre-set value as the
spreader approaches the pick-up or drop-off point to assure smooth, soft landings.
• Reduced wear and tear on crane structure and wire ropes – smooth landings eliminate slack rope conditions and
reduce crane structural oscillations.
• Reduced container damage costs
• Hatch cover detection can be used for operational tracking and to enforce limitations during handling.
• Reduced operating noise level due to softer landings on containers, and hatch cover handling
• “Flipper Up” confirmation at vessel deck level further reduces spreader damage.

How it works
The Maxview system uses a laser scanner and TMEIC’s Maxview
software modules to measure and continuously update the
profile of containers and other obstructions under the crane. The
Maxview laser scanner has a range of over 80 meters, which
provides measurement to the bottom of the deepest vessels.
The profile is updated continuously, without need for additional
trolley motion (including during the first move over the vessel).
The Maxview system also tracks the spreader position (hoist
position and sway), and continuously compares the distance
between the spreader plus load and all objects in the stored
profile. The system can be easily retrofitted onto existing cranes.

The Maxview Smart Landing Crane Management System (CMS)

screen is provided for the crane operator to increase visual
awareness of the profile of containers and objects below the
crane. This CMS screen also indicates the system status.
Spreader in cell (view from cabin)

© 2011 TMEIC Corporation. All Rights Reserved. Page 11 of 32

Advanced Automation Systems
Sophisticated sensors are mounted on the crane to measure the position of the moving parts and the load so the crane
can operate automatically. The various sensing systems are shown in the diagram below.

Automatic Position Indication (API) - Trolley Position

Incremental Encoder, Automatically
Calibrated via Laser DME

API - Hoist Position

Incremental Encoders,
Automatically Calibrated via
Limit Switch

Crane Collision Avoidance

Network Position Broadcast
& Laser DME

Auto Landing System (ALS) -

Spreader and Container Position,
Container Profile and Anti-Collision
Crane Laser Scanner System

API - Gantry Position

Incremental Encoders, Automatically
Calibrated via Transponders

Automatic Position Indication System (API) – The API system makes direct measurements of the gantry, trolley, and hoist
Automatic
position viaPosition Indication unaffected
laser rangefinders, System (API) – The API
by factors suchsystem makes
as rope direct
stretch and measurements
wheel slippage.of the gantry, trolley, and hoist
position via laser rangefinders, unaffected by factors such as rope stretch and wheel slippage.
API - Gantry Position. An antenna picks up the signal from a transponder embedded in the surface. An interpreter card
API - Gantry Position. An antenna picks up the signal from a transponder embedded in the surface. An interpreter card
generates a corresponding code signal, which is sent to the crane control so the gantry can be positioned accurately.
generates a corresponding code signal, which is sent to the crane control so the gantry can be positioned accurately.
Alternatively, signals from the GPS satellite system can be used for positioning.
Alternatively, signals from the GPS satellite system can be used for positioning.

Recal
Code Signal

R
C
Inter
Ca el
a
pret
Interpreter Relay

rd
Card
ar
Card

er
Antenna y
d

Page 12 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

Multiple Crane Automation – Yard Level System
Multiple cranes communicate with the yard management system over fiber optic cables. The cables come out of the
crane through a cable reel into a trench, and are connected to an Ethernet fiber optic hub. As an option, wireless
communication can be used instead of fiber optics. The network uses standard Internet Protocol (IP) for control and video
signals, and the network “heartbeat” is monitored for safety and emergency stop functions.

Crane Crane Controller

Automation
Computer

Remote Control Center

Yard Planning Cable Reel
and Container Fiber Optic
E Electro-Optical
Tracking System Rotary Coupler
O Converter

Yard Office
Fiber Patch
Note: Fiber Optics can be replaced with Panel of
wireless communication from the office Repeater Hub
to each individual crane.

Cable Reel and Fiber

Optic Cable in Trench
Ethernet
Fiber Optic
Hub

One Cable
for each
Crane

Example of Yard Automation

TMEIC’s experience includes the control and
automation of overhead bridge cranes in slab and
coil yards. TMEIC offers fully automated solutions
for slab, ingot and coil handling, from automation of
individual cranes to management of the entire yard.
Some of the advantages:

• Labor savings
• Reduced equipment maintenance and downtime
• Improved product tracking
• More precise product placement and storage
• Increased safety during heavy material handling
in the harsh environment of a metal rolling mill

© 2011 TMEIC Corporation. All Rights Reserved. Page 13 of 32

Project Engineering

TMEIC’s Crane Engineering Team in Virginia

Dedicated Crane Engineering Team
The material handling engineering team is dedicated • Complete factory system test includes simulation
to the crane control and automation business, and of each AC and DC drive and motor, allowing us to
gained experience working in the ports with technicians ”move loads” from the yard operator’s perspective.
and mechanical suppliers. This engineering background,
coupled with state-of-the-art technology, enables TMEIC • The local commissioning engineers are part of the
to consistently meet the demanding requirements of the project team, allowing a seamless transition from the
industry. factory to your yard.

Experienced crane engineers jointly define the equipment • Factory automation engineers organize the factory
and control strategy with your engineers and the OEM. test and assist with the commissioning.
This is followed by detailed design of the operator
The Local Commissioning Team ensures you have
stations, configuration of the drives, and master control
Knowledgeable Ongoing Service
programming.
TMEIC’s Installation & Field Service organization is broad
Exhaustive Factory System Test Minimizes Risk and deep with extensive experience in the industry,
We understand that late delivery is very expensive, so we providing you with a strong local service presence for
take several steps to hold our aggressive startup schedule: startup and ongoing service work, both in the U.S. and
overseas.

Page 14 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

 Technical Proposal Specification

System
architecture
illustration

Thorough
description
of control
During your project planning stage, functions
experienced material handling application
engineers prepare a technical proposal that
includes:
Customized system architecture for your
project
• Detailed system equipment
specifications
• Formal bid documentation

Detailed
description of
equipment

Our application engineers are highly qualified,

and many of them have over 15 years of
material handling industry experience.

© 2011 TMEIC Corporation. All Rights Reserved. Page 15 of 32

 Detailed Hardware/Software Design & Procurement

Electrical and
mechanical prints

Control logic design

Operator interface
screen design

Based on the proposal specification, the project engineering team proceeds with four main tasks:

• Control Software Design. • Hardware Design.

Control engineers configure the master controller All equipment is specified per the project requirements,
logic, sequencing, and drives. The illustration and a complete set of elementary diagrams, layout,
above shows a typical logic function in Relay Ladder and outline drawings is created.
Diagram format.
• Component Procurement.
• Operator Screen Design. We work with our group companies to source the most
Operator interface screens for operation and cost effective system components for your application.
maintenance of the crane are configured using the
HMI engineering tools providing real-time crane
data and operator interaction.
Page 16 of 32 © 2011 TMEIC Corporation. All Rights Reserved.
 System Test

TMEIC understands the importance

of a thorough system test. Our
engineering team conducts an
exhaustive factory test in the large,
fully-equipped system test lab
featuring::
• Complete staging of the
system with the controller, HMI
system, networks, and all drive
controllers.
• Unique to the industry, a motor
and load simulator in the drive
controller (see below) allowing
lifelike simulation of the
machine.
• Validation of all network
interfaces, including drives, HMI
stations, and other networked
devices.
• Crane mechanical model in the
PLC simulating the real world
actuators and sensors. The picture above shows one of our test labs, featuring;
• 200-plus drive controllers with simulators
• 64 HMI and touch-screen operator stations
• 10 RX3i PLCs
• Complete Maxview sensor systems

Typical Factory Test Setup in the Test Lab

Crane
Management RX3i Controller
System
U
P
C

Drive Controller
Drive Controller M Load Control Logic
Drive Controller M Crane
Load Cab Operator
Process
M Load Model Interface
Devices
Selected
I/O Devices

Motor-Load Simulators

© 2011 TMEIC Corporation. All Rights Reserved. Page 17 of 32

 System Test

Enabling Technology for Process Simulation in a Factory System Test

Real-World Crane Environment System Simulation

Local Area Networks Local Area Networks

Power Bridge Digital Motor
Motor Simulator
Drive Controller Drive Controller Digital Load
M Load
M Load
Simulator

Power Power
Power

Drive Cabinet M Model Load Model

Controller,
Power Bridge, Intertia K 1 d N/d t
and Motor Friction K 2N
2
Windage K 3N

On the crane, AC and DC drives control motor In the System Test, the drives control a motor
speed and mechanical load and mechanical simulator
Each AC drive has a controller with I/O and a gate driver, Each AC/DC drive in the system has its own digital motor
which controls the power IGBTs in the power bridge. simulator based on a dynamic mathematical model. All
The power bridge generates the adjustable frequency AC drive simulators are networked with the master controller
voltage supply to the three-phase motor controlling its and operator stations to test the entire system in real
speed and torque. time. Starts, stops, running modes, response to manual
inputs, LAN continuity, and drive configuration are all
In the case of a DC drive, the power thyristor-based power validated.
bridge converts the AC power to a variable DC voltage,
which is applied to the motor armature. This controls the This unique capability allows the entire team to obtain
DC motor’s speed and torque. an intimate understanding of the system prior to the
commissioning, ensuring a smooth, on-time startup for
your project.

Page 18 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

 System Commissioning

In the commissioning phase of the project, the TMEIC

team includes the field engineers you know and trust,
along with the engineer who designed and tested the
system. This overlap of teams between the factory and
the crane site ensures a smooth and on-schedule startup.
The TMEIC service engineer, who is responsible for startup
and commissioning, and for any future service required at
the port, is part of the project team and participates in the
design to become familiar with the system. The available
support for commissioning includes:
• Local service team
• Factory service engineers
• Factory control engineers

The commissioning phases are shown below.

Check out all wiring

1 and communication Commission
links, load all software, 2 crane manual
and commission drives Commission
control functions 3 crane automation
and motors
system

Commissioning
Phases

Yard
Teams Service
Involved Factory
Training

Commissioning Time Line

Working with the Field Service team, TMEIC offers a single source for installation and commissioning. All three phases
above are compressed by:
• The exhaustive factory acceptance test that includes all drive controllers, master controller, and communication links
• The timesaving commissioning and drive tune-up Wizards
• Training and familiarization of the entire team with the system at the factory

© 2011 TMEIC Corporation. All Rights Reserved. Page 19 of 32

 System Maintenance & Service

Global Customer Support Network

Comprehensive technical service is provided by our Customer Support Organization, staffed by TMEIC service engineers
with offices and spare parts depots across the globe.

In North and South America Remote Drive Diagnostics

Customers are supported by the TMEIC Corporation TMEIC Corporation supports drive customers
service personnel, design engineers and Spare Parts through the Remote Connectivity Module (RCM), a
Depot in Virginia, and the TMEIC Factory in Japan. remote diagnostic service link with the TMEIC design
and service engineers in Roanoke, Virginia. The RCM
In Europe
enables seamless integration between your drives
TMEIC service engineers service all drive systems
and our engineers.
in Europe, supported by the European TMEIC Spare
Parts Depot. Remote System Diagnostics
TMEIC’s remote system diagnostics tool, included
In Asia and the Pacific Rim
in level 1 software, offers a quick path to problem
TMEIC services drive systems throughout China,
resolution. System faults are automatically identified,
India and the Pacific Rim, supported by multiple
and provide an integrated view of product, process
Field Engineers, Spare Parts Depots, and the TMEIC
and system information. TMEIC design and service
factory in Japan.
engineers in Roanoke, Virginia, can analyze the data
and provide steps for resolution.

For Service or Parts, call

1-877-280-1835
INTERNATIONAL:
+1-540-283-2010
24 Hours / 7 days

Remote Diagnostic Service reduces Mean Time To Repair (MTTR)

Remote diagnostic service offers protection for your investment, by reducing downtime, lowering repair costs and
providing peace of mind. Remote diagnostics requires an internet connection between your plant and TMEIC Corporation
for retrieval of fault logs and files to diagnose drive or system issues.

Features Benefits
Quick support saves thousands of $ in lost production
• Reduced downtime and
TMEIC engineers can quickly connect to the drive and diagnose many issues in a
Mean-Time-to-Repair
matter of minutes.
Customer-controlled access
• Secured connection All remote activity is conducted with permission of the customer. Drive start/stop
is not permitted remotely.
Proprietary Fault Upload Software
• Fault Upload Utility Historical drive faults are identified; TMEIC design and service engineers can
analyze the issue resulting in the fault and provide a solution.

Page 20 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

 System Maintenance & Service

Training at the Factory or in Your Facility

Customer engineers, maintenance, and operations
personnel are trained on the drives and control system
at the TMEIC Training Center in Virginia. This world-
class facility has large classrooms and fully equipped
training labs.
Classroom and hands-on training consists of 50%
class time and 50% hands-on lab time. Topics include:
• Overview of the drive system
• Function of the main assemblies
• Technical details of the components
• Operation of the control system from the local
touch panels and the central HMI
• Drive and control system tools,
• System diagnostics and service

Customized Training at the Port

As an alternative to the standard factory training in Virginia, TMEIC can offer a course tailored to your project and held at
your location. In this case, a project engineer and local service engineer train your operators, maintenance technicians,
and engineers in your facility.

Complete and Detailed Drive System Documentation

Along with the hardware and software,TMEIC
delivers complete system documentation:
• An electronic instruction book with
all the prints on CD with a hyperlink
index
• System configuration on CD and a
hard-copy form
• Detailed system manual
• Recommended wiring and
grounding procedures
• Renewal parts list
• Standard third-party vendor
documentation
At the end of the project, the drawings are
updated to reflect the final changes. Final
drawings are delivered to the customer on
CD ROM in AutoCAD format, together with
a hard-copy version.

© 2011 TMEIC Corporation. All Rights Reserved. Page 21 of 32

TMEIC’s Family of AC/DC System Drives

TMdrive-10e2 TMdrive-DC TMdrive-30 TMdriveMVG

Features of the Drive Family Benefits

Common Control Hardware
Spare parts inventory is always an issue in crane
All TMdrive products share a common architecture:
automation. TMEIC reduces this investment with a
• Common I/O boards
common set of control hardware for all of your low voltage
• Common LAN interface boards
AC and DC system drives.
• Common front panel display and keypad options
TMdrive-Navigator, for all TMEIC drives
When commissioning the system, maintaining schedule
The TMdrive-Navigator, a Windows-based software tool,
is everything. The commissioning and tune-up wizards
is used to configure and monitor all TMEIC system drives.
ensure that the system drives are not the critical path
The TMdrive-Navigator features:
item in the start-up. In ongoing maintenance work, the
• Integrated trending
integrated trending tools provide an in-depth view into the
• Animated function block diagrams
regulation functions.
• Commissioning and tune-up wizards
Legacy System Interfaces
It is important for new drive system equipment to
The majority of crane automation projects today involve
integrate with legacy systems. All TMEIC system drives
some form of modernization. The close tie that today’s
have several features that address this point:
TMEIC system drives have with legacy systems reduces
• ISBus, Modbus, Profibus-DP, and DeviceNet LAN
the cost of engineering, commissioning, and training.
interface boards for PLC-based systems
• Common Toolbox configuration

Page 22 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

TMdrive-®10e2 Low Voltage System Drive

TMdrive®-10e2
The family of low voltage AC system drives has
an integral DC bus structure with a wide variety
of inverters (DC to AC) and converters (AC to DC)
to match virtually any application in the material
handling industry.

• 400, 460, 575, or 690 volt operation

• Motor power up to 1,949 kW
• Regenerative converter option

Draw-Out Style Inverters

For applications up to 193 kW (249 hp), draw-out style
inverters are available in a very compact package.

Draw-out inverters are mounted on heavy-duty slides

with staggered dc bus connectors on the back that
connect with the bus when slid into the cabinet.

Motor cables are terminated at a common terminal

block in the bottom of the cabinet. Heat Pipe Cooling Technology
The use of heat pipe technology provides a dramatic
advance in power bridge cooling, including a significant
reduction in the footprint of the power bridge, and
fewer fans lower the audible noise.
Condenser The Thermal Cycle
Condensate to Vapor
Chill 1
IGBT’s are mounted to the multi-channeled chill
Plate plate which cools them. Heat generated by the
IGBTs vaporizes the refrigerant, moving it upwards
through the chill plate to the finned condensing
unit.

Vapor To Condensate
2
Cooling air is pulled up through the IGBTs and the
condensing unit, and cools the refrigerant, which
IGBT power condenses back to liquid.
switches
Return of Condensate
3
The condensed refrigerant returns to the bottom
of the chill plate to start the thermal cycle over
again.
© 2011 TMEIC Corporation. All Rights Reserved. Page 23 of 32
TMdrive®-DC System Drive Overview
The TMdrive-DC family of system drives shares numerous
components with the TMdrive-10e2 AC products and are composed
of several frames offered in any combination of four form factors
(digital front end (DFE) control retrofits, frame assemblies, module
assemblies, complete cabinet assemblies).

This flexibility of form factors and commonality with the TMdrive-

10e2 AC products suits the current modernization project trends in
crane automation:
• Digital Front End (DFE) control retrofits on larger DC drives,
saving the expense of replacing the existing power bridge and
motor.
• Selected DC drive frame upgrades to address incremental power
requirements.
• Frequent use of both DC and AC drive technology in projects.

Featuring Flexible Mechanical Design

TMdrive-DC’s flexibility in packaging allows it to meet virtually any new or retrofit application. Three of the more com-
mon applications are illustrated below, from a DFE module to a complete DC drive and cabinet.

Legacy DC Drive Modernized TM-DC Drive

TMdrive-DC
DFE DFE Digital Front End
Hardwired I/O Interface Analog Regulator
Drive reference, feedback Current and speed Retrofit legacy drive control with
and status signals hardwired regulators built from TMdrive-DC digital front end and
with rest of the control analog components controls, preserving existing power
system bridge, auxiliary power components
in panel, cabinet, motor cabling, and
motor

TMdrive-DC
TMdrive-DC Module
Assembly
Retrofit legacy drive
control and panel with
TM-DC DFE controls,
new power bridge, and
panel components,
preserving exisiting
cabinet, motor cabling,
and motor

TMdrive-DC
& Cabinet

TMdrive-DC and Cabinet

Hardware Based Sequencer
Retrifit entire legacy drive with
Sequencing functions
TMdrive-DC drive including:
hardwired on TTL or relays
Power Bridge - Controls
Original DC source - Power bridge
in the DC Drive - Panel
- Cabinet
perserving existing motor
cabling and motor

Page 24 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

TMdrive-Navigator Supports the Entire TMdrive Family
The TMdrive-Navigator tool helps you
maintain TMEIC drives yourself. Engineers
and technicians are empowered to
understand how the drive works and what
the drive is doing. Any user can easily
access current drive expertise and know-
how.

Desk-top like search technology links topical signal

lists, block diagrams, help files, productdocumentation,
change history, and user notes. Windows techniques
facilitate navigation within a drive and across the system.
The status of all drives is always in view.

High-speed data is automatically captured and saved in the

event of a drive fault. Users may also capture high speed
data based on their own trigger conditions or perform high
resolution real-time trending.
Fault data can be automatically “pushed” to key users.
The client-server architecture allows access to high
performance data from remote locations – with the same
resolution as if you were in the plant.
Wizards support tuning of drive functions.

Live block diagrams provide a real-time graphical view of

drive functions. Functions can be configured directly from
the graphical view. Product documentation is integrated
right into the tool. Users may even capture their own notes
to benefit future troubleshooting.
Compatible with:
• Windows XP, Vista 7
• Windows Server 2003, 2008

© 2011 TMEIC Corporation. All Rights Reserved. Page 25 of 32

World Class Master Controller

PAC Systems™ RX3i

The PACSystems™ RX3i controller provides the crane control functions including logic, sequencing, and motor speed
signals. The controller rack contains the power supply, CPU, and spare slots for communication and I/O cards.

Controller Features Benefits

Configuring Software
Powerful and Easy to use
The Logic Developer PLC software provides
The choice of graphical and high-level languages
graphical programming languages including
makes the controller easy to use and powerful.
familiar ladder logic, block programming,
Immediate access to all project information on the
and SFCs. Real-time data and power flow are
screen saves configuring time and avoids errors.
highlighted in green.
Fast Controller More Control and Faster Response
The controller uses a 300 MHz processor and 10 RX3i provides more control capability in a single
Mbytes of user memory with the very fast PCI controller than previous controllers, and faster
backplane. response to inputs.
Communication Options Seamlessly integrates with other Control Systems
A selection of communication Local Area Connectivity options provide seamless integration
Networks and I/O device networks: with the rest of the dock yard systems and any
• Ethernet, 10/100 MB/s existing I/O such as Series 90-30, Genius, or Profibus.
• Serial RS-232 and Serial RS-485
• Genius Bus and VersaMax Ethernet Global Data (EGD) provides very fast
• Profibus and DeviceNet communication with other devices.

Dual Backplane I/O Flexibility and Speed

The controller supports both the high-speed PCI PCI dual backplane is 250 times faster than 90-
backplane (32 MB/s) and Series 90-30 backplane 30 backplane and allows both RX3i and 90-30 I/O
in one assembly for convenient upgrades. modules to be plugged in.

Latest I/O Modules Improved Performance

• High-density discrete I/O with 32 points Minimizes space requirements and cost and provides
• High-resolution analog I/O with 16-bit accuracy the highest possible control accuracy. Hot insertion
• Remove and insert modules with the power on simplifies repairs and reduces down time.

Page 26 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

Graphical Programming Simplifies Controller Configuration
Advanced graphical programming is used to configure • RLL (Relay Ladder Logic) blocks
the controller. Several different programming • Math blocks and User Defined blocks
languages are available in the Windows-based Logic • Control Regulator blocks including PID
Developer PLC software, part of the Proficy Machine • Instruction List Blocks
Edition suite. Simple sequencing or permissive • Structured Text Blocks and C programming
functions can be configured in relay logic. More • Sequential Function Charts
complex control functions can be configured in a • Diagnostics using high-speed trends of drive
higher-level language: variables

Navigator:
The project
and tools in a
tree structure

Navigator tabs:
Details of the
project

Inspector:
Details of the
selected
object, (Run
Enable switch)

Companion:
A dynamic
Help window

Editor window: Editor window tabs: Data Watch: Feedback Zone:

Create and edit Lets you switch between Displays the current Displays output
applications open editor windows values and status of information from
variables components

The screen above shows a typical layout of the tools Toolchest: This contains preconfigured objects that can
and editors available. The editor window shows a be dragged into Machine Edition projects.
ladder logic diagram with real-time data and power
InfoViewer: This is an embedded browser used to
flow displayed in green. In addition to the windows
display reports and comprehensive help.
shown above, two other windows can be added:

© 2011 TMEIC Corporation. All Rights Reserved. Page 27 of 32

Monitoring & Diagnostic Interfaces

TOTAL
CONTROL

Two HMIs for Crane Monitoring and Diagnostics

Features Benefits
Small Panel-Mounted Touch Screen Convenient, Reliable Machine Control Panel
Mounted in the cab or the electric house, the Panel-mounted close to the operator, the touch
small touch screen station provides a selection of screen provides intuitive displays with data for
displays providing both real-time crane operating operation and maintenance. The rugged industrial
data and machine diagnostic data. computer stands up to the yard environment.

Crane Management HMI A Single Station for All Functions

The powerful HMI can be mounted in the Versatility of the crane management HMI is a major
electric house, the cab, ground station, or the advantage. The station can be used to operate
maintenance or operations office. Buttons at the the crane, schedule maintenance, diagnose crane
base of the screen bring up special displays for problems, reconfigure the crane control system and
functions including: the drives, and provide production data.
• Monitor: Crane details for maintenance and
operation The HMI can be used by yard personnel including:
• Alarms: Details of the recent crane alarms • Crane operators
• Production: Statistics on the number of
• Crane maintenance
moves, whether loading or unloading, the
type of loads, and the ships involved • Production personnel
• Maintenance: Records of the machine • Electricians
cycles, hours of operation, and maintenance
schedules • Crane engineers
• Drive: Toolbox software for drive
configuration, tuning, performance trending,
and monitoring
• PLC: Proficy Machine Edition software for
configuring the PLC and I/O
• Document: Instruction manuals on all
components

Page 28 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

Crane Management System (CMS)
The CMS screen shown opposite
is an operator overview of the
entire crane with important real-
time data and status information
such as:
• Boom position in degrees
• Status of the twist locks
• Spreader status
• Crane load
• Wind speed
Buttons at the bottom of the
screen allow the call up of
displays of all crane components
and control functions including:
• Hoist
• Trolley
• Gantry
• Boom (see display below)
• Spreader

Data analysis is simplified using the Trend Recorder, which displays real-time and historical data, see above right. Multiple
signal traces are selected by dragging and dropping variables from the block diagram view. Movable cursors to read out
values of the trends are shown at the bottom of the screen. The recorder screen shows:
• Live data from the controller trended as fast as every 20 ms
• High-speed data from capture buffers in the drive trended every one ms or faster

Boom Status Display

Alarm List with Time
and Date
Dynamic graphic
showing Power
Flow

Animated Graphic
Dynamic Bar
Chart Displays

Permissive
Diagnostic Display

Icons for navigation

to other displays

© 2011 TMEIC Corporation. All Rights Reserved. Page 29 of 32

 Operation Report
The operation report, used by maintenance and technical
personnel, provides performance data on individual cranes
as follows:
• Operating duration in hours
• Number and type of containers lifted
• Crane utilization rate (time lifting/time with power on)
• The cycle time per container (seconds/lift)
• The average weight of container (tons/lift)
• Crane container handling rate (lifts/hour)
By adding data for all cranes, yard throughput and
productivity can be calculated.

Preventive Maintenance
This screen keeps track of the hours of operation of critical
components and compares with schedule settings showing
when maintenance should be performed. Alarms occur
when component maintenance is required, including:
• Brake pad inspection
• A/C and vent fan service
• Twist lock inspection
• Motor brush inspection

If alarms occur, maintenance can be performed and

expensive crane failures avoided. Downtime is minimized,
and service is only performed when actually required.

Power System Monitor

The screen provides real-time data on the crane
power supply power consumption, and harmonic
distortion. This data helps:
• Protect the electrical equipment
• Reduce power consumption
• Save money on maintenance and electric power

16000
CMS - Power Quality Monitor
14000
Line Voltage (VAC)

12000
Line Voltage

10000 Vab Overvoltage

(VAC)

8000

6000
4000 Vca Undervoltage
2000
1

55
1

13

17

21

25

29

33

37

41

45

49

53

57
99

Time, sec

Page 30 of 32 © 2011 TMEIC Corporation. All Rights Reserved.

Remote Operation
Remote operator stations in the yard office have screens with live video showing the crane pick up area and the top of
the containers. Operator master switches on the desktop allow manual intervention if a problem occurs. Stations can be
located on the crane or in the yard, if desired.

Remote Operator Console layout using:

y Flat screens
y Quad Video windows
y Color touchpanels
y Master switches

Vertical Screen Panel #1 & #4 - Wide View with: #2 & 3 - Diagonal

#1 - Operating Area Spreader Corners
#4 - Container ID No.

Alternative Operator
Console layout using:
y Two screens
y Quad View video
y Desktop with pushbuttons
y Master switches

© 2011 TMEIC Corporation. All Rights Reserved. Page 31 of 32

About TMEIC
A Global network The factory for the World’s factories
TMEIC is built on the combined and proud heritage TMEIC delivers high quality advanced systems and products
of Toshiba and Mitsubishi-Electric in the industrial to factories worldwide, while serving as a global solutions
automation, control and drive systems business. TMEIC’s partner to contribute to the growth of our customers.
global business employs more than 2,200 employees,
with sales exceeding U.S. $2.4 billion, and specializes in Customer Service
Metals, Oil & Gas, Material Handling, Utilities, Cement, At TMEIC, our focus is on the customer, working to
Mining, Paper and other industrial markets. provide superior products and excellent service, delivering
customer success every project, every time.
TMEIC Corporation, headquartered in Roanoke, Virginia,
designs, develops and engineers advanced automation
and variable frequency drive systems.

Global Office Locations:

TMEIC Corporation TOSHIBA MITSUBISHI-ELECTRIC INDUSTRIAL SYSTEMS

Office: 1325 Electric Road CORPORATION (TMEIC)
Roanoke, VA 24018 21/F., Building B, In.do Mansion
Mail: 2060 Cook Dr. 48 Zhichunlu A, Haidian District
Salem, VA 24153 Beijing, China
Tel: +1-540-283-2000 Tel: +86-10-5873-2277
Fax: +1-540-283-2001 Fax: +86-10-5873-3208
Email: MH@tmeic.com Email: sales@tmeic-cn.com
Web: www.tmeic.com Web: www.tmeic-cn.com

TOSHIBA MITSUBISHI-ELECTRIC INDUSTRIAL SYSTEMS TOSHIBA MITSUBISHI-ELECTRIC INDUSTRIAL SYSTEMS

CORPORATION (TMEIC) CORPORATION (TMEIC)
Mita 43 MT Bldg. Shanghai, China
13-16 Mita 3 chome, Minato-ku Email: sales@tmeic-cn.com
Tokyo, Japan Web: www.tmeic-cn.com
Tel: +81-3-5444-3828
Fax: +81-3-5444-3820 TMEIC Asia Company Ltd.
Web: www.tmeic.co.jp Kowloon Bay, Hong Kong
Web: www.tmeic.com
TMEIC Europe Limited
6-9 The Square, Stockley Park TMEIC Asia Company, Ltd. Rep. Office
Uxbridge, Middlesex, United Kingdom, UB7 7LT Kaohsiung, Taiwan
Tel: +44-870-950-7220 Web: www.tmeic.com
Fax: +44-870-950-7221
Email: info@tmeic.eu
Web: www.tmeic.com TMdrive is a trademark of TOSHIBA MITSUBISHI-ELECTRIC INDUSTRIAL SYSTEMS
CORPORATION.
Maxspeed is a trademark of TMEIC Corporation.
TMEIC Industrial Systems India Private Limited Maxview is a trademark of TMEIC Corporation.

Unit #03-04, Third Floor, All specifications in this document are subject to change without notice. This brochure is
Block 2, Cyber Pearl, HITEC City, Madhapur, provided free of charge and without obligation to the reader or to TMEIC Corporation. TMEIC
Corporation does not accept, nor imply, the acceptance of any liability with regard to the use
Hyderagad, Andhra Pradesh, India of the information provided. TMEIC Corporation provides the information included herein as is
Tel: +91-40-4434-0000 and without warranty of any kind, express or implied, including, but not limited to, any implied
statutory warranty of merchantability or fitness for particular purposes. The information is
Fax: +91-40-4434-0034 provided solely as a general reference to the potential benefits that may be attributable to the
Email: inquiry_india@tmeic.com technology discussed. Individual results may vary. Independent analysis and testing of each
application is required to determine the results and benefits to be achieved from the technology
Web: www.tmeic.in discussed.

I-1105
© 2011 TMEIC Corporation. All Rights Reserved.