CODE

0
3
4
10
15
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17
100
101
102
105
109
110
112
113
114
115
205
301
303
304
306
309
310
311
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313
318
319
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331
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333
335
501

DESCRIPTION
No Error
Unknown twistlock state
Crane fault, CCS control not allowed
Spreader inside forbidden area
Flipper feedback lost
Idling too long inside transfer area
ROS failed job
Crane position timeout
No travel goal
Travel route planning failed
Area access timeout
Spreader telescope timeout
Travel goal rejected
Travel control fault in place mode value
Hoist not at safe height when starting travel
Flipper timeout
Crane to crane anticollision timeout
Ground is not clear
No spreader position
Spreader is too low
Hoisting down takes too long
Wait container contact timeout
Hoisting up takes too long
Twistlock closing timeout
Twistlock opening timeout
Micromove controller initialisation failed
Goal not existing or valid
Landing error too large for stacking
Micromove controller error
Bad trim angle
Stack height measurement failed
Pick position not available
Place position not available
Spreader is not centetered
Container too far - unable to pick up, WS
Spreader relative position not available

POSSIBLE CAUSES
Open/close input lost during automatic operation
PLC has set crane fault bit, reason should be shown on CMS
e.g. Light curtain tripped in transfer area
Flippers up/down input missing
CTMS has not generated travel to move out from transfer area
ROS has pressed fail job
Crane position missing, gantry synchro error, POMUX/SYMEO
Trying to travel with no active goal, "should not happen"
Unreachable target given, e.g. inside waterside with a container
Transfer area does not become available within defined timeout period
Spreader telescope does not reach requested position within defined timeout period
Invalid goal given to travel control
Invalid goal given to travel control, state machine error
Hoist below defined safe height
Flippers stuck or feedback missing
Other crane in the way, CTMS did not generate job or crane unable to move
Obstacles, container in tier 1 when trying to land there, container of wrong size underneath.
Spreader position not available, sirrah
Hoist height is below set minimum height in automatic mode
Position controller cannot guide the spreader to the correct position and speed is limited for too long, some other issue in hoist machinery
Spreader not properly landed, landing pin input missing
Hoisting machinery issue
Twistlocks stuck, broken/bad container
Twistlocks stuck, broken/bad container
Micromove controller
Invalid goal given to land spreader
Landing position out of limits after all retries
Micromove controller
Trim angle too big, received from PLC
Spreader lasers cannot measure container stack height, empty slot where containers are expected
Inventory/task mismatch
Inventory/task mismatch
Spreader too far from middle position, container to be picked could be displaced, some issue in controller
Allowed gantry and trolley movement is not enough to pick up the container
Spreader lasers not giving position

Possible fix
Check spreader
Check CMS
Check areas
Check spreader
MROS: Manually move crane to stack
Check reason from operator
Check CMS
MROS: Back to auto
MROS: Manually move crane to stack
Check areas
Check spreader
MROS: Back to auto
MROS: Back to auto
MROS: Manual hoist up
Check spreader
Check other crane
1: Check landing position 2: TOS: Check work instruction
CMS: Check Sirrah
MROS: Manual hoist up
MROS: Back to auto
1: MROS: Manual pick up 2: Check spreader
MROS: Back to auto
Check spreader
Check spreader
MROS: Manual hoist up
MROS: Back to auto
1: MROS: Back to auto 2: MROS: Manual land
MROS: Manual hoist up
Check trim
1: Check landing position 2: TOS: Check work instruction
1: Check pick-up position 2: TOS: Check work instruction
1: Check landing position 2: TOS: Check work instruction
1: MROS: Back to auto 2: MROS: Manual pick up
MROS: Manual pick-up
CMS: Check lasers