Krasta Manual English PDF

Khne BSB GmbH, DE 64295 Darmstadt, Mina-Rees-Strae 5A, Tel:+49-(0)6151/397690-0, Fax: -200
Program for statical and modal

analysis of spatial frames

KRASTA 9.5 Manual Contents iii

Contents
1 KRASTA ............................................................................................................................................... 1
1.1 POSSIBILITIES AND FIELDS OF USAGE OF KRASTA ............................................................................ 3
1.2 CACLULATION ACCORDING TO THEORY 2
ND
ORDER ............................................................................. 3
1.3 LOADS AND PREDISPLACEMENTS ...................................................................................................... 3
1.4 MASS DISTRIBUTION ........................................................................................................................ 3
1.5 PAS ................................................................................................................................................ 3
1.6 STAB88 / NODYA .......................................................................................................................... 3
2 LEGAL ISSUES.................................................................................................................................... 5
2.1 LICENSE AGREEMENT ....................................................................................................................... 5
2.2 LIABILITY ......................................................................................................................................... 6
3 INSTALLATION.................................................................................................................................... 7
3.1 KRASTA ........................................................................................................................................ 7
3.1.1 Installation of KRASTA ........................................................................................................... 7
3.1.2 Determine directory for manager system and temporary files ............................................... 7
3.1.3 First start of KRASTA ............................................................................................................. 7
3.1.4 Closing KRASTA .................................................................................................................... 9
3.2 LICENCE FILES ............................................................................................................................... 10
3.2.1 Naming extension and location of the Licence File .............................................................. 10
3.2.2 How to check your Licence File ........................................................................................... 10
3.2.3 Changes to the Licence File ................................................................................................. 10
3.2.4 Protection against misuse .................................................................................................... 10
4 BASICS IN PROGRAM USAGE ........................................................................................................ 11
4.1 USER SETTING AND SETUP ............................................................................................................. 13
4.1.1 The KRASTA-Manager ........................................................................................................ 13
4.1.2 The User Profile ................................................................................................................... 13
4.2 KRASTA BASICS .......................................................................................................................... 15
4.2.1 Main Window ........................................................................................................................ 15
4.2.2 Right mouse button .............................................................................................................. 17
4.2.3 Hotkeys................................................................................................................................. 17
4.2.4 KRASTA Objects .................................................................................................................. 17
4.2.5 Single Object Selection ........................................................................................................ 19
4.2.6 Multiple Object Selection ...................................................................................................... 19
4.2.7 OK and Cancel ..................................................................................................................... 19
4.2.8 Saving of texts and pictures ................................................................................................. 19
4.2.9 Input Controls ....................................................................................................................... 20
4.3 HANDLING OF KRASTA SYSTEMS ................................................................................................... 21
4.3.1 Purge System ....................................................................................................................... 21
4.3.2 KRASTA archives ................................................................................................................. 21
4.4 SELECTION OF BEAMS AND NODES ................................................................................................. 23
4.4.1 Current Selection .................................................................................................................. 23
4.4.2 Selection Mode ..................................................................................................................... 23
4.4.3 Changing the current selection, graphically interactive ........................................................ 23
4.4.4 Changing the current selection, in respect to beam or node properties .............................. 24
4.5 VIEW, DISPLAY, PROJECTION ......................................................................................................... 25
4.5.1 Display Subset ..................................................................................................................... 25
4.6 COLORS AND CAPTIONS ................................................................................................................. 27
4.6.1 Colors ................................................................................................................................... 27
4.6.2 Captions ............................................................................................................................... 27
4.6.3 Text and symbol sizes .......................................................................................................... 28
4.7 PRINTING....................................................................................................................................... 29
4.8 PAGE LAYOUT................................................................................................................................ 30
4.9 OPTIONS ....................................................................................................................................... 31
4.9.1 Units ..................................................................................................................................... 31
iv Contents KRASTA 9.5 Manual

4.9.2 Languages ............................................................................................................................ 31
4.9.3 User ...................................................................................................................................... 31
4.9.4 Automatic save ..................................................................................................................... 31
5 MODELLING ....................................................................................................................................... 33
5.1 COORDINATE SYSTEMS .................................................................................................................. 35
5.1.1 Inertial System ...................................................................................................................... 35
5.1.2 Subsystem Coordinate System ............................................................................................ 35
5.1.3 Beam Coordinate System ..................................................................................................... 35
5.1.4 Principal Axes Coordinate System ....................................................................................... 36
5.2 BEAMS AND NODES ........................................................................................................................ 37
5.2.1 Beam and Node Name ......................................................................................................... 37
5.2.2 Beam Properties ................................................................................................................... 38
5.2.3 Node Properties .................................................................................................................... 41
5.3 CONSTRUCTION ............................................................................................................................. 43
5.3.1 Split Beam ............................................................................................................................ 43
5.3.2 Reverse Beams .................................................................................................................... 44
5.3.3 Translation, Stretching, Copying and Mirroring .................................................................... 44
5.3.4 Rounding .............................................................................................................................. 45
5.3.5 Check for double beams or nodes ....................................................................................... 45
5.4 CROSS SECTIONS .......................................................................................................................... 47
5.4.1 Points for Proof of Stresses .................................................................................................. 47
5.4.2 Direct Input Cross Section .................................................................................................... 48
5.4.3 Partial Rigid Cross Sections ................................................................................................. 48
5.4.4 Thin-Walled Cross Sections ................................................................................................. 50
5.4.5 Parametric Cross Sections ................................................................................................... 51
5.4.6 Standard Cross Sections ...................................................................................................... 62
5.4.7 Import Cross Section ............................................................................................................ 62
5.5 MATERIAL ...................................................................................................................................... 63
5.6 LISTS ............................................................................................................................................. 65
5.6.1 Simple Beam or Node Lists .................................................................................................. 65
5.6.2 Other simple lists .................................................................................................................. 65
5.6.3 Composition Lists ................................................................................................................. 65
5.6.4 Filter Lists ............................................................................................................................. 66
5.7 MASS CASES ................................................................................................................................. 67
5.7.1 Permanent Mass .................................................................................................................. 67
5.7.2 Basic Mass Cases (BMC) ..................................................................................................... 67
5.7.3 Combination Mass Cases (CMC) ......................................................................................... 70
5.7.4 Situation Dependent Mass Case (SMC) .............................................................................. 70
5.7.5 Sum of Masses ..................................................................................................................... 70
5.8 LOAD CASES .................................................................................................................................. 71
5.8.1 Basic Load Case (BLC) ........................................................................................................ 71
5.8.2 Combination Load Case (CLC) ............................................................................................ 75
5.8.3 Situation Dependent Load Case (SLC) ................................................................................ 76
5.8.4 Load Case 2
nd
Order Theory (TH2) ...................................................................................... 76
5.8.5 Geometrical nonlinear Load Case (S88) .............................................................................. 76
5.8.6 Logic Load Case (LLC) ......................................................................................................... 76
5.8.7 Nonlinear Logic Load Case .................................................................................................. 77
5.9 SITUATION DEPENDENT LOAD AND MASS CASES ............................................................................. 79
5.10 LOAD SEQUENCES ...................................................................................................................... 81
5.11 DESIGN SPECTRA ....................................................................................................................... 83
5.12 CONSTRAINT CONDITIONS ........................................................................................................... 85
5.12.1 Types of Constraint Conditions ............................................................................................ 85
5.12.2 Consideration in Display and Results ................................................................................... 86
5.12.3 Example: Constraint Conditions ........................................................................................... 86
5.12.4 Sensor degrees of freedom and optimised coupling ......................................................... 90
5.12.5 Assistant for Constraint Conditions ...................................................................................... 92
5.12.6 Buffer for Constraint Conditions ........................................................................................... 95
5.12.7 Error Bounds......................................................................................................................... 96
5.12.8 Compatibility with KRASTA 9.3 and prior ............................................................................. 96
KRASTA 9.5 Manual Contents v

5.13 SUBSYSTEMS ............................................................................................................................. 97
5.13.1 Hierarchy, Organization ........................................................................................................ 97
5.13.2 Import Subsystems ............................................................................................................... 97
5.13.3 Simplified orientation after copy or import ............................................................................ 99
5.13.4 Geometrical Orientation of a Subsystem ............................................................................. 99
5.13.5 Current Subsystem ............................................................................................................... 99
5.13.6 Beams and Nodes of a Subsystem ...................................................................................... 99
5.13.7 Beams between subsystems ............................................................................................... 99
5.13.8 Split off Marked Nodes as New Subsystem ....................................................................... 100
5.13.9 Melt a subsystem ............................................................................................................... 100
5.14 CONNECTIONS AND CONTACTS ................................................................................................. 101
5.14.1 Structural Build-Up ............................................................................................................. 101
5.14.2 Means for the orientation of the structure .......................................................................... 101
5.14.3 Example for a subsystem structure .................................................................................... 103
5.14.4 Examples for Contacts ....................................................................................................... 105
5.14.5 Connection ......................................................................................................................... 106
5.14.6 Contact ............................................................................................................................... 107
5.14.7 Error messages (Contact) during connection of subsystems ............................................ 107
5.15 ORIENTATION ........................................................................................................................... 109
5.15.1 Basic Orientation ................................................................................................................ 109
5.15.2 Relative Orientation ............................................................................................................ 110
5.15.3 Orientation Modification...................................................................................................... 111
5.15.4 Methods of orientation ........................................................................................................ 111
5.15.5 Notifications during the execution of orientations .............................................................. 112
5.16 KINEMATICS ............................................................................................................................. 113
5.16.1 Dialog: Kinematic ............................................................................................................... 114
5.16.2 Error messages (Kinematic) ............................................................................................... 117
5.16.3 Example: (Kinematic) ......................................................................................................... 118
5.16.4 Further possibilities to model kinematic displacements ..................................................... 120
5.17 SITUATION ............................................................................................................................... 121
5.17.1 Methods of situations ......................................................................................................... 121
5.17.2 Dialog Situation ................................................................................................................ 122
5.17.3 The situation $uncertain................................................................................................... 122
5.17.4 Create situations for orientations ....................................................................................... 123
6 CALCULATION ................................................................................................................................ 125
6.1 CALCULATION SUITE .................................................................................................................... 127
6.1.1 Available solvers and computation theories ....................................................................... 127
6.1.2 Methods of calculation suites ............................................................................................. 127
6.1.3 The default calculation suites PAS linear and PAS ThII ............................................... 128
6.1.4 Dialog: Calculation Suite .................................................................................................... 128
6.2 CALCULATION ACCORDING 2
ND
ORDER THEORY ............................................................................. 131
6.2.1 2
nd
Order Theory, Basics .................................................................................................... 131
6.2.2 Th. II, Modelling techniques ............................................................................................... 131
6.3 SITUATION-INDEPENDENT CALCULATION ........................................................................................ 133
6.4 CONTENT OF THE RESULT FILE ...................................................................................................... 135
6.5 PROCESS SOLVER INPUT FILES .................................................................................................... 137
6.6 CALCULATION LOG ....................................................................................................................... 139
6.7 PAS ERROR MESSAGES ............................................................................................................... 141
6.7.1 Error/Warning Nr. 229 ........................................................................................................ 141
6.7.2 Error/Warning Nr. 451 ........................................................................................................ 141
6.7.3 Error/Warning Nr. 453 ........................................................................................................ 144
6.7.4 Error/Warning Nr. 455 ........................................................................................................ 146
6.8 MODAL ANALYSIS ........................................................................................................................ 149
7 ANALYSIS AND DOCUMENTATION .............................................................................................. 151
7.1 PROOFS ...................................................................................................................................... 153
7.1.1 Proof of fatigue based on damage accumulation ............................................................... 155
7.1.2 Proof of Fatigue acc. DIN 15018 ........................................................................................ 159
7.1.3 Proof of Fatigue acc. DIN 22261 ........................................................................................ 161
vi Contents KRASTA 9.5 Manual

7.1.4 Proof of Fatigue according to DIN CEN/TS 13001-3-1:2005-03 ........................................ 163
7.1.5 Proof of Fatigue according to prEN 13001-3-1:2009 ......................................................... 169
7.1.6 Common information to proof of fatigue according to EN 13001-3 .................................... 175
7.1.7 Proof of Fatigue according to EN 1993-1-9:2005 (EC 3) ................................................... 179
7.1.8 Proof of Fatigue acc. FEM 1.001 ........................................................................................ 189
7.1.9 Proof of Fatigue acc. ISO 5049-1 ....................................................................................... 191
7.1.10 Proof of Fatigue according to DASt-Ri 011 ........................................................................ 193
7.1.11 Proof of Fatigue acc. AS 4100:1998 .................................................................................. 195
7.1.12 Proof of Stresses el.-el. acc. DIN 18800:1990-11 .............................................................. 203
7.1.13 Proof of Stresses, Buckling acc. DIN 4114-1:1952-07 (Omega-Method) .......................... 205
7.2 RESULTS ..................................................................................................................................... 207
7.2.1 Delta Stress Results ........................................................................................................... 209
7.3 PROOF- / RESULT-CONTROL-SETS ............................................................................................... 211
7.3.1 Options for search of extreme values ................................................................................. 211
7.3.2 Evaluation ........................................................................................................................... 212
7.3.3 Output ................................................................................................................................. 212
7.3.4 Evaluation Pattern .............................................................................................................. 213
7.4 OUTPUT FORMAT ......................................................................................................................... 215
7.5 PALETTES .................................................................................................................................... 216
7.6 SYSTEM DOCUMENTATION ............................................................................................................ 219
7.6.1 Textual Documentation ....................................................................................................... 219
7.6.2 Graphical Output ................................................................................................................ 219
8 BRIEF INFORMATION FOR REVIEW ............................................................................................. 221
8.1 GENERAL ..................................................................................................................................... 221
8.2 COORDINATE SYSTEMS ................................................................................................................ 222
8.3 PROPERTIES OF BEAMS ................................................................................................................ 223
8.3.1 Beam Spring ....................................................................................................................... 223
8.3.2 Joints .................................................................................................................................. 223
8.3.3 Material ............................................................................................................................... 223
8.3.4 Force Conditions ................................................................................................................ 223
8.3.5 Beam Buckling Data ........................................................................................................... 224
8.4 PROPERTIES OF NODES ............................................................................................................... 224
8.4.1 Support Conditions ............................................................................................................. 224
8.5 CROSS SECTION .......................................................................................................................... 224
8.6 MASS CASES ............................................................................................................................... 226
8.7 LOAD CASES ................................................................................................................................ 226
8.8 RESULTS ..................................................................................................................................... 228
8.9 SIGN DEFINITION OF INNER FORCES AND STRESSES ........................................................................ 229
9 INDEX ............................................................................................................................................... 231

KRASTA 9.5 Manual KRASTA 1

1 KRASTA
KRASTA is a program system for structural and
modal analysis of spatial framework in the fields of
material handling and general steel engineering.
Structures or parts of it can be moved in different
configurations for calculation. Results from several
positions can be evaluated together.
The idea for KRASTA was born in 1973 at the
Fachgebiet Frdertechnik und Lasthebemaschinen
(Institute for Material Handling and lift-
ing appliances) of the Technische Hochschule
Darmstadt, Prof. Dr.-Ing. R. Neugebauer. The pro-
gram has been developed at the institute in coop-
eration with the industry first of all for mainframe-
and minicomputers. The work has been supported
by the Fachgemeinschaft Frdertechnik im VDMA (Verband Deutscher Maschinen- und Anlagenbau
e.V.) and FKM (Forschungskuratorium Maschinenbau). Since 1980 the program is used in the industry.
In 1987 the program was ported to PC under DOS.
Since 1990 the graphical-interactive in- and output was developed. The idea to this was brought in by the
Lehrstuhl fr Frdertechnik und Maschinenelemente of the RU Bochum, Prof. Dr.-Ing. G. Wagner.
Since 1991 further development, maintenance and sale are done by Khne BSB GmbH.
The program system was ported to Windows in 1995.
Program authors:
Holger Ackermann
Georg Kohlhas
Michael Khne
Alfried Lautermann
Hans Lautner
Frank Meier-Drnberg
Gerhard Wagner
and others
PAS III, developed parallel to KRASTA at the Institut fr Statik und Stahlbau of the TH Darmstadt,
Prof. Dr.-Ing. H. Ebel, respectively version PAS IV, enhanced by Khne BSB, is used as solver.
As an alternative to PAS III the program STAB88, developed by the Lehrstuhl fr Frderwesen of the
TU Mnchen, can be used.

2012 Khne BSB GmbH
KRASTA 9.5 Manual KRASTA 3

1.1 Possibilities and fields of usage of KRASTA
KRASTA is a program system for structural and modal analysis in the fields of general steel engineering,
material handling and plant manufacturing. The structural model is created graphical interactive by
means of beam elements and nodes.
The calculation continues up to the proof of stresses and fatigue. The proof of stresses can be made
independent of standards or according to DIN 18800, the proof of fatigue can be made according several
standards e.g. DIN 15018, DIN 22261 and EN 1993-1-9 (EC3) incl. damage accumulation.
The nominal stresses are determined on the base of technical bending theory of the beam and the St.
Venant torsion theory.
1.2 Caclulation according to theory 2
nd
order
For a calculation according to theory 2nd order, partial safety coefficients and predisplacements can be
considered.
1.3 Loads and predisplacements
Loads and predisplacements (concentrated, evenly distributed or trapezoidal) can act on parts of a beam
or on the complete beam.
1.4 Mass Distribution
The mass distribution can be described exactly. Loads resulting from translational or rotational
accelerations or rotational velocities are generated automatically on the base of the mass distribution.
Structures or parts of it can be brought to different positions for calculation. The results from different
positions can be evaluated together.
1.5 PAS
PAS theoretical foundation
The program PASIII or PASIV used as solver has the following theoretical foundation.
For the single beam the differential equation system (DES) is solved according to the technical beam
bending theory. As the inhomogeneous DES is solved loads and predisplacements can be placed inside
the beams without definition of intermediate nodes.
The calculation may be according to theory 1
st
or 2
nd
order. The equilibrium is calculated in the deformed
state.
Theory 2nd order iterates over the normal force of the beam.
The buckling load (Eigen value) can be determined iteratively.
PAS contains a theory of small displacements which means that the plan of displacement is built linear.
Partial rigid cross sections
Each of the 6 cross section values (area, shear areas, bending- and torsional inertia moments) can be
set rigid or elastic. Elasticity equations for rigid values are replaced by equilibrium conditions. Structures
that show great differences in elasticity or regions that cannot be modelled by beams, can be modelled in
this way so that the global flow of forces can be determined correctly without numerical difficulties in
solving the equations.
1.6 STAB88 / NODYA
The optional solver program STAB88 is a finite element program with geometrical nonlinear calculation of
beam -, bar - and rope structures.
KRASTA 9.5 Manual Legal Issues 5

2 Legal Issues
2.1 License agreement
1. The license agreement exists between the end user as licensee and the company Khne BSB
GmbH.
2. Concession of a license. The license agreement gives you the right to install and to use a copy
of the program KRASTA on your computer (single user license). In case you have several
licenses of KRASTA you are allowed to install it on as many computers as licenses exist. If
you have a network license there is no numerical limitation of computers on which the program is
installed in one location. If the program is supplied with a dongle it may be installed on several
computers.
3. The program is property of the company Khne BSB GmbH and it is protected by copyright.
Copying of the program or the manual without written permission is prohibited. The licensee is
authorized to make a backup of the original data media for his own use (exception see 5.).
4. The program must not be leased or hired. However there is the possibility to definitely transfer the
license to a third party. The license can be transferred only if this contract is accepted by the new
licensee. All available program versions as well as all manuals have to be passed on to the new
licensee, no copy is allowed to remain with the person who transfers the license. Decompilation and
disassembly of the program is not allowed.
5. If a user wants to install a version that is not provided with a dongle on other computers for testing or
does he want to copy the manual in parts or in total a written permission of the company
Khne BSB GmbH is required.
6 Legal Issues KRASTA 9.5 Manual

2.2 Liability
The company Khne BSB GmbH takes no liability for secondary damages which are caused by
using the program.
The responsibility for the correctness of the results is exclusively up to the user.
Should you have any questions about this contract, please contact the company Khne BSB GmbH at
the following address:
Khne BSB GmbH
Mina-Rees-Strae 5A
DE 64295 Darmstadt
Phone
Fax
Hotline
+49 (0) 6151 397690-0
+49 (0) 6151 397690-200
+49 (0) 6151 397690-222
KRASTA, KRACAD, KRAMOD
Copyright 1991-2012 Khne BSB GmbH. All rights reserved.
KRASTA

and KRACAD are registered trademarks.
AutoCAD is a registered US-trademark of Autodesk, Inc.; MS-DOS, Windows are registered trademarks of Microsoft
Corporation.
KRASTA 9.5 Manual Installation 7

3 Installation
3.1 KRASTA
KRASTA can be installed at present under the following different operating systems:
- Windows 7, Windows Vista
- Windows NT, Windows 2000, Windows XP
Should any problems occur during the installation or later our hotline will be available for help.
3.1.1 Installation of KRASTA
The installation process of KRASTA should
automatically be started by inserting the CD. You
can also manually start the installation by running
start.exe from the CD.
KRASTA 9.5 starts the installation of KRASTA
itself. Please follow the steps indicated there.
Acrobat Reader (opt.) will install ADOBE Acrobat
Reader 5.05 (German version) to read PDF-Files.
The KRASTA documentation is available as PDF
files.
Dongle Treiber will install the device driver for the
KRASTA-Dongle. If you do not have a dongle, the
driver is not required.
If necessary, the installation steps specified above
can be also be started directly from the CD.
By default, KRASTA is stored to the directory
c:\program files\KUEHNE_BSB\KRASTA_95\
by the setup program. This directory is known as the
KRASTA root directory.
Within this directory the executables are stored to
subdirectory BIN, the cross section library to subdirectory LIB and the program documentation to
subdirectory MANUAL.
3.1.2 Determine directory for manager system and temporary files
KRASTA automatically creates files to store the user settings. By default, these files are stored into the
KRASTA root directory and are named with the prefix MANAGER.
You can however choose other locations and/or file names for those files in KRASTA. This allows for
multiple user access to a shared manager system. KRASTA users must have write permission to this file.
KRASTA automatically stores temporary files within the actual windows temp directory in a separate
subdirectory KRASTA.
You can choose another position for this too. Access to this directory should be as fast as possible,
therefore, it should be located on the local hard drive and should be locally accessed, too. KRASTA
users must have write permission for this directory.

3.1.3 First start of KRASTA
When launched for the first time, KRASTA will detect the fact that some information is still missing and
will ask for it.
A dialogue window will appear for the selection of the language, which should be used by KRASTA by
default. Later (and for individual projects), it is possible to select another language at any time.
8 Installation KRASTA 9.5 Manual

KRASTA Start Window
In the first window to appear the name of the user has to be selected and possibly an according
password entered.

Anwender is the default (German) name for a user. Accept this once and change it afterwards to a your
preference.
KRASTA 9.5 Manual Installation 9

KRASTA Main Window

After the selection of a user the main window of KRASTA appears.

The main window of KRASTA includes the following elements:
- Main menu
- Tool bar
- Status bar
- Working area
- Object tree
- Information window
KRASTA generally opens a new, empty system
automatically when started.
You can select an existing system, by selecting a
directory, which contains KRASTA systems.
There, you can select a system (e.g. test.kr2), to
open it click Open or double-click the system name.
3.1.4 Closing KRASTA
You can close KRASTA by using the submenu item
Close in the main menu item File.
10 Installation KRASTA 9.5 Manual

3.2 Licence Files
Starting with KRASTA 9.3 some special program features (e.g. regarding Network/Dongle or
Basic/Fatigue/Full version) are activated by an individual Licence-File.
In order to be able to use all licensed KRASTA features, customers with network and/or customers with
full version must have an appropriate Licence File.
The license files contain information in coded form. Apart from an individual identification for the
identification of the licensee, further information to enable individual features of KRASTA are also
contained in this file.
3.2.1 Naming extension and location of the Licence File
The KRASTA Licence File has the file extension *.liz.
In order to enable KRASTA to find the licence file it must be located in the same directory as the program
executable (KRASTA.EXE). If the appropriate default settings were assumed during the installation of
KRASTA, this then should be C:\Program Files\Kuehne_BSB\KRASTA_95\BIN or similar.
Make sure that multiple Licence Files are not present at the same time. KRASTA will always analyze the
first licence file found
3.2.2 How to check your Licence File
You are able to check your currently licensed KRASTA features at any time through the KRASTA menu
item menu item Info....
3.2.3 Changes to the Licence File
Changes to the license file, e.g. the individual identification used by KRASTA, can be done by us at any
time.
Please contact our support:
Email: support@krasta.de
Phone: +49 (0) 6151 / 397690 222
Fax: +49 (0) 6151 / 397690 200
3.2.4 Protection against misuse
Secure the Licence File (in particular in network environments) against misuse and unauthorized third
party access.
KRASTA 9.5 Manual Basics in Program Usage 11

4 Basics in Program Usage
The following chapter describes usage of KRASTA itself and handling KRASTA systems. Items regarding
configuration, basic usage concepts and some special controls are covered.

4.1 User Setting and Setup
KRASTA may be used by single users or work groups that are manager by KRASTA themselves. A
special user, the manager, is responsible for the organization of users and data.
Every user has a user profile, which, among other preferences, defines the dialog and output language of
KRASTA.
Users are data-technical "objects" and they can be generated, copied, edited and deleted.
4.1.1 The KRASTA-Manager
If functions are called, that are only allowed for the "Manager", the program asks for the manager
password. After input of this password the user is authorized as Manager until the end of the current
KRASTA session.
4.1.2 The User Profile
In the user profile the dialog- and output language as
well as the physical units can be set.
The user profile is organized hierarchically:

By this means settings with higher priority overwrite
lower ones.
4.1.2.1 In- and Output Units:
- length : m, cm, dm, mm, in, ft
- force : N, kN, pond, kp, Mp,
lbs, Dyn, daN, MN
- mass : kg, t, g, lbs
- time : sec, min, h
- temperature : centigrade, Fahrenheit
- angle : rad, Grad, gon, rev., mrad
- fraction : part, percent, per mill
In the database all data is saved in SI-units. The units used for in- and output can be changed at any
time.
4.1.2.2 In- and Output Language
Texts for dialog and textual output are saved in a file and may be translated into other languages.
German and English language databases are delivered with the program system. The user can specify
which languages he wants to use for dialog and output separately.

default settings by
KRASTA
settings by the
KRASTA-manager

settings by the user
fixed settings in the
system
temp. settings in the
system
increasing
priority

4.2 KRASTA Basics
In the following chapter, KRASTA basics and common usage pattern are covered.
4.2.1 Main Window
The main screen of KRASTA provides the following items:
- Titlebar, here you see the topical system name with path.
- Working Area - In the working area you see the display of the entered structure, loads, masses,
inner forces, deformation and stresses as well as the selection of beams and nodes.
- Object Tree, here all objects of the current model are displayed in a tree structure.
- Information Window, here information concerning the picture is displayed.
- Status Line, here you see topical settings and prompts.
- Toolbar, here you see different tools for information and display.
- Main Menu - gives the user access to all functions of the program.
KRASTA Main Window

16 Basics in Program Usage KRASTA 9.5 Manual

4.2.1.1 Working Area
In the working area the structure, cross sections, loads, masses, inner forces, deformation and stresses
are displayed.
Using the mouse you can select subsystems, beams, and nodes.
Using the scroll-bars you can scroll the visible detail view.
Window: Working Area

4.2.1.2 Object Tree
On the left side of the screen all objects of the current system are displayed in a tree view.
Window: Object Tree
By clicking on the plus sign in front of the object name or by double
clicking the name itself, further levels below this point can be displayed.
For reasons of improved readability load cases, mass cases and list are
divided into sub topics.
Pressing the right mouse button in the tree view brings up a context
menu that offers the options that are usually connected with that type of
object.
In addition it is possible for some types of objects to pull them via drag
and drop onto the working area.
The results depend on the object type:
- Display and Projection Settings are applied to the current display
- Mass Cases turn on mass case display for the selected mass case
- Load Cases switch load dependent displays (load, bending line,
inner forces) to the current load case, if such a display is active; else it
turns on load display.
- Beam or Node Lists are used as under the menu item "selection by
list
- Cross Sections and Materials are assigned to the currently selected
beams
The dividing line between object tree and working area can be moved
left or right.
By pressing the button Minimize Tree the tree is reduced to the main level.
4.2.1.3 Information Window
In a window situated between working area and status line, information concerning the currently
displayed graphics (description of display, scaling factor for figures, load and mass sums) is shown.

Window: Information

The dividing line between information window and working area can be moved up or. This may also be
used to adjust the aspect ratio of the display for output.
4.2.1.4 Items of the Status Line
In the status line selected units, beam and node selection state and current time is displayed.

Additionally prompts for input in dialogs and information about the menu items are displayed. For
operations which may take some time a progress bar is shown.
4.2.2 Right mouse button
In the working area you can pop up a menu by clicking the right mouse button.
If you click the right mouse button in the working area, the menu contains items to Zoom the view, to
change the displayed Subset and to Copy the current view into the clipboard (in meta file and in bitmap
format).
If the mouse points to a beam or node additional menu items Edit Beam and Edit Node appear for the
individual beams or nodes.
4.2.3 Hotkeys
Beside the standard windows behavior to select menu items via keyboard by pressing [ALT]-Key and an
underlined letter of the menu item, KRASTA offers the following short cut keys for common actions
additionally:
- CTRL+N open new (empty) model
- CTRL+O open existing model
- CTRL+S save model
- CTRL+P print
- CTRL+R refresh display
- STRG+Q quit KRASTA
4.2.4 KRASTA Objects
The expression "object" as used in this text means things like beams, nodes, load cases or cross
sections as well as users, page layouts etc. All such objects have a Name, a Comment and Information
about creation and modification date.
Using the relevant menu item the user can create such objects New, Edit them, Copy existing ones or
Delete them. Objects of most types may also be Imported from other systems and stored in Lists (p.65).
A list is also an object.

4.2.4.1 Name
For all objects, e.g. beams, nodes, load cases, cross sections, etc. a Name is used, under which this
object is managed. The name can consist of up to 16 letters and 4 figures.
The program proposes a standard name for a new object. It consists of the standard name part for the
type of object and a number.
4.2.4.2 Comment
For all objects a Comment can be entered in addition to the name. Here further explanations may be
specified, to make the function of parts of the system clearer.
4.2.4.3 Information
For each object the system stores the date and the time of the creation and the date and time of the last
modification. This data can be reviewed by clicking the button Information.
4.2.4.4 Create an Object
On creation of a new object KRASTA creates a standard object of the respective type with standard
attributes and calls the relevant dialog to edit this type of object.
KRASTA proposes a unique name for the new object consisting of the standard name of the specific
object and a number, that is automatically incremented.
In some cases the menu item New is followed by a submenu for the specification of the subtype of object
to create.
4.2.4.5 Edit an Object
The menu item Edit calls the corresponding object dialog for the chosen object.
Example: Edit an Object
After the selection of the menu item Edit in the main menu item load case, a selection box appears
where all existing load cases are listed. After selecting a load case and confirming by pressing OK or
double clicking, the corresponding load case is opened for editing.
4.2.4.6 Copy an Object
The menu item Copy copies an object and calls the corresponding object dialog for the copy.
Example: Copy an Object
Click main menu item load case and then Copy. A selection box appears, where all existing load cases
are listed. After selecting a load case and confirming by pressing OK or by a double clicking, the
corresponding load case is copied into a new load case. This new load case is opened for edition.
4.2.4.7 Delete an Object
With the menu item Delete you can delete an existing load case, mass case, cross section etc.
Example: Delete an Object
After clicking Delete in the main menu item load case a multiple object selection appears, where all
existing load cases are listed on the left. After selecting the desired load cases (bringing them to the right
side) and confirming by clicking OK the load cases are deleted.
4.2.4.8 Import an Object
Objects can be imported from other KRASTA systems.
To import an object, the system from which to import has to be selected first.
In the next step the desired objects can be selected in a multiple object selection dialog.
If the names of imported objects conflict with already existing ones, the number part of the name is
automatically incremented for the imported objects.

4.2.4.9 Object Lists
Object lists are used to manage a group of objects of one type. They can be used for example to
describe a list of nodes that carry a specific load.
Lists (p.65) are KRASTA objects and have a name and a comment.
Usage of a list in other objects is registered. If a list is no longer used, KRASTA asks the user if it should
delete the specific list.
Lists can be created new, copied, edited or deleted.
Multiple object selections are usually used to edit object lists. On the right side the selected objects are
shown, on the left the unselected ones.
Beam and node lists use special dialogs to graphically interactive select the object on the screen.
4.2.5 Single Object Selection
When it is necessary to select one object out of a
list of objects this often can be done with the dialog
Selection. By marking and clicking the button OK
or by double clicking on the corresponding list entry
an object can be selected. In most cases the dialog
caption shows the purpose of the selection.
4.2.6 Multiple Object Selection
Several objects out of a list of objects can be
selected in the dialog object selection. The caption
shows the purpose of this selection. The available
objects are listed on the left. The selected objects
are shown on the right.
An object can be selected by
marking on the left and
clicking the button Add or by
double clicking on the left.
The button All > moves all
objects to the right.
An object can be removed by
marking on the right and by
clicking the button Delete or
by double clicking in the right
field. The button < All
moves all objects to the left.
The objects can be sorted alphabetical or according to other eligible criteria.
4.2.7 OK and Cancel
All input dialogs can be shut down by OK or Cancel, clicking the button OK stores the input, clicking
Cancel leaves the object as is.
4.2.8 Saving of texts and pictures
Saving picture or text is done in similar manner.
Saving a plot file
Besides Name and Comment a Position Number can
be given to the text that is to be saved. KRASTA needs
a page layout (p.30).
The file name for the file can be input directly or
selected by pressing Browse.

Checking Minimal Text Only leads to a plot text that does not contain load, mass or support force sums.
The additional button Select Picture Details allows to
select a smaller frame of the picture to be saved.
Saving a text
There are the same items for saving a text as for
saving a plot except for the button Select Picture
Details.
A text or a plot file represents one or more output
pages which may later be printed via the printing
dialog (p.29).
4.2.9 Input Controls
In KRASTA dialogs often have input controls with specialized properties e.g. for simplified entering of
points or vectors, to autoamtically adjust values in regard of physical units or for in place calculation of
simple math expressions.
4.2.9.1 Input of points and vectors
It is necessary to define a point or a vector at several places in the program.
The input can be made by setting the coordinates via keyboard into the corresponding input fields or by
graphical selection.
Input of point coordinates
To select point coordinates graphically you can click the button Graphical Selection. In the following you
can select a node in the working area of which the coordinates are set as point coordinates.
It is also possible to place the cursor in an input control of a component (x, y, z) and click a node
afterward. This only copies the corresponding component of the node.
Input of a vector
To select a vector graphically you can click the button Graphical Selection. In the following you can to
select two nodes in the working area; the difference of the node coordinates is set as the vector.
It is also possible to place the cursor in an input control of a component (x, y, z) of the vector and click
two nodes afterwards. This only copies the corresponding component of the vector.
4.2.9.2 Display of physical units
All numerical input lines have their current physical units displayed next to the input field.
4.2.9.3 Input of numerical values
While entering numerical values, one can use either decimal points or commas to divide the fraction from
the integer part (required for input on the german numeric keypad). The output is displayed with a
decimal point only.
In addition calculations may be made on the input line. Expressions can be used that contain "+", "-", "*",
"/", "(", ")", "**"(exponentiation) "sqrt"(square root), "sin", "cos" und "tan". Trigonometric functions always
expect degrees as input.

4.3 Handling of KRASTA systems
The term KRASTA system refers to all data stored under a specific system name, e.g. construction,
evaluation logic, calculation results, proofs and plots. All these data are stored in seperate files. The file
names are made up of system name and different suffixes. As a kind of handle to all of these files, one
file with suffix .kr2 is used.
With KRASTA you are able to create new, open, save, or delete KRASTA systems. As usual, the menu
items for these purposes you can find at the main menu item File. There, additionally a list of recently
edited systems is offered to open.
4.3.1 Purge System
KRASTA systems may purged in various steps to save disk space. The files which store the selected
data will be deleted.
Dialog: Purge System
The following options can be selected to purge:
- Solver log-file (p.139)
- Inner forces and node displacements (p.135)
- Textual output files
- Graphical output files
- Solver input data (p.137)
The selected files (or the files representing the
selected data) will be deleted by clicking OK.
To purge the current system is default. By clicking the
Browse button you can purge any other system
instead.
4.3.2 KRASTA archives
To save individual development stages of a KRASTA system, it is sufficient to create a so called
KRASTA archive. It is compact, if so complete and unambiguous named.
As archive format, the widely-used ZIP-format is used.
Archive / Dearchive
In Save and archive some details are queried in the dialog Put KRASTA systems into archives,
before, if necessary, the current changes of the KRASTA system are stored and the KRASTA system is
archived.
After choosing the archives in Unpack and open the compressed KRASTA-System is extracted and the
system opened. If necessary a further inquiry takes place whether an existing system of same name is to
be overwritten or not.
The KRASTA System is archived under its original name, but in general, the name of the archive is
individualized by e.g. a time stamp.

Dialog: Put KRASTA System into archives

put system into: Shows the name of the archive, as it results from the specifications in the zip file.
zip file: Specifies the name and location of the archive. It is possible to add automatically Date and Time
to the archive name. Thus, archives have clear individual and informative names.
In addition: Specifies the contents of the archive in addition to the actual core data of a KRASTA
system, which is archived by default, some additional data can be selected for archiving.
The input shown in the dialog here corresponds to the default settings for the archiving of a KRASTA
system named Demo01.
AutoBack.zip
A special form of the KRASTA archive is an automated backup
when saving. Each time the system is saved; the Auto-Backup will
be created or overwritten.
This ensures that the most important information of a KRASTA
system is stored compressed in a file. This file allows to handle a
KRASTA system easily with conventional backup strategies and to
save it completely and consistently in itself.
Only the most crucial data, e.g. no computation results, are stored
into the archives.

4.4 Selection of Beams and Nodes
4.4.1 Current Selection
At any time a Current Selection exists of beams and, independently from that, of nodes, which contains
the currently selected beams or nodes respectively.
The selection of beams or nodes is modifiable in many ways. On way is graphically interactive by
selecting single or multiple beams or nodes by picking with the mouse, another way by selecting existing
lists or by selecting specific beam or node properties (menu item Selection)
If a selection acts additive or subtractive to the current selection is controlled by the Selection Mode
(p.23).
4.4.2 Selection Mode
Single or multiple beams resp. nodes can be
selected, i.e. be added to the selection,
deselected, i.e. subtracted from the selection, or
inverted, i.e. selected be deselected and deselected be selected.
These selection modes are applied all same kind for graphical interactive, for selection in respect to
properties and for selection of an existent list.
4.4.3 Changing the current selection, graphically interactive
The selection is done with the left mouse button by clicking single objects or by drawing a rectangular
area.
Always, there are
only beams or
only nodes
selected.
But by choice
single beams or nodes,
subsystems
subsystem branches or
all.

(p.23).
When selecting "subsystems", "subsystem branches" or "all", not the single beams or nodes are
selected, but the entire subsystem. This difference is important for simple beam and node lists, as this
selection state is adopted exactly in the list. Nodes and beams which are added to subsystems
subsequently are automatically included in the beam list if the subsystem is included in the list.
The current selection state is shown in a status line in the bottom right corner. It is differentiated between
beams and nodes in general and single beams or nodes, subsystems and subsystem branches.

If subsystems are selected and according single beams or nodes are to be unselected, the selection
state of the subsystem is transferred to the single nodes and beams and then the subsystem and the
single objects are unselected. There is no selection state "whole subsystem without beam <xyz>".

4.4.4 Changing the current selection, in respect to beam or node properties
The current selection may change in respect to specific beam or node properties. At first a property type
is chosen, KRASTA then offers a choice of all varieties present in the system.
All beams or nodes with the specified property are selected.
(p.23).

4.5 View, Display, Projection
The way how structural details or results are shown can be controlled in detail in many aspects, which
can be stored for a quick reuse later. KRASTA here distinguishes between projections and display
settings.
Projection Settings
Projection settings define from which spatial direction the model is shown.
In newly created KRASTA systems the projections setting Dimetrie, a diagonal view is available by
default.
Display Settings
Defines extent and details of structural and result views.
In newly created KRASTA systems the display setting Minimal that shows beams and nodes is
available by default.
4.5.1 Display Subset
KRASTA is able to switch between displaying the whole structure or a subset of beams and nodes.
Therefore four menu items below main menu item View and at the context menu of the plot area are
available:
Display Subset
Only the currently selected nodes and beams are shown as a subset. Unselected nodes of selected
beams remain in the subset while unselected beams with selected nodes are removed from the subset.
Hide Subset
The currently selected nodes and beams are removed ffom the display subset.
Expand Subset
The subset is expanded at it edges by one beam and according node.
Display Everything
The whole structure is displayed. Beams and nodes of the previous subset are selected.

4.6 Colors and Captions
The settings of screen colors and text sizes reside at the main menu item View
4.6.1 Colors
The user (p.31) can set individual colors to be used by KRASTA.
You can reset the colors to default by the button Standard Colors.
Dialog: Colors

You find a button next to each color box for changing the color display.
4.6.2 Captions
You can define the header text of plot and text pages. Project Name, System Text and User Text can
be set by the user, the Company Text can only be changed by the manager.
Dialog: Captions


4.6.3 Text and symbol sizes
Dialog: Display

In the dialog you can make the following settings:
- The relative size of texts, node boxes, beam arrows and joints on the screen or printer resp. "1" is
about 1.5% of the picture diagonal.
- The relative distance to the margin
- The pick sensitivity radius in pixel
- The thickness of lines [approximately in mm]
In multiplication to the above (common) text size factor the field Text Sizes provides particular text size
factors.

4.7 Printing
You can print out text and plot files with the menu item Print.
For printing, you can find and select your previously saved Text- and Plot-Files of this system in the
according list boxes. You can also print out (ANSI text) files, which are not created by KRASTA.
Dialog: Printing
For the selected text or plot files the page
layout is shown which was selected during
creation of the file.
Plots can be output in normal (position as
on the screen), rotated or optimal adapted
in the existing frame.
Text or plot files can be added to the
output files by clicking the button Add or
by double click.
A preview of the text or plot files can be
shown in an individual window by clicking
the button Display.
You can select text and plot files and
delete them by clicking the button Delete.
Selected files for printing can be marked
and removed from the list Files to Print
by clicking the button Remove.
For the files which are to be printed a Start
page number can be committed. Then the
files are printed continuously with page numbers in that order as they are in the list.
You can enter a chapter heading and/or number for the files which are to print at Chapter.
You can change the printer settings by clicking the button
Printer Setup.
The appropriate Windows standard dialog appears.

4.8 Page Layout
You can define Page Layouts for text and plot prints.
Page Partitioning
The user can set the following parameters:
- Number of header and
footer lines
- Margins left, right, top and
bottom
- Font size of header and
footer lines
- Font size of text/plot area
- Width of the frame lines
The sheet is partitioned as
shown.
There is a different size of
printable area on the sheet
dependent on the used printer
and printer driver.
Dialog: Page Layout
You can set the margins for
left, right, top and below in
millimeters. The distance to
the margins always relate to
the printable area.
Additionally you can define
header and/or footer lines
within the frame. The size of
the head or bottom lines is
dependent on the used font
size (default: font size 10 point).
The area, where pictures or texts can
be displayed, result from the frame
minus the header and footer area.
The number of lines and columns
which can be displayed on the sheet
(default: font size 10 point) are
dependent on the used text font.
This number of lines is calculated by
the program to fit within the margins,
considering the font size and number
of header and footer lines and the
currently set standard printer.

Paper Size
Header
Lines
Printable
Area
Frame
Plot Area
Right Margin
Left Margin
Top Margin
Footer Bottom Margin

4.9 Options
In the main menu item Option different settings can be made.
4.9.1 Units
The units can be set individually in Global (green), For current User (blue) and
For current System (white) (see User Setting and Setup (p.13)). The Global unit settings are used if no
other values are set.
Setting an arrow (->) instead of the dimension, the dimension of the unit is taken over from the column
which stands right beside it.
Dialog: Units

4.9.2 Languages
Languages can be set for the current system (white) and/or User (blue) separately for screen Dialogs
and textual Output individually.
If an arrow (->) is selected instead of a language, the language selected on the right is used.
Dialog: Languages

4.9.3 User
Users can be created, edited, copied or deleted. Changing of the user setting (p.13) can only be done by
the KRASTA-manager. The manager has to authorize before manipulating users by his
Manager Password.
4.9.4 Automatic save
KRASTA is able to automatically save or remind the user saving in certain intervals.
For further information see chapter KRASTA-Archives (p.21).
KRASTA 9.5 Manual Modelling 33

5 Modelling
This chapter contains all topics in regard of the formulation of the physical model.

5.1 Coordinate Systems
KRASTA provides 4 coordinate systems:
- Inertial System (p.35)
- Subsystem Coordinate System (p.35)
- Beam Coordinate System (p.35)
- Principal Axes Coordinate System (p.36)
5.1.1 Inertial System
The inertial system (IN-CS) is the fixed global cartesian coordinate system.

5.1.2 Subsystem Coordinate System
Each subsystem has its own subsystem coordinate system (SS-CS), in which the according objects are
defined. In the KRASTA-basic version the SS-CS is equivalent to the IN-CS.
5.1.3 Beam Coordinate System
For each beam a beam coordinate system (BM-CS) (x
0
, y
0
, z
0
) is defined. The SS-CS is defined by the
start of the beam, the end of the beam and an auxiliary vector. Cross sections are defined in the BM-CS.

The x
0
points from beam start to the beam end.
The positive local x
0
axis and the auxiliary vector define the plane in which the local y
0
axis lies.
The definition of the local beam coordinate system can be described as follows:
- The local x
0
-axis is defined by start and end node of the beam.
- An auxiliary vector, described in subsystem coordinates, is input to the set the other local axes.
- The cross product of x
0
and auxiliary vector gives the local z
0
- axis.
36 Modelling KRASTA 9.5 Manual

- The cross product of z
0
and

x
0
gives the local y
0
- axis.

Section banks are set according to the convention positive inner forces point into positive coordinate
direction at the end of the beam (positive section bank).
At the start of the beam positive inner forces point into negative coordinate directions (negative section
bank).
During input of objects and attributes the user may choose among different coordinate systems. Beam
loads, for example, may be input in IN-, SS- or BM-CS.
5.1.4 Principal Axes Coordinate System
The principal axes coordinate system (PA-CS) is rotated by a principal axis angle o against the BM-CS.
At double or single symmetrical cross sections the PA-CS corresponds to the BM-CS. Inner forces and
beam deformations are given in principal axes.

Cross sections are described in the local y
0
, z
0
plane. If cross sections have principal axis angles
different to 0, the local beam axes are transformed into the principal axes for the solver input file.

5.2 Beams and Nodes
The structure consists of beams, which have six degrees of freedom at each end. They can transmit
normal forces, shear forces as well as bending and torsional moments.
- A beam is determined by a start and an end node.
- At one node several beams may start or end.
- Beams are physically connected with each other by assignment of identical nodes.
- Beams and nodes can be given beam properties or node properties respectively.
- Nodes are described in a spatial cartesian coordinate system.
In this chapter the individual properties of beams and nodes are described.
The description of how to compose a structure (p.43), handling of subsystems (p.97), mass cases (p.67)
or load cases (p.71) is given in further chapters.
Beams and nodes are KRASTA objects (p.17) and have a name and a comment.
The beam and node properties can be edited individually for a certain beam or node by the appropriate
edit dialog.
Additionally, most beam and node properties can be changed for all beams and nodes of the Current
Selection at once. The corresponding menu items can be found below the main menu item Property.
5.2.1 Beam and Node Name
The name is unique in the subsystem, but possible repeated in another subsystem. A global unique
identifier is given with the combination with its subsystem name.
Beams and nodes, as well as all KRASTA objects, may be renamed at every time.
Dialog: Name Assignment


5.2.2 Beam Properties
Beams can have the following properties:
- Name (p.37) and Comment
- Springs (p.38)
- Joints (p.38)
- Force Conditions (p.38)
- Auxiliary Vector (p.39)
- Material (p.39)
- Cross Sections (p.39)
- Beam Masses (p.39)
- Beam Mass Factors (p.39)
- Section Points (p.40)
- Beam Buckling Data (p.40)
5.2.2.1 Beam Springs
The connection between beam and node is rigid by default. Springs may be used to define elasticity
between beam and node.
5.2.2.2 J oints
Beam joints provide translational and rotational degrees of freedom between beam end and node.
Beam joints are beam properties, they are defined in the beam coordinate system of the beam.
If the beam coordinate system does not correspond with the desired directions of the joint axes a short
(rigid) beam with the desired local axes can to be created.

Joints at the beams 1 and 2 in the left part of the figure do not result in ratational degree of freedom
around the dashed axis, but joints at the auxiliary beams 7 and 8 do.

5.2.2.3 Force Conditions
For elements that can only transmit forces that are higher or lower than a certain value, force conditions
can be defined. They behave like an ideal elastic-plastic material.
Typical applications for such elements are ropes that only transmit tension, wheels and legs, that only
transmit pressure or hydraulic buffers that only transmit a limit force.
A more general form of force conditions, e.g. across multiple beams, can be formulated via
Constraint Conditions (p.85).
Caution: These elements can only be used with linear theory!

5.2.2.4 Auxiliary Vector
The auxiliary vector describes the orientation of the beam coordinate system. The usage of the auxiliary
vector is described in the chapter coordinate systems (p.35). All components of the auxiliary vector are
initially zero.
For the H-section girder in the following figure several possibilities for the position of the inertial
coordinate system are represented together with the corresponding auxiliary vector definition.

5.2.2.5 Material
KRASTA allows the definition of different materials like steel or aluminum by the input of specific material
properties.
For proofs a material may need to be classified according to a standard.
5.2.2.6 Cross Sections
KRASTA provides four different types of cross sections:
- Thin-Walled Cross Sections (p.50)
- Direct Input Cross Sections (p.48)
- Standard Cross Sections (p.62)
- Parametric Cross Sections (p.51)
Please refer to chapter Cross Sections (p.47) for details.
5.2.2.7 Beam Masses
Concentrated or distributed beam masses which are stored as "Permanent Mass" (p.67) with the beams
can be applied to any location on the beams. A beam can have several beam masses.
5.2.2.8 Beam Mass Factors
The "constant" beam net mass, calculated from the cross section area and material density, can be
modified by the input of a beam mass factor.
The overall mass distribution can be adapted to given material lists by the usage of beam mass factors,
beam masses and node masses. With the mass distribution described in that way, all acceleration
(inertia) loads (including dead weight) can be generated easily.

5.2.2.9 Section Points
By default inner forces and beam displacements are calculated at the start and the end of beams only.
Additional section points can be defined in order to evaluate inner forces and stresses for specific
locations along the beam.
5.2.2.10 Beam Buckling Data
Beam Buckling Data define beam buckling properties of an individual beam. They are used in proofs of
buckling (e.g. acc. DIN 4114 (Omega-Method)).
The Beam Buckling Data is defined for each principle axis separately by the user.
Slenderness
If required, KRASTA evaluates the actual beam slenderness for each principle axis separately, based
on the directly or indirectly defined beam buckling length
and cross section properties
and
or

For conical beams the smaller of the inertia radii associated to the end cross sections is used, seperately
for each principle axis (
). This results in a save upper approximation of the

slenderness of a conical beam.
Dialog: Beam Buckling Data

Separately for each principle axis, the following options to specify the beam buckling length are available:
- Specification of a buckling length coefficent

- Specification of a buckling length
.
The values of buckling length and buckling length coefficent are both stored independently from each
other.
If a buckling coefficient
is specified for a principle axis then KRASTA determines the according

buckling length
based on the current beam length .

The beam length is defined as the distance between start and end node of a beam. Therefore, the beam
length may differ from the net length of the buckling beam / of the buckling problem.
If beam buckling data is edited for multiple beams at once, the already associated beam buckling data is
not shown in the dialog. In this case it is possible to keep the data unchanged or to delete the data
separately for each axis.

5.2.3 Node Properties
Nodes can have the following properties:
- Name (p.37) and Comment
- Node Masses (p.41)
- Support Conditions (Joints/Springs) (p.41)
- Displacement Conditions (p.41)
5.2.3.1 Node Masses
Node masses can be assigned to the nodes. These masses are stored as "permanent mass" with the
nodes.
5.2.3.2 Support Conditions (J oints/Springs)
Each individual degree of freedom can be defined as rigid, jointed or can be given a spring rate.
5.2.3.3 Displacement Conditions
For nodes with displacement conditions, KRASTA automatically determines the outer reaction forces
necessary to meet the conditions. These reaction forces are displayed and documented as ordinary
support forces.
If limit displacements are specified, there is no reaction if the limit is already kept.
Dialog: Displacement Conditions

Displacement Conditions are always defined in the global inertial coordinate system. The following types
are available: Lower limit, Upper limit, Target and unchanged.
Caution: Displacement conditions can only be used with linear theory!

5.3 Construction
The term construction refers to the various steps to create and modify the structure made of nodes and
beams.
These steps are
- creating, editing or deleting nodes or beams,
- translation, stretching, copying and mirroring of nodes and enclosed beams
- spliting and reversing beams
- checking for double nodes and beams
5.3.1 Split Beam
The splitting options defined in the dialog are applied to all currently selected beams.
Beams can be split in two or more beams at one or more (split-) points. For each point a new node and a
new beam is created automatically. The new nodes and beams get node and beam properties
automatically to form a statically equivalent system. Note: Loads and Masses may not be transformed
in a proper way and may be adjusted manually.
Beams can be split in different ways:
- Number of points: The beam is split into equidistant sections.
- Equidistant: Sections with the given length are split off the beam, beginning at the start (or end) of
the beam. The last section may be shorter than the given length.
- Single point absolute: The section, where the beam is to be divided, is defined by an absolute
distance from the start (or end) of the beam.
- Single point relative: The section, where the beam is to be divided, is defined by a relative distance
from the start (or end) of the beam.
- At Plane: The beam is divided at the intersection with a defined plane.
Dialog: Split Beams

To split beams at a plane, the Coordinate System has to be selected first. The inertial system (p.35) or
the subsystem coordinate system (p.35) may be selected to define a point and a normal vector.

A point in the plane is to be defined. The coordinates of the point can be entered via keyboard or by a
Graphical Selection of a node.
Then a normal vector is entered, which is perpendicular to the plane. This vector can be entered via
keyboard or by a Graphical Selection of two nodes.
All selected beams, which are intersected by the defined plane, are divided at the intersection points.
5.3.2 Reverse Beams
Reversing Beams allows to change the beam orientation without changing the static properties. In this
sense it is complete to swap begin and end node and swap all beam properties in regard to the new
beam orientation as well. To handle nonsymmetric cross sections or cross sections with an angle of
principle axes different from 0 the auxiliary vectors and cross sections have to be readjusted by the user
properly.
Dialog: Reverse Beam

5.3.3 Translation, Stretching, Copying and Mirroring
Translating, stretching, copiing or mirroring parts of the structure is done in a very similar manner.
The current selection of nodes specifies the substructure to be copied or to translated.
Geometrical Specifications
- A translation is defined by a distance vector.
- A rotation is defined by an axis and an angle.
- A mirror plane is defined by a locational point and a normal vector perpendicular to that plane.
- A stretch is defined by an origin, a direction and a stretch factor.
Move
For moving a structure you may select
- If coincident objects should be merged. Objects in identical locations will be merged by deleting the
newer object (refer Merging (p.45)).
Copy
For copiing a structure you may select
- If (and for which) nodes a new beam shall be created between master and copy.

Mirroring
For copiing a structure you may select
- If (and for which) nodes a new beam shall be created between master and copy.
- Which beam axis (for the purpose of right-handed coordinates) should not be mirrored.
Since the beam coordinate system must always remain right handed, not all of the three beam axes can
be mirrored. If the longitudinal beam axis is not mirrored, an additionally choice is available, if physical
characteristics should be adapted. If the longitudinal beam axis is not mirrored but physical
characteristics should be adapted, this is similar to a beam reversal without switching start and end
nodes.
Stretching
The distance to the origin, projected in the direction of stretch is scaled by the factor.
Scaling
To scale a substructure by a certain factor, three sequel stretches have to be done in each of the three
spatial directions
Insert new objects into lists
After copying, mirroring and splitting a dialog Insert new objects into lists occurs if necessary.
KRASTA examines in which beam and/or node lists the master objects are included. KRASTA offers to
select to which lists the copies shall be added.
5.3.4 Rounding
Allows to round the Coordinates and Aux.-Vector components of currently selected nodes and beams
to the defined precision.
Dialog: Rounding

5.3.5 Check for double beams or nodes
Multiple nodes and/or beams can be defined at the same location. Beams or nodes at the same location
are not connected in respect to the static system, as long as this is not explicitly defined.
KRASTA can check for coincident beams and/or nodes. If found, KRASTA offers to merge coincident
nodes and selects coincident beams.
Merging
Merging is done in regard to structural interconnection, but not in regard to masses or loads.
Caution: By discarding nodes all mass and/or loads applied to them are omitted.

5.4 Cross Sections
In KRASTA four different types of cross sections are available:
- Direct Input (p.48), also Partial Rigid Cross Sections (p.48)
- Thin Walled Cross Sections (p.50)
- Parametric Cross Sections (p.51)
- Standard Cross Sections (p.62)
Cross Sections can be provided in libraries from where they can be inported.
For common standard cross sections, libraries are provided.
5.4.1 Points for Proof of Stresses
Points for proof of stresses define locations within cross sections for which KRASTA calculates stresses.
These points are already defined for parametric and thin-walled cross sections. For direct input cross
sections points for proof of stresses may be defined manually.
Classification
Where appropriate, the stresses are taken into account according to specific proofs. Additional
classifications according to standards may be required. Example: Proof of fatigue according DIN 15018
(p.159).
Selection
Point for proof of stresses can be selected (active) or not selected (inactive). Only selected (active) points
for proof of stresses are taken into account by proofs or results.
Structural Thickness
For some proofs direct input cross sections require a thickness to be defined for the points for proof of
stresses. Example: Proof of Stresses elast.-elast. according DIN 18800 (p.203). If no thickness is
specified KRASTA assumes the best case for thickness dependend values.
Welding seams
Points for proof of stresses can be specified to represent a longitudinal welding seam. This information
will be considered at proof of fatigue according DIN 15018, for example.
Scope
All attributes of points for proof of stresses (e.g. notch cases) are effective for all beams with this cross
section and at all section points of these beams. If on single points other attributes are to be used, a copy
of the cross section can be used and modified as desired.

5.4.2 Direct Input Cross Section

Dialog: Cross Section - Direct Input
Six cross section values can be input::
- A
x
Cross sectional area
- A
y
Shear area
- A
z
Shear area
- I
x
Polar area moment of inertia
- I
y
area moment of inertia around y-axis
- I
z
area moment of inertia around z-axis
Optionally it is possible to specify points for proof of
stresses (y
p
, z
p
) and their unit stresses, which will be used in proof of stresses.
It is possible to specify one or more section values as rigid, see Partial Rigid Cross Sections (p.48).
5.4.3 Partial Rigid Cross Sections
(Partial) rigid cross sections are direct input cross sections, with one or more rigid cross section values.
A negative value indicates the corresponding cross section property as rigid. The weight of the cross
sections is calculated by the absolute value of cross section area A
x
.
For example, rigid cross sections can be used for auxiliary beams at excentric connections or to meet
correct load and mass points.
Beams representing ropes usually have a partial rigid cross section with elastic cross sectional area only
and rigid other cross section values. Additionally the beams may have joints at the ends in order to
transfer normal forces only.
Notes on using rigid cross sections
When using (partial) rigid cross section be careful not to limit elastic deformations of adjacent elastic
cross sections. This can lead to a stiffness bandwidth withing the structure that may result in numerical
problems during calculation. There are no warnings in this matter.
Example: Use of rigid cross sections

The mass of a control cabin shall be applied in the
correct location (Fig. Cabin).
For this purpose a rigid set of beams is modelled at the
platform consisting of a bracing in the platform and a
rigid beam from the center of the bracing to the
approprate height (Fig: rigid bracing),

Fig. Cabin
Cabin

The rigid bracings prevent elastic deformation of
adjacent elastic beams. This region of very high
stiffness may attract inner forces massively higher than
the applied loads. In regions of normal stiffness the
numerical percision may then some percent of the
applied loads. A symptom may be a significant
difference between applied loads and according support
reactions.

Fig. rigid bracing
rigid bracing
no distortion
possible

It is better to add joints that way that the angles within
the rigid bracing can vary freely (Fig.: joints). Adjacent
beams may distort and the inner forces are about the
magnitude of applied loads.

Fig. joints
possible
distortion


5.4.4 Thin-Walled Cross Sections
For thin-walled cross sections the plate thickness has to be
small in comparison to the dimension of the cross sections.
The thin-walled cross section has to be decomposed into
individual parts before input. The input of the parts is done in
the beam coordinate system. The number of cells is not
limited.
The length of the parts can be input or calculated, if the start
and end point of the part in question are defined by other
parts. The plate thickness and optionally a point area have to
be given.

Dialog: Structural Input of thin-walled Cross Sections
Point areas can be used to replace cross section parts which are small in comparison to the total
dimension. In this way rolled radii, welds or stiffeners for example can be input as point areas. For the
point areas only the Steiner-parts only are taken into consideration for the determination of moments of
inertia.
The following basic cross section properties are calculated from the input:
- Areas and moments of inertia
- Center of gravity, center of shear forces, principal axis angle
- Unit stresses as a result of bending, shear and torsion in the plate centerline
- Unit warp coefficients and normal shear forces
- Shear forces per plate to carry partial inner forces
It is possible to define conical beams by assignment of two geometric similar thin-walled cross sections
to start and end of a beam. The unit stresses are determined for any beam section points by interpolation
of the existing cross section geometry.

5.4.5 Parametric Cross Sections
Parametric cross sections are described by a limited number of geometrical parameters.

The cross section values and the unit stresses are calculated as a function of the parameters.
5.4.5.1 Calculation formulas
Cross sectional area
The area is directly calculated from the cross sectional dimension. The cross sectional area is used for
the calculation of the cross sectional weight.
Shear Areas
The shear areas are calculated using the factor .
with

Statical Moment

Center of Gravity
The center of gravity is calculated relative to the input coordinate system.
Center of Shear Forces
The center of shear forces is calculated relative to the input coordinate system.

Torsional Moment of Inertia

(2
nd
Bredt Formula)
For thin-walled open cross sections (H, C and L-Sections) the Bredt Formula extends to:

For determination of I
T
a correction factor is used for thin-walled sections. The exact value is shown in
the description of the specific cross sections.
Moments of Inertia
The moments of inertia are calculated with the help of the Steiner Theorem, radii are considered with
their moment of inertia and the Steiner part. More complicated cross sections are decomposed into
partial cross sections, for which the individual moments of inertia are calculated and combined.

For asymmetric cross sections (L-Sections) the principal axis angle and the moments of inertia about the
principal axes are calculated.
Principal Axis Angle:
The principal axis angle defines the rotation of the principal axes against the beam coordinate system.

Moments of Inertia about the Principal Axes:
The moments of inertia about the principal axes follow are determined as follows:

Torsional Moment of Resistance
The torsional moment of resistance for St. Vernant torsion is calculated according to the Bredt Formula.
(1
st
Bredt Formula)
For thin-walled sections

Bending Moment of Resistance
The bending moment of resistance is calculated from the moment of inertia and the distance of the
section center line to the outmost edge.

Normal Stresses as a result of Normal Force
The stresses as a result of normal force are calculated from the force acting in longitudinal direction of
the beam and the cross sectional area.

Bending Stresses
The bending stresses are calculated from the bending moment and the bending moment of resistance.

Torsional Shear Stresses
The torsional shear stresses are calculated from the torsional moment and the torsional moment of
resistance.

Shear Force induced Shear Stresses
The shear force induced shear stresses are calculated from the shear force, the statical moment, the
moment of inertia and the thickness according to the "Dowel" Formula.

Sign definition:
At open cross sections the shear stresses resulting from torsion and shear forces are positive in positive
beam coordinate direction, at closed cross sections (tube and rectangular tube) in mathematical positive
direction of rotation.
Plastic Moment of Resistance
The plastic moment of resistance is determined to the double of the statical moment.


5.4.5.2 Types of Parametric Cross Sections
In KRASTA at the following parametric cross sections are available:
- H-Section (p.55)
- C-Section (p.56)
- L-Section (p.57)
- Rectangular Tube (p.58)
- Rectangle Section (p.59)
- Round Section (p.60)
- Circular Tube (p.61)

H-Section
Input parameters for the H-Section:
- Width b
- Height h
- Flange thickness tg
- Web thickness ts
- Rounding radius r
All cross sectional values except the shear areas and torsional moment of inertia are calculated exactly
for the shown H-Section (equivalent to IPE or HE). The cross sectional values for "old-style" H-Sections
(sloping flanges) can be approximately calculated with this model.
The shear areas
and
are determined according to thin-walled theory.

The torsional moment of inertia is calculated with the formula for St. Venant torsion for thin-walled cross
sections. The formula is extended with a factor q for consideration of the radii.

For the H-Section 11 points for proof of stresses are available.


C-Section
Input parameters for the C-Section:
- Width b
- Height h
- Flange thickness tg
- Web thickness ts
- Rounding radius r
All cross sectional values except the shear areas and the torsional moment of inertia are calculated
exactly for the shown C-Section (equivalent to UAP). The cross sectional values for simple C-Sections
(sloping flanges) can be calculated approximately with this model.
The shear areas
and

The torsional moment of inertia is calculated with the formula for St. Venants torsion for thin-walled
composed cross sections. The formula is extended with a factor q for consideration of the radii.

For the C-Section 9 points for proof of stresses are available.


L-Section
Input parameters for the L-Section:
- Height a
- Width b
- Thickness s
- Rounding radius r1
- Rounding radius r2
The shear areas for the L-Section are simplified determined to the area of the flanges.

The values for the moments of inertia and the moments of resistance are output in the principal axes
coordinate system.

For the L-Section 3 points for proof of stresses are available.


Rectangular Tube
Input parameters for the rectangular tube:
- Width b
- Height a
- Thickness t
- Rounding radius r
The shear areas
and

For the rectangular tube 8 points for proof of stresses are available.


Rectangle Section
Input parameters for the rectangle section:
- Width b
- Height h

The shear areas are calculated from the cross sectional area using a correction factor.

For the torsional moment of inertia and the torsional moment of resistance the following approximation
equations are used:

For the rectangle section 9 points for proof of stresses are available.


Round Section
Input parameter for the round section:
- Diameter d
The shear area is calculated from the cross sectional area using a correction factor.

The unit stresses resulting form shear force are calculated according to the formula:

The number of points for proof of stresses is variable for the round section.


Circular Tube
Input parameters for the circular tube:
- Diameter d
- Wall thickness t
The shear areas are calculated from the cross sectional area using a correction factor.

with

The number of points for proof of stresses on the tube is variable.

5.4.6 Standard Cross Sections
Standard cross sections like e.g. H, L and C sections are standardized cross sections where cross
sectional values are directly taken from manufacturers lists. Additional values are calculated according to
the corresponding parametric cross sections.

5.4.7 Import Cross Section
A cross section, as all other KRASTA Objects (p.17) can be imported from other KRASTA systems or
from KRASTA standard cross section libraries.
If the user selects Other KRASTA system, a dialog appears to select the system to import from. If you
open a system for import, a multiple selection appears, listing all available cross sections on the left
hand. On confirmation, all cross sections shown on the right hand will be imported.

5.5 Material
KRASTA allows the definition of different materials like steel or aluminum by the input of specific material
properties.
A material needs a classification according to each standard, with which it is to be used.
Dialog: Material
The following material characteristics have to be entered in the
current selected units:
- Elasticity Modulus
- Shear Modulus
- Density
- Thermal Expansion coefficient
The following values are optional:
- Yield Point
- Tensile Strength
Classification
In the Classification field you can select a Classification in
the scope of several Standards. The list of available
classifications depends on the standard you have selected.
Use the button Add > to add the current classification on the
left hand to the list of Chosen classifications. The button
< Remove to remove the selected one from the list.

5.6 Lists
Object lists are used to manage a group of objects (p.17) of one type. For example loads can be applied
to a list of nodes or a list of beams can be set inactive for a solver run.
Lists are KRASTA Objects (p.17) and have a name and a comment. Lists can be created new, copied,
edited or deleted.
The used by-box contains the objects (e.g. Load Cases) already using this beam list. If a list is no
longer used, KRASTA asks the user if it should delete the specific list.
Below the main menu item List, the commands to create beam- or node-lists can be found. List for
other objects are located close to the menu items for these objects.
Along with simple lists, which contain single objects, there are composition lists, with which other lists can
be related with operators, and filter lists, where the content is created dynamically according to filter
criteria.
Additionally to user defined lists, KRASTA knows some generic lists like $all_nodes or $all_beams.
5.6.1 Simple Beam or Node Lists
Beam or Node Lists creation
If a simple beam or node List is newly created, the dialog to edit beam or node lists is opened. As pre
selection, the Current Selection (p.23) will be taken over to edit.
Beam or Node Lists editing
By editing a simple beam or node list, the selection specified by the list is made the Current Selection
and the dialog edit beam or node lists is opened.
Dialog: List
If this dialog is present, the Current Selection (p.23)
represents the content of the just edited list. The
selection can be edited, i.e. changed.
Use Select Model to select the objects of other list.
5.6.2 Other simple lists
Multiple Object Selections (p.19) are usually
used to edit simple object Lists except node and
beam lists. On the right side the selected
objects are shown, on the left the remaining
ones.
The sequence [1] of lists can be explicitly set
[2]. The sequence is important for executable
lists in particular.
In the example dialogue the situations are
evaluated in the result set "In Service" in the
sequence shown.
Lists of Results or Proofs
It is possible to create lists of result and/or proof control sets (p.211). These lists are executable, i.e. the
result resp. proof result sets are computed one after the other in a specified order.
The textual output (p.212) from individual results and proofs are cumulated in single text output. The
textual output can be narrowed to the intrinsic result data (minimized output) or fully documented.
5.6.3 Composition Lists
[2]
[1]

Lists and single objects can be composed with
composition lists, using the operators "Add",
"Subtract" and "Intersect". The composition is
performed according to the sequence shown,
accordingly, every compostion step uses the
result of previous steps. This should be
considered when using operators "Subtract" and
"Intersect". It is not possible to put parantheses
to influence the composition order. Instead,
composition lists can be used in composition
lists.
The composition is done every time the list is evaluated, it is not just an assistance to generate a fixed list
of single objects.
5.6.4 Filter Lists
List contents can be created dynamically with
filter lists according to up to three filter criteria.
The criteria are related using logical operators
"and" and "or".
The criterion Name must be mentioned
explicitely, as it refers to the base name of
objects only. Objects are found if the base name
starts with the filter string. A filter on the name
"Spoke" finds objects with the base name "Spoke" as well as objects with the basename "Spoke left" or
"Spoke right".
The filtering is done every time the list is evaluated, it is not just an assistance to generate a fixed list of
single objects.

5.7 Mass Cases
Mass cases can be used for modelling fixed, variable or moveable masses placed on the structure.
Mass distributions are usually composed of permanent available masses, masses variable in magnitude
(e.g. counter weight, pay load) and moveable masses (e.g. trolley positions).
The net mass distribution of the construction is calculated as the product of cross sectional area and
density. Usually the real mass is larger than that. Connections, transverse diaphragms, electrical
equipment and further parts are added, which are not included in the statical model. To describe the
mass distribution more exactly, beam mass factors can be applied to represent evenly distributed
additional masses. For local mass concentrations node- and beam masses (concentrated or distributed)
can be defined.
5.7.1 Permanent Mass
The special basic mass case "Permanent Mass" comprises masses which are directly stored for beams
and nodes and therefore remain with these objects if they are copied or imported with subsystems
[OPTION]. Masses can be applied to beams and nodes in the Property menu or in the beam or node
dialog.
Example: Permanent Mass

5.7.2 Basic Mass Cases (BMC)
Basic mass cases containing mass factors and individual masses can be defined for variable or
moveable masses or to describe parts of a model that are to be accelerated
Mass factors can be applied to the permanent mass where you can select whether it should be applied
on the distributed mass (resulting from sectional area and density) and/or on the beam and node
masses.
This mass information is assigned to beam and node lists. On calculation of the mass the
permanent mass (beam mass factors, beam masses, node masses) of the given objects in the lists is
then multiplied by the respective mass factor. Additional individual masses are added.

Dialog: Basic Mass Case

A basic mass case, as well as all KRASTA Objects (p.17), have a name and a comment.
Additionally, it contains a list of individual mass components of type
- Mass Factor,
- Beam Mass or
- Node Mass.
Each of these mass items is assigned to an individual list of nodes or beams charged by this mass item.

5.7.2.1 Mass Factor
The mass specified in a basic mass case by a mass factor
is in general form:

mit:

resulting netto beam mass

(distrib.) or
(conzentr.)
(additionally) mass, specified at beam.

mass factor, specified at beam.

node mass, specified at node.

Herein, the mass items Mass Distribution, Beam Mass and Node Mass can be activated or de-
activated individually.
Dialog: Mass Factor

Note: Mass items with type mass factor are assigned to a beam list, and adjacent nodes. Node masses
of the end nodes of the beams in the beam list are applied with the factor. To calculate the assigned
node mass
of the bordering nodes, the node masses are considered as equally distributed over
the beams connecting there.
Basic Mass Case: Permanent Mass
The basic mass case $Permanent Mass is defined internally as mass factor 1.0 applied to the beam
and node mass of all beams and nodes. Thus, the permanent mass is the sum of all masses which are
assigned to beams and nodes directly.
5.7.2.2 Beam Mass
As a component of a basic mass case (p.67), a list of beams can carry concentrated, uniform or
trapezoidal distributed (additionally) masses.
Dialog: Beam Mass


5.7.2.3 Node Mass
As a component of a basic mass case (p.67), a list of nodes can carry concentrated (additionally)
masses.
Dialog: Node Mass

5.7.3 Combination Mass Cases (CMC)
Basic mass cases can be supplied with factors and combined to combination mass cases.
Different mass distributions can easily be described by this means. Basic or combination mass cases are
used in description of inertia load cases and for the modal analysis. With a consequently mass orientated
input all inertia loads can be generated with ease.
Dialog: Combination Mass Case
The assembly of a combination mass case is done analogue to that of combination load cases (p.75).
If selected, the mass case gets the current specified Factor as combination factor. The combination
factor can be reassigned to the currently selected mass case.
Combination mass cases are able to contain combination mass cases themselves. To get an overview
over all mass cases contained in a combination mass case, the combination mass case can be displayed
expanded.
5.7.4 Situation Dependent Mass Case (SMC)
A Situation Dependent Mass Case allows to refer to different mass cases in respect to the currently
evaluated situation. Individual masses or even individual mass factors can be taken into account for each
situation in an explicit and centralized manner.
Situation Dependent Mass Cases are similar to Situation Dependent Load Cases. Both cases are
described together in the chapter Situation Dependent Mass and Load Cases (p.79).
5.7.5 Sum of Masses
The Sum of Masses of a basic or combination load case is shown as a part of the information window
(p.16), during textual documentation (p.219) of mass cases or for individual mass cases with the menu
item. The total mass and the center of gravity of the currently displayed subset is calculated.
Example: Sum of Masses


5.8 Load Cases
In load cases the loads on the structure resulting from outer forces or predeformations acting on beams
and/or nodes is defined.
5.8.1 Basic Load Case (BLC)
A basic load case can consist of directly input loads and/or generated loads. The loads described below
can be used with the solver PAS. For STAB88, which supports node loads only, all beam loads are
converted automatically into equivalent node loads
Dialog: Basic Load Case

Basic mass cases, as well as all KRASTA objects (p.17), have a name and a comment.
It contains a list of individual load components of type
- Beam Load,
- Beam Predeformation,
- Node Load,
- Temperature,
- Acceleration,
- Wind,
- Rope,
- Linear Beam Predeformation,
- Parabolic Beam Predeformation
Each of these load items is assigned to an individual list of nodes or beams charged by this load item.

5.8.1.1 Beam Loads and Beam Predeformation
It is possible to define concentrated, uniform or trapezoidal distributed beam loads or beam
predeformations.
Loads with fixed directions can be described in the inertial (global) coordinate system. Loads that are to
be moved with a subsystem or beam, can be described in the subsystem or beam coordinate system. If
there are any principal axis angles, loads will automatically be transformed to the principal axes for solver
input.
Loads distributed over a length can be projected for spatial beams if desired, where the force or the
moment per unit of length is input in the inertial or subsystem coordinate system. The program projects
loads according to fig. Load Projection. The load is adjusted so that the resultant is constant.

5.8.1.2 Node Loads
Node loads can be input in the according subsystem or in the inertial (global) coordinate system. One
node load can consist of up to 6 components.
5.8.1.3 Acceleration Loads
The structure or parts of it can be accelerated translational or rotational and rotated (centrifugal forces).
For a translational acceleration the direction of acceleration and its magnitude have to be described. For
a rotational acceleration the axis of rotation, the rotational acceleration and/or the angular velocity are to
be input.
The acceleration loads are generated from acceleration description and the mass distribution of a mass
case.
As a special case of translational acceleration the
acceleration due to gravity is implemented, where only the
direction of action of the weight has to be given.
Dialog: Acceleration Load
Here, specification of type, direction, magnitude and which
mass to accelerate are made. The specifications may differ
depending on the type.
Gravity Load
The Directions of Gravity specifies the direction of the
gravity load and the Coordinate System in which the
direction is defined. The absolute value of this directional
vector is irrelevant.

Translational Acceleration Load
A translational acceleration is specified exactly like gravity acceleration, but it is possible to enter the
acceleration magnitude.
Note:
KRASTA is toggling the direction of the gravity load vector when switching between Gravitiy and
Translational in order to keep the load direction.
Rotational Acceleration Load
A rotational acceleration is defined by
- The Acceleration, which is the magnitude of the angular acceleration.
- The Angular Velocity, which causes centrifugal forces.
- The Distance Vector of Rot.-Axis that defines the position of the rotational axis relative to a
Reference Node.
- The Vector of Rotation Axis that defines the direction of the rotational axis.
Example: Rotational Acceleration Load

5.8.1.4 Wind Loads
The definition of wind loads is split into two parts, by specifying the wind pressure distribution in a wind
(velocity) profile and by specifying beamwise wind resistance coefficients.
The wind profile is the same for all wind load items defined in one basic load case. Even it can be
changed in each wind load subdialog.
Wind Profile
Different wind profiles can be defined. You have to input:
- Wind direction (IN-CS or SS-CS)
- Height ranges with according pressure
- Direction of the height range gradation
Dialog: Windprofile
If no distribution profile needs to be specified, a Default
Wind Pressure and the Vector of Wind Direction is
sufficient.
To specify a profile the direction of the profile and the
wind pressure at each altitude range is needed.

Wind resistance
For the wind loads a factor with an according beam list is input. With this factor the resistance coefficient,
cross sectional height, wind shadowing, aerodynamic effective length etc. is considered.
Dialog: Wind
Wind load on beams is specified by the Start Value and End Value (for
Conical beams) of the dimension
(drag coeff. * height) and a

Wind Profil.
Wind load on nodes is specified by a wind area
.
The wind profile is stored by the basic load case, so all wind loads of
one basic load case use the same wind profile.
5.8.1.5 Rope Loads
The rope force and a series of nodes, which the rope shall follow, have to be input. To model a pulley the
rope force can be given a different factor between two nodes. This calculation is suitable for 1
st
order
theory only, as the course of the rope is modeled by forces with constant load directions.
Dialog: Rope Load
A rope load is defined by the following items:
- The Rope Load.
- The Pulley Factor, which multiplies the rope load for
each part of rope specifically.
- The Rope Polygon defined by a sequence of nodes.
The route of the rope follows the order of the nodes.
You have to select them graphically.
- And in case of a Free End of Rope exists:
- The Coordinate System, in which the free end of rope
is described
- The Rope Vector to define the direction of the free end.
5.8.1.6 Temperature Loads
For temperature loads a steady and a different warming at beam upper side and beam underside is
possible. From the coefficient of thermal expansion, which is saved in material data and the temperature
details, substitute predeformations are applied.
Dialog: Temperature
To edit temperature loads the corresponding dialog
offers different sets of items, depending on the
selected Temperature Profile along
Beam Cross Section.
Commonly available are Start and End distance of the
temperature load along the beam in Absolute or
Relative beam coordinates probably measured
From End.
In case of a Uniform temperature profile additionally
only one Temperature(difference) can be entered.
In case of a Trapezoidal temperature profile the dialog
offers the following description details:
- Temperature at Edge Distance of Upper Side
and Lower Side measured across the cross
section.

- The Direction of Cross Section Gradient to indicate in which direction the "upper side" is.
The temperatures and edge distances are used to determine the mean temperature(difference) plus the
magnitude of the temperature gradient across the beam section.
The gradient direction vector is an auxiliary vector to determine the gradient direction angle in the cross
section plane.
5.8.1.7 Linear Beam Predeformation
This type of load provides pre-distortion of particular beams, e.g. to take into consideration corresponding
imperfections. For that purpose the angle and the axis of distortion is defined.
The linear beam predeformation internally consist of two beam predeformations at the start and the end
of a beam.
5.8.1.8 Parabolic Beam Predeformation
This type of load provides pre-curvature to particular beams. Similar to the linear one the parabolic beam
predeformation is also used to model imperfections.
To define a parabolic beam predeformation the distance and the direction of the apex from the middle
of the beam is used. The distance will be given in relation to the beam length by a fraction (
; e.g. with ).
With regard to universal use, the apex direction does not have to be perpendicular to the respective
beam. Via appropriate longitudinal expansion it is possible to locate the "apex" in the requested direction.
5.8.2 Combination Load Case (CLC)
Basic load cases can be combined with partial safety coefficients (factors). These combination load
cases can be combined with other combination and basic load cases again. The depth of combination
levels is not limited.
Dialog: Combination Load Case

The assembly of a combination load case is done analog to a multi select dialog with an additional factor.
If added the load case gets the current specified Factor as combination factor. The combination factor
can also be reassigned to the currently selected load case.
Example: Expanded Combination Load Case
Combination load cases are able to contain combination load
cases themselves. To get an overview over all load cases

contained in a combination load case, the combination load case can be displayed expanded.
5.8.3 Situation Dependent Load Case (SLC)
A Situation Dependent Load Case allows to refer to different load cases in respect to the currently
evaluated situation. Individual loads and individual load factors can be taken into account for each
situation in an explicit and centralized manner.
Situation Dependent Load Cases are similar to Situation Dependent Mass Cases. Both cases are
described in chapter Situation Dependent Mass and Load Cases (p.79).
5.8.4 Load Case 2
nd
Order Theory (TH2)
Structures can be calculated according to 2nd order theory (p.131). The equilibrium is formulated in a
deformed condition, so that in the differential equation for bending,

the term is considered.
The torsion is considered according to St. Venant theory. Single beam matrices are assembled
geometrically linear (Williot plan of displacement). The solution of the equation system is iterated on the
normal forces.
Buckling loads can be determined by iterative increments of the loads. The buckling condition is met, if
the denominator determination becomes zero.
Load cases 2
nd
order theory can be combined with "or" in nonlinear logic load cases (p.77) to ease
building load patterns for finding of extreme values (p.211) across all Situations (p.121).
5.8.5 Geometrical nonlinear Load Case (S88)
The program STAB88/NODYA [OPTION] (p.127) allows for geometrically nonlinear calculation of beam
structures.
Using this type of load case, individual loads can be gradually applied according to a time function. After
each load step the equilibrium between inner and outer forces is improved by an equilibrium iteration.
Basic and combination load cases can be multiplied by factors, provided with according time functions
and combined to a geometrical nonlinear load case.
5.8.6 Logic Load Case (LLC)
In many cases , especially when many acceleration loads are involved (as often used in material
handling), it is not safely possible to tell, which combination of loads leads to the highest stresses in one
certain point. Logic load cases can be defined for this purpose.
The following parameters describe a logic load case:
Of the load cases in the logical combination acts "Exactly One", "One or None", "All" or "All Possible
Combinations".
Each load case can be given a factor and can possibly be defined to act in positive or negative direction.
The depth of nested logic load cases is not limited.

Dialog: Logic Load Case

Example: Logic Load Case
Wind
Wind "In-operation" can occur in four directions (or may not act at all)
LLC wind_in_operation = [ BLC wind_trans; BLC wind_along]; "One or None"
Accelerations by drives
Trolley drives and hoisting unit may operate simultaneously. Crane travelling only occurs, if hoisting unit
and trolley drive are not in use.
BLC crane driving, CLC trolley driving, BLC lifting, BLC lowering
LLC hoisting unit = [BLC hoisting; BLC lowering]; "Exactly One"
LLC trolley+hoisting = [CLC trolley driving; LLC hoisting unit]; "All"
LLC movement = [BLC crane driving; LLC trolley+hoisting]; "Exactly One"
(Results in 6 possible combinations)
Variant: The crane can travel, while hoisting unit and trolley drive operate. In the last logic load case the
option "Exactly One" is replaced by "All":
LLC movement = [BLC crane driving; LLC trolley+hoisting]; "All"
(Results in 8 possible combinations)
5.8.7 Nonlinear Logic Load Case
Nonlinear load cases can also be arranged in a logic load case.
The nonlinear logic load case corresponds to the logic load case with the restrictions that the included
load cases can only be considered with the factor 1, acting in positive direction only, and combined with
"Exactly One" or "One or None".

5.9 Situation Dependent Load and Mass Cases
Situation dependent load or mass cases allow to refer to different load or mass cases in respect to the
currently evaluated situation. (In the further reading, "load case" is synonym to "load or mass case".) A
situation dependent load case does not define loads itself, but refers to an other load case including an
additional factor.
In a situation dependent load case, the correlation between load and situation can be described in an
explicit and centralized manner without any impact to the remaining load case pattern. The whole load
case pattern can be significantly laid out more clearly, easier to maintain and expand for additional
situations.
Example: Situation Dependent Load or Mass Case
A practical application is a luffing crane with a hoist load depending on the outreach. One situation
dependent mass case can list all hoist loads individual to the outreach situation. The remaining
evaluation pattern stays simple by including situation dependent load cases and remains unaffected by
situation and load relations.
A load pattern can be clearly laid out and general structured on the one hand and individual for each
situation on the other hand.
Dialog: Situation Dependent Load or Mass Case

Explicitly listed cases
For each considered situation a case is defined by a triplet of Situation or List of Situation, Factor
and Load Case and added to the listed cases.
While evaluating a situation dependent load case, KRASTA scans through the sequence of listed cases
for an applicable entry for the currently evaluated situation. If a matching entry exists, the referred basic
or combination load case multiplied by the load factor is used.
Because a listed case can refer to a situation and to a list of situations as well, eventually a certain
situation is referred more than once in the whole list. Nevertheless KRASTA always picks the first
matching entry in the sequence of cases. All subsequent matching cases are ignored.

Default Load or Mass Case
The user can opt for three different policies, if no applicable entry is defined in the list of cases:
- The evaluation is stopped with a warning message (default)
- A zero load case is used
- A defined load case is used

5.10 Load sequences
A load sequence is an ordered list of load events, which describes a working cycle or a part of it. It is
used by damage accumulation (p.156) based proof fatigues.
Load sequences are regular KRASTA objects with a name and a comment. A certain order of load
events is defined, logic load cases cannot be used. Load sequences may be assembled from other
(partial) load sequences to create complex work cycles.
When assembling load sequences it is possible
- to reuse already defined partial sequences
- to use repetitions and modify the sequence order
- to consider additional base loads
Dialog: Load Sequence


Load Sequence:
The ordered list of load events may include the following:
Load event:
A load event is a particular load case in a particular situation. The loads can be provided with an
individual factor.
Sequence:
Already defined load sequences can be used as a partial sequence. The loads can be provided with
an individual factor and the partial sequence can be modified in respect due repetition and sequence
order.
The following sequence orders are available:
- "forward": The partial sequence of events is used in original order.
- "reverse": The partial sequence of events is used reversed order.
- "forth & back": The partial sequence is extended by the reverse of the partial sequence. The last
load of the original partial sequence of events is taken only once.
The number of repetitions is considered for partial sequences. It multiplies the number of load events to
be evaluated. Thus, only small repetitions counts (<10) should be used. The number of repetitions within
a load sequence is not meant to indicate how often the load sequence will occur within the survival
period. This is done by the weighting factor of the load sequence in the design spectrum.
Base Load:
The base load can be used to add a constant load, superimposed to all load events of the load
sequence. It is possible to use a situation depended load (p.76) here.
If the list includes partial sequences with their own base load, these base loads are not replaced. The
extra base load acts additive.
Example: Load Sequence PS 15t D->A
In the above dialog, the load sequence "PS 15t D->A represents a trolley movement under load. The
load case remains the same, but the trolley is moving through multiple situations.
Example: Load Sequence cycle 15t A<>D

The load sequence, "cycle 15t A<>D" represents a complete working cycle and is composed of partial
sequences.

5.11 Design Spectra
A design spectrum is an unordered set of load sequences (p.81) weighted by the number life time
occurrences.
Design spectra are regular KRASTA objects with a name and a comment. They define load spectra for
damage accumulation for proofs of fatigue (p.155).
To perform damage accumulation based proofs in KRASTA a design spectrum has to be defined. With
this design spectrum the operation during lifetime of the machine is described completely. The design
spectrum replaces load group and evaluation pattern (p.213) of classic proofs of fatigue.
Dialog: Design Spectrum


5.12 Constraint Conditions
Static systems may have properties not regarded by linear calculation theories. This could be tension
elements failing at pressure, bearing play or friction elements. From version 9.4 on those properties can
be modelled in KRASTA using constraint conditions.
Constraint conditions are not regarded during a calculation run but afterwards by superposing correction
loads with the user defined load pattern. For example pressure on a tension element can be
compensated by shortening the tension element (predeformation load generating tension).
Because of the method using superposition of results, it can only be use when superposition is allowed
(linear calculations). When performing calculation according to theory 2
nd
order (or when using solver
Stab88 or NODYA) constraint conditions are ignored.
In earlier versions of KRASTA force conditions, a subset of constraint conditions, are already available.
Constraint conditions exceed the capabilities of force conditions, now including displacement conditions
on single beams and nodes and even coupling degrees of freedom.
5.12.1 Types of Constraint Conditions
Constraints in respect to forces, to displacements or any linear combination of both can be imposed to
the calculation model. These types of constraint conditions may be defined in KRASTA in various ways.
5.12.1.1 Force Conditions
Force Conditions are beam properties und can be applied to inner forces Fx, Fy, Fz, Mx, My and Mz at
begin and end of a beam. Force conditions may have a limit or a target. Targets will always be achieved,
limits only when exceeded.
Compensation loads are created automatically using predeformations in constraint degrees of
freedom. Predeformations are free of resulting loads having no effect on sums of loads or sums of
support forces.
5.12.1.2 Displacement Conditions
Displacement Conditions are node properties und can be applied to nodal displacements Ux, Uy, Uz,
Rotx, Roty and Rotz. Displacement conditions may have a limit or a target. Targets will always be
achieved, limits only when exceeded.
Compensation loads are created automatically using single forces or moments in constraint degrees
of freedom. These compensation loads have resulting loads that are displayed as support forces.
5.12.1.3 General Constraint Conditions
General constraint conditions contain one or more condition component, a limit or target value and
eventually user defined compensation load cases. Components consist of a beam or nodal degree of
freedom and a combination factor. For each component a compensation load case can be generated
automatically in its degree of freedom. The sum of components is restricted by a limit or target value.
Targets will always be achieved, limits only when exceeded.
Different degrees of freedom may have different units. The user has to consider units during input of
combination factors. Combination factors are not dimensionless in general.
In general constraint conditions the beam degrees of freedom Fx, Fy, Fz, Mx, My, Mz (inner forces) and
Ux, Uy, Uz, Rotx, Roty, Rotz (displacements) at beam ends may be selected. Automatically generated
compensation load cases for inner forces are predeformations in the constraint degree of freedom.
Predeformations are free of resulting loads thus having no effect on sums of loads or sums of support
forces. Automatically generated compensation load cases for displacements are single forces or
moments in constraint degrees of freedom. These compensation load cases have resulting loads that
are displayed as load at the constraint degree of freedom.
As nodal degrees of freedom the displacements Ux, Uy, Uz, Rotx, Roty and Rotz may be selected.
Automatically generated compensation load cases are single forces or moments in constraint
degrees of freedom. These compensation load cases have resulting loads that are displayed as
support forces.

User defined compensation load cases are always displayed as loads.
Dialog: Constraint Conditions

In the group box component of constraint condition (1) a single component is defined or edited. This
component has to be added (use button Add >) to the list of defined components (3). In group box
constraint condition (2) the constraint condition is displayed. The sum of defined condition components
(3) is restricted by a limit or target value (4). In the group box user defined compensation load cases
basic load cases can be selected to fulfill the condition. In the left selection box available load cases are
displayed, in the right selection box already selected only. The input data is permanently checked. If the
input data is not sufficient, a note is displayed in the status line (6).
5.12.2 Consideration in Display and Results
Consideration of constraint conditions (force, displacement and general constraint conditions) on display
(graphical output of loads, inner forces, support forces etc.) can be switched on and off as necessary.
This can be done with the button consider constraint conditions ( = not considered, = considered)
or the similar option in the dialog display settings.
Depending on consideration compensation loads are displayed as loads, support forces or are not
displayed at all (see also chapter types of constraint conditions). Compensation loads are included in
sums of loads and sums of support forces when displayed.
Constraint conditions are always considered in results and proofs. In the textual output of permutations at
the end of results and proofs the compensation loads and the load factors are shown.
5.12.3 Example: Constraint Conditions
On the basis of the following examples, some practical use cases are illustrated and according
specifications by user explained. Where applicable, alternative definitions are compared.
1
2
3
4
5
6

5.12.3.1 Tension element, rope
A tension element cannot bear pressure forces. To avoid pressure forces, the beam is shortened.
Using force condition
In dialog force conditions press button Rope (N>0) or adjust condition and limit force manually.

Using general constraint condition
In dialog general constraint condition input values in group box component of condition according to
example dialogue shown below. Select a beam and add the component to the list of defined
components. As limit choose >= 0 kN.

Comparison between force condition and general constraint condition
The results from modelling a tension element using force condition or using general constraint condition
are identical. The modelling itself is much quicker using force conditions, especially if you want to define
many tension elements. This can be done in a single step. When using general constraint conditions you
have to define the conditions for each beam separately.
5.12.3.2 Overload Clutch
An overload clutch can bear a maximum moment. Exceeding this moment will result in rotation of the
clutch adverse the adjacent structure. The moment remains at its maximum during and after rotation.
Using force condition
The maximum moment is defined positive as upper limit or negative as lower limit at the correct section
of the beam (in example dialog: beam start, momentum about local y-Axis).

Using general constraint condition
In dialog general constraint condition input values in group box component of condition according to
example dialogue shown below. Select a beam and add the component to the list of defined
components. As limit choose absolute value <= limit value unit. Because of the limit being not zero,
the correct unit for the component and for the limit value has to be selected.

Comparison between force condition and general constraint condition
Additionally to the remarks in the last chapter tension element, rope force conditions have a massive
disadvantage for problems of the overload clutch type: only one limit can be defined (either an upper
limit or a lower limit). With general constraint conditions limits can also be defined as absolute values
(with limit <= only).
5.12.3.3 Friction Element
At contact points between structural members or between one structural member and its support friction
may be important. In beam structures the friction coefficient may be interpreted as maximum ratio
between transferable shear force and normal force (pressure):

where shear force at beam end section
normal force at beam end section (negative value, pressure)
As a sum of degrees of freedom it is

This inequation cannot be defined in one general constraint condition because single components cannot
be defined as absolute (only the sum on components). The inequation is split into two inequations.
Additionally the condition on the normal force (pressure only) is defined:

These three inequations can be modelled using constraint conditions. For the first two of them only
general constraint conditions can be used because more than one degree of freedom (component) has
to be considered. In both of these conditions a compensation load case must be generated in the shear
degree of freedom (as a result only one compensation load case is created which is used in both
conditions).
With the following general constraint conditions have to be defined:

Restriction of normal force (tension or pressure) is absolutely necessary to solve the constraint problem.
The inequation for an unconstraint normal force is as follows:

Replace the absolute shear value, you get

Solution space for a positive normal force:

Solution space for a negative normal force:

When positive and negative normal forces shall be considered and the condition shall be valid all in all,
the resulting solution space is the intersection of the two solution spaces shown above. The intersection
is reduced to a single point (N=0, V=0). The condition cannot be met for normal forces different from 0.
A friction element capable of transmitting tension and pressure can be modelled using two friction
elements with constraint normal forces. These two friction elements can be pressure friction elements
arranged as a nipper or one pressure element and one tension element arranged parallel. In any case,
two different beams must be used as friction elements.
5.12.4 Sensor degrees of freedom and optimised coupling
In which degrees of freedom compensation load cases are applied influences the results. Thus, it is
important for compensation load cases to match the real structure that is to be calculated. In the following
example the displacements are considerably dependent on the compensation load cases.
A double-span girder (Beams S and S1) with adjacent cantilever (Beam S2) is to be calculated. At the
end of the cantilever a single load is applied. Two supports are modelled using additional support beams
(Beams DGF1 and DGF2). Various constraint conditions shall be applied on the support beams. In the
graphical output the load (turquoise), support forces (red), beam displacements (red and blue border line)
and the beam name is displayed.
Basic system without constraint condition
No constraint condition is applied to the support beams. Support forces and beam displacements are as
follows:

Sensor and actuator, case 1
Support beam DGF1 is a sensor measuring normal force. Support beam DGF2 is a hydraulic press. The
normal force of DGF 2 is adjusted actively to match the normal force of DGF1. At the end of the
adjustment, the normal forces in both support beams are the same. In a matching constraint condition,
no compensation load is applied to DGF1. In DGF2 a compensation load case is generated
automatically.

Sensor and actuator, case 2
Sensor and actuator of case 1 are interchanged. DGF1 is now the active degree of freedom with
compensation load case, DGF 2 is a sensor degree of freedom without a compensation load case

Hydraulics with constant hydraulics volume
Beams DGF1 and DGF2 are both hydraulic presses that share a constant hydraulics volume. The
plunger areas of both presses are the same size. Two constraint conditions match that state:
- equal normal forces of DGF1 and DGF2 with an automatically generated compensation load
case in DGF2
- the sum of elongations of DGF1 and DGF2 is zero, a user defined compensation load case
(predeformation, contraction) is applied to DGF1


Optimised coupling
Support beams DGF1 and DGF2 have equal normal forces. One constraint condition with automatically
generated compensation load cases for both beams is created. No other condition is defined. In this
case, there is only one condition but two compensation load cases. Theoretically there are infinite
solutions for this problem. An internal optimisation during solution of constraint conditions assures a
unique and repeatable solution. Every constraint problem with more compensation load cases than
conditions is solved using an optimisation algorithm and can therefore be called optimised. An
optimised solution cannot be considered optimal meaning the best solution. The need for optimising a
solution can even mean that important conditions are defined falsely or are left (e.g. constant volume of
hydraulics or the distinction into sensor and actuator).

5.12.5 Assistant for Constraint Conditions
For certain constraint problems there are assistants assisting input of constraint conditions. Assistants
create and manage general constraint conditions. When changing input values of an assistant the
managed constraint conditions are updated.
General constraint conditions and compensation loads that are managed by an assistant cannot be
altered manually. Managed constraint conditions can be released from an assistant by breaking up an
assistant. The assistant will then be deleted.
5.12.5.1 Assistant: Equality

With an assistant equality any number of similar degrees of freedom of beams or nodes can be
coupled.
For a number of n beams/nodes n-1 constraint conditions are generated. In each constraint condition the
chosen degree of freedom of the first beam/node is coupled with the degree of freedom of an other
beam/node.
Compensation load cases for inner forces degrees of freedom of beams are predeformations.
When choosing option first beam is sensor only there is no compensation load case applied to the first

beam in the list. For the other beams compensation load cases are created automatically. With option
optimised compensation compensation load cases are created for every beam.
Compensation load cases for displacement degrees of freedom of beams and nodes are pairwise
forces or moments. There is one compensation load case per generated constraint condition, therefore
there is no option optimised compensation for displacement degrees of freedom. Caution: Pairwise
forces on nodes may have a resulting moment. Pairwise forces on beams may even have resulting
forces and moments.
The ratio between the factors defines the ratio of constraint inner forces or displacements.
In the example dialogue it is 1.0*Fx(Beam S 0) = 1.5*Fx(Beam S 7), the normal force of beam S 0 is 1.5
times greater than the normal force in beam S 7
Inner forces and displacements of beams and displacements of nodes can be coupled. Beams and
nodes cannot be mixed.
5.12.5.2 Assistant: Hydraulics

With the assistant hydraulics normal forces in beams can be coupled.
For a number of n beams n-1 constraint conditions are generated. In each constraint condition the
normal force of the first beam is coupled with the normal force of another beam.
The ratio of factors plunger area defines the ratio of the plunger areas of the hydraulic presses. The
ratio of plunger areas equals the ratio of normal forces.
In the example it is Fx(Beam S 1) / 1.0 = Fx(Beam S) / 2.0 which means that the normal force of beam S
is twice the normal force of beam S 1.
beam in the list. For the other beams compensation load cases are created automatically. With option
optimised compensation compensation load cases are created for every beam.
The option constant hydraulics volume is equal to first beam is sensor only with an additional
constraint condition on elongations of all beams. The plunger area weighted sum of all elongations
results to zero. As compensation load case for this condition a predeformation (contraction) is applied to
the first beam in the list. With this option there is no elastic elongation of any hydraulics beam, it is
compensated during solution. Thus, the normal stiffness of the beams is irrelevant.

5.12.5.3 Assistant: Rope Polygon

With the assistant rope polygon normal forces in beams can be coupled.
For a number of n beams n-1 constraint conditions are generated. In each constraint condition the
normal force of the first beam is coupled with the normal force of another beam.
The ratio of factors reevings defines the ratio of the reevings of the rope beams. The ratio of reevings
equals the ratio of normal forces, i.e. it is inverse to the pulley factor.
In the example it is Fx(Beam S 1) / 1.0 = Fx(Beam S) / 2.0 which means that the normal force of beam S
is twice the normal force of beam S 1.
beam in the list. For the other beams compensation load cases are created automatically.
The option constant rope length is equal to first beam is sensor only with an additional constraint
condition on elongations of all beams. The reevings weighted sum of all elongations results to zero. As
compensation load case for this condition a predeformation (contraction) is applied to the first beam in
the list. With this option there is no elastic elongation of any rope beam, it is compensated during
solution. Thus, the normal stiffness of the beams is irrelevant.
5.12.5.4 Assistant: Friction Element

With the assistant friction element normal and shear force at one beam end are coupled. For a
description of constraint conditions please see chapter Friction element (p.88).

5.12.5.5 Assistant: Slotted Hole

With the assistant Slotted Hole displacements at two beam ends are coupled. The two coupled beams
must share a node. Beam 2 must have a local beam axis that is parallel to the chosen degree of freedom
of beam 1. The coupled degree of freedom of beam 2 is determined automatically.
The total tolerance is cut into halves for the positive and the negative direction. The compensation load
case consists of a single force or moment in each of the two degrees of freedom. The compensation load
case has no resulting load. In the coupled degree of freedom of beam one a joint is defined automatically
which may not be changed by the user.
5.12.6 Buffer for Constraint Conditions
When a load permutation is evaluated for the first time, the determined compensation loads are stored in
a buffer for constraint conditions. For following evaluations of that permutation the compensation loads
are taken from that buffer and are not determined again. Repeated evaluations of the same load
permutation are significantly faster.
The buffer for constraint conditions is cleared when
- force conditions are altered
- displacement conditions are altered
- beams with force conditions are deleted
- nodes with displacement conditions are deleted
- general constraint conditions are created, edited or deleted
- a calculation suite is executed
- the buffered compensation loads are determined using older results than those actually available
- the load combination of any permutation has changed (e.g. after editing combination or logic load
cases)
- KRASTA is restarted
- a different KRASTA model is opened
Clearing the buffer is reported in the log window.

5.12.7 Error Bounds
The solution algorithm permits minor exceedance of limits and minor differences to target values. The
tolerance is that small that is has no relevant influence on the results.
5.12.8 Compatibility with KRASTA 9.3 and prior
Force conditions with limits (inequalities) are absolutely compatible with every version that supports force
conditions. Due to different solution algorithms minor differences may occur between solutions of
KRASTA 9.4 and prior versions.
Force conditions with target values (equality), displacement conditions and general constraint conditions
are ignored by versions 9.3.x and older. When selecting beams according to beam value force
condition and during textual documentation of beams target values are interpreted as lower limits.

5.13 Subsystems
KRASTA allows for the subdivision of a structure. This enables the user to create a construction kit of
substructures, as e.g. the parts of a tower crane, which can be assembled into different construction
phases.
Further, adjustable kinematic systems such as polar kinematics or linear guides in different situations can
then be represented as one KRASTA system and can be evaluated across all situations (see section
Situations).
5.13.1 Hierarchy, Organization
The topological arrangement of subsystems is hierarchical and forms a tree structure. In this hierarchy
we talk about parent and child subsystems. The tree hierarchy is independent from the topologigal
arrangement of the subsystems in the model strcuture.
If subsystems are to be geometrically oriented or kinematic adjustments several rules have to be
followed (see kinematic adjustments of subsystems). Furthermore, it is helpful for the general overview to
orient the tree structure according to the model structure.
Each subsystem can be composed of other subsystems and/or beams.
The depth of the subsystem tree is not limited.
As well as all KRASTA objects, subsystems can be newly created, edited, copied, deleted etc. But since
the hierarchically structure of subsystems has to been taken into account, this is partly done in a special
way.
5.13.1.1 Delete Subsystems
This menu item allows deleting a subsystem. Nodes, beams, connections and contacts using these
connections are deleted too.
5.13.1.2 Cut Subsystems
This menu item initializes moving of a subsystem inside the tree. The program retains the name of this
subsystem until the next Paste command and then moves the subsystem. The position of subsystems in
the tree is independent of their topographical position.
5.13.1.3 Copy Subsystems
This menu item initializes copying of a subsystem inside the tree. The program retains the name of this
subsystem until the next Paste command and then copies the subsystem.
5.13.1.4 Paste Subsystems
This menu item completes a copy or move command. Depending on the previous command Cut or
Copy, the subsystem is copied or moved under the current subsystem.
5.13.2 Import Subsystems
This menu item allows importing one or more subsystems into the current model. After selecting the
model, from which to import, a second tree view appears, showing the subsystems of the other model.

Dialog: Subsystem Import

After selecting a subsystem in this second tree view an pressing the button Add, the corresponding
subsystem is copied into the current system as a child of the subsystem that was the current subsystem
when initializing the import function.

5.13.3 Simplified orientation after copy or import
After copying or importing a subsystem, KRASTA automatically brings up the subsystem dialog that
allows positioning the new subsystem. The outline of the new subsystem is shown in reverse color in the
working area.
Screen after copying a subsystem

The subsystem can now be moved by pressing the left mouse button inside this area and moving the
mouse while holding the button down.
This can be used to bring the subsystem into a more convenient position for further work. On the other
hand KRASTA recognizes if the connection nodes of the moved subsystem get near connection nodes of
another subsystem when the mouse button is released. If a connection is found and the number of nodes
in the two connections is equal, KRASTA offers to connect them. If this offer is accepted, the program
creates a new contact and saves this subsystem with the option "oriented by vector and angles" set.
5.13.4 Geometrical Orientation of a Subsystem
The topmost subsystem is orientated in the inertial system. The displacement and the rotation are initially
zero by default, so that this subsystem coordinate system corresponds to the IN-CS. These values as
well as the proposed name "root" can be modified.
Each subsystem has its own coordinate system (SS-CS) and it is orientated in his parent subsystem by
means of a vector and a rotary matrix (Euler angles). Those orientations are created in several ways (see
below).
5.13.5 Current Subsystem
There is always a current subsystem (shown in the right hand text control in the button bar). It can be
changed by selecting a subsystem from the tree structure. This is independent from the current slection
of beams and nodes.
5.13.6 Beams and Nodes of a Subsystem
Newly created nodes always belong to the current subsystem and there is no off-hand way to transfer
them into another subsystem. Newly created beams will belong to the subsystem of its end nodes.
5.13.7 Beams between subsystems
A beam cannot be drawn between two nodes in different subsystems.
One has to either create a new node in one subsystem and connect this one by a new connection to the
other subsystem or create a new subsystem which contains this beam only.

If one tries to create a beam between two nodes which are in different subsystems, the system inquires
automatically whether it is to put in a new subsystem and create the appropriate connections and
contacts.
Wizard: Beam as Subsystem
With a set of dialogs the names of the new objects can be set. If the default name is acceptable it is
sufficient just to press next severeal times. The end node of the new beam is automatically set a free
node, since the system assumes that the new beam will change its length in different situations (e.g.
suspension, hydraulic cylinder etc.).
Example: Suspension between tower and boom

5.13.8 Split off Marked Nodes as New Subsystem
An existing model can be split into subsystems. As a result, the selected nodes are moved into a new
subsystem which is a child of the current subsystem. Connections and contacts are created
automatically.
Only nodes from the same subsystem can be selected for splitting off at a time.
5.13.9 Melt a subsystem
Melting a subsystem means to delete a subsystem while moving its contents. Beams, nodes and
connections are transferred to the parent subsystem. Contacts refering to that subsystem are deleted.

5.14 Connections and Contacts
The objects "connection" and "contact" are used to describe the physical contact of subsystems (p.97).
A connection is a set of nodes within one subsystem.
A contact connects two compatible connections in two different subsystems.
If the relative position of two subsystems is not clear by the two contacts alone, one or two auxiliary
vectors can be defined for each contact (see below and examples (p.105)).
KRASTA gives a warning if a distorting transformation matrix results from the geometry of the
connections.
5.14.1 Structural Build-Up
A structure can be build up by modelling individual subsystems or by creating individual KRASTA
systems and eventually compose them (see further down for the example of a tower crane).
Subsystems from other KRASTA systems can be imported into the current system. The new subsystem
can then be geometrically oriented after its import. This can be achieved by either entering the
coordinates directly or dragging the subsystem to its desired location. If the subsystems connections
match with already existing connections of other subsystems KRASTA offers to create a new contact and
orientate the new subsystem by contacts.
Another method is generating the structure as a whole and then subdividing it into subsystems. This can
be done by using the function separate marked nodes as subsystems. For this purpose al l the nodes
(including the future connection nodes) that are to be included into the new subsystem have to be
selected. When executing the separation the necessary contacts and contact are automatically
generated and the connection nodes duplicated. If existing connections and contacts are involved they
will be split accordingly. In some cases empty connections may be generated which should be deleted
manually.
As it is the case for other objects it is recommended to define meaningful names for the overview and
final documentation.
Helpful display setting to view subsystem organization
To get a view of the structure separated into their subsystems, there is an option subsystem factor in
the dialog display settings. If the factor is smaller 1, then the individual subsystems are shrinked
towards their geometrical center. By this, the connection nodes are not displayed on top of each other,
but separated.
5.14.2 Means for the orientation of the structure
The spatial orientation of a subsystem is defined in regard to the superior (parental) subsystem. This
information is stored internally by a distance vector and a rotation transformation matrix. This
specification is usually not entered by the user explicitly. For the user, three ways to specify the
subsystem orientation are available:
Orientation by Vector and Angles
A subsystem is oriented in the parent subsystem by the input of a distance vector and three Euler angles.
To avoid warnings, contacts and connections (if present) may no interfere with this geometry.
Orientation by Contact
Subsystems are positioned relatively to other subsystems by one or more contacts. The vector and the
rotation matrix is then calculated in order to be able to transform coordinates from one coordinate system
to another. If the contact consists of nodes in a straight line, one auxiliary vector is needed. If the contact
consists of one node only, two auxiliary vectors are needed. For each connection the auxiliary vectors
are defined in the individual subsystem coordinate system. KRASTA rotates the child subsystem to
match the auxiliary vectors of the connections.

Orientation by Contact and Angles
A subsystem is oriented against the parent subsystem by a contact and three Euler angles. The vector is
defined by the contacts while the angles have to be entered for the subsystem. If the contact allows
rotation about one axis only, the other angles have to meet the orientation defined by the contact. If a
kinematic is used, the subsystem orientation will be set to Connection and Angles automatically.
Each individual configuration of orientations and contacts can be stored in the KRASTA object
Orientation an may be reused in evaluation and documentation thereafter. More details are available in
the chapter Orientation (p.109).

5.14.3 Example for a subsystem structure
A subsystem tree for a tower crane may look as follows:
The total system and the subsystems of the 1
st
and the 2
nd
level are
shown on the next pages.
Simple model of a tower crane (total system)
tower crane

First level subsystems
bracing pinnacle
swivel joint
counter weight jib
jib
tower
tower base

tower crane
tower base
tower
tower part 1
tower part 2
tower part 3
tower part 4
tower part 5
swivel joint
sj bottom
sj top
pinnacle
jib
jib base
jib part 1
jib part 2
jib part 3
jib part 4
jib end
counter weight jib
bracing
brc counter weight
brc jib

Second level subsystems
jib part 2
tower part 5
tower part 4
tower part 3
tower part 2
tower part 1
sj bottom
sj top
brc counter weight brc jib
jib base
jib part 1
jib part 3
jib part 4
jib end


5.14.4 Examples for Contacts
In the following, three types of contacts are shown, which differ in the number of required auxiliary
vectors. If the orientation is determined by such auxiliary vectors, simple kinematical movements (twisting
of the crane, luffing of the jib) can be done by modifying the auxiliary vector of the connection.
Contact without auxiliary vectors:
jib base - jib part 1:

Contact with one auxiliary vector:
Pinnacle-jib base:

Luffing of the jib
Contact with two auxiliary vectors:
SJ top - SJ bottom:

Simple kinematical movements (twisting of the crane, luffing of the jib) can be done by modifying the
auxiliary vector in the description of the connection.

5.14.5 Connection
A connection consists of a group of nodes and is used to connect two subsystems physically.
Dialog: Connection

The nodes of the connection are selected graphically. Therefore the cursor is to be set into the list box
below Graphical Selection. Then the nodes can be selected in the desired order. If required, up to two
auxiliary vectors may be defined. By pressing Delete Node the selected node can be removed from the
connection. Insert Node makes room for a new node, which can be input afterwards.
Display of Connections
Connections are represented on screen by their name in geometric center, lines to the nodes as well as
the ordinal number of the node in the connection.


5.14.6 Contact
A contact connects two connections to a physical contact.
Dialog: Contact

The two connections need to have the same number of nodes and auxiliary vectors (if any). The order of
the nodes and their position in the connections must coincide. The first two conditions are checked by the
program; as long as the number of nodes and/or auxiliary vectors is different, the OK button remains
inactive. The second condition has to be checked by the user himself.
5.14.7 Error messages (Contact) during connection of subsystems
On completion of the dialogs Subsystem and Contact or upon users request the program tries to
recalculate the positions of the different subsystems. While trying to do so the program may produce the
following error messages:
"Number of nodes/vectors in connections not equal"
Meaning: Two connections connected by a contact do not have the same number of nodes or vectors.
"Subsystem globally inaccessible!"
Meaning: The specific subsystem is neither oriented by vector and angles, nor does it have
connections, so its position cannot be calculated.
"Beam Vector Component does not fit locally! Probably subsystem oriented and
connected"
Meaning: A subsystem is oriented by vector and angles or by connection. Additionally further
connections (or nodes in a connection) exist, that do not fit to their corresponding counterparts.
"Subsystem Vector/Matrix not calculable!"
Meaning: The specific subsystem is meant to be oriented by contacts, but the current number of nodes
and/or auxiliary vectors is insufficient.
If a subsystem is to be oriented by a single contact, the used connections must alternatively consist of at
least:
- Three nodes, that do not lie on a line
- Two nodes and one auxiliary vector not parallel to the connection between the two nodes
- One node and two non parallel auxiliary vectors

5.15 Orientation
Structures can be divided into subsystems. The geometrical arrangement of these subsystems (p.97) in
relation to each other is subject of the KRASTA object orientation which will be described in the
following.
Orientations are used to store, modify and re-establish the state of spatial orientation of a structure which
consists of subsystems. The orientation is a regular KRASTA object with a name and a comment.
Orientations can be accessed through:
- The tree structure on the left hand side of the screen
- The menu Subsystem | Orientation
Three different types of orientation are available, depending on their purpose:
Basic Orientation A snapshot of the structure to easily reproduce a certain orientation.
Relative Orientation A certain orientation based on a basic orientaion with additional
orientational changes.
Orientation Modification A named sequence of orientational changes.
5.15.1 Basic Orientation
A basic orientation includes all subsystem orientational information (subsystem (p.97) / joints (p.38) /
contacts (p.107)) in order to describe the geometrical position of a subsystem and its referred
connections. It is able to fully describe and reproduce an orientation state.
The basic orientation does not contain any information about the modelling history of an orientation state.
It is just a snapshot of the orientation state at a certain time.
In contrast to the multiple execution of kinematics (such as a Relative Orientation) the situation will
always be reproduced numerically exact.
The reproduction of orientations states of all subsystems can only be successful, if subsequent changes
to system are not contrary to the orientation object. Deleted subsystems cannot be reproduced.
Subsystems that have been redefined from orientation by contact to orientation by vector and angle or
vice versa will be transferred back into their old state. Newly created subsystems will retain their current
position relative to the parent subsystem within the subsystem hierarchy.

Dialog: Basic Orientation
Read actual Orientation Data
The information stored within an orientation will be
replace by those of the current state. New
information will be added and obsolete information
deleted.
Refresh
The orientation item chosen in the window (marked
blue) will be newly read from the current state.
Delete
The orientation item chosen in the window (marked
blue) will be deleted from the basic orientation.
Execute
Wherever possible, all orientation items are applied
to the corresponding structural parts. The model is
changed to reflect the basic orientation.
1
st
Col.: Concurrence
The equal sign shows that the represented orientation information coincides with the current model
conditions. An exclamation mark warns of problems within the orientation information.
2
nd
Col.: Type of the orientation item
There are different types of orientation information:
- Subsystem: The subsystem [in Col. 3] is oriented relatively to the subsystem [in Col. 4].
- Contact: The contact [in Col. 3] connects connection [in Col. 5] and connection [in Col. 6].
Contacts can include information of geometrical positions of subsystems relative to each other. If the
subsystem is oriented by vector and angle then both information have to concur. If the subsystem is
oriented by contact then one contact has to be sufficient to define the position of the subsystem
coordination system.
5.15.2 Relative Orientation
The relative orientation is capable (as the basic orientation) to fully rearrange a subsystems (p.97)
orientation state.
A relative orientation refers to a start orientation of the type basic orientation (p.109) or relative
orientation. Based on that start orientation several steps changing the orientation state are defined in the
relative orientation. Such steps could be:
- A kinematical adjustment, i.e. the call of a kinematic (p.113) that includes or excludes the
information about the target value. If there is no target value defined in the orientation, the target
value of the kinematic will be used.
- Change of a contact (p.107), i.e. connecting a new set of connections.
- A saved orientation modification
The relative orientation allows execution of kinematics automatically without the need to consider further
parts of the subsystem structure. A relative orientation is more flexible to deal with changed basic data
(e.g. longer subsystems) than a basic orientation.

Dialog: Relative Orientation

Start Orientation Defines a start orientation.
Modification Sequence A sequence of different types of orientation changes.
Kinematic Executes a polar kinematic with a defined objective value.
Contact Creates or changes defined contacts.
Orientation Modification Executes an already defined sequence of orientation changes.

[Edit] The [Edit] buttons open a short menu including the most important aspects
for the editing of the relevant object.

[Add] The add buttons attaches the chosen modification item information to the end
of the sequence.
[Up], [Down]
[Delete]
The selected (highlighted) entry of the sequence can be moved or deleted.

[Execute] Saves and executes the modification sequence. The basic orientation will be
reproduced first and then the modification sequence will be executed step by
step.
5.15.3 Orientation Modification
A change of orientation is basically a relative orientation without a basic orientation and therefore can
not reproduce a subsystem orientation state in total.
It can be used as part of change sequence within a relative orientation.
Dialog: Orientation Modification
As dialog Relative Orientation without start orientation.
5.15.4 Methods of orientation

Create New
Edit
Copy
Delete
Orientations can be newly created, edited, copied or deleted just like other KRASTA
objects (p.17).
Execute Orientations can be executed.
The execution of orientations can be initiated from the applicable menus or from the
editing dialog or by dragndrop.
Execution of a basic orientation means that a certain system orientation is
reproduced.
Execution of a relative orientation means that a certain system orientation is
reproduced from a start orientation and subsequent executions of orientation
changes.
Execution of an orientation modification means that starting from the current state a
sequence of orientational changes is executed. Usually this will not lead to a
certain system orientation.
5.15.5 Notifications during the execution of orientations
For the execution of kinematic KIN
subsystem SUB will be changed to
orientation by contact and angle
So far, the position of the subsystem SUB was defined
solely by the contact (subsystem orientation by contact).
This needs to be changed changed.
The subsystem SUB uses the contact only to determine its
coordinate origin. The position of the angle will be
calculated and determined by the kinematic (now the
subsystem definition is orientation by contact and angle)
unknown Orientation subtype XX The type of the orientation XX is not known in this
KRASTA version. The orientation can not be executed.
"unknown orientation type 'yy' in
Execute_BasicOrientation()"
The type the subsystems are arranged relatively to each
other is not known in this KRASTA version. This information
can not be considered.


5.16 Kinematics
Kinematics are capable of performing planar kinematic movements consisting of any number of
substructures which must not have more than one degree of freedom.
Therefore, a predefined substructure, the so-called leading kinematic part, is being moved in small
increments. Auxiliary substructures, which have to be made of two substructures, are adjusted
afterwards. This will be repeated until a certain objective is achieved (node coordinates, angle,
coordinate difference). The increments may be lessened closer to the objective in order to attain a certain
accuracy.
This process will be stopped if substructures are clamped (shut position) or a given number of iterations
is exceeded.
Modelling with kinematics
In KRASTA the substructures of kinematics have to be individual subsystems.
For every kinematic the leading kinematic part has to be connected to a fixed point (relatively to the
individual kinematic), the so-called ground plane.
The orientation of the subsystems relative to the superior (parental) subsystem may be automatically
changed from Distance and Angle to Contact and Angles.
The different substructures have to be assigned to the same level within the subsystem hierarchy
beneath the parent subsystem.
Subsystems which are child of a substructure will be kinematically moved with those as being rigidly
connected.
Kinematic plane
The definition of the plane within which the kinematic movent is done can be a principal plane (X-Y, Y-Z,
and Z-X plane) of any subsystem coordinate system. This subsystem containing the coordinate system
must not be a part of the kinematic substructure. The normal vector of this plane is then automatically the
axis of rotation of the individual substructures. The contacts in between the subsystems, which connect
the substructures, have to be capable to rotate around this axis. E.g. the nodes of a connection
consisting of several nodes have to be located on the same axis parallel to the axis of rotation.
The objective (coordinates, angle, etc.) is defined in the same coordinate systems as the kinematic
plane.
Kinematic movability vs. static flexibility
The rotational movability of substructures only exists for kinematics. The joints necessary for the static
calculations are not influenced by kinematics in any case and have to be defined as beam attributes.
Likewise, two parts which are jointed together can be regarded as rigidly connected bodies.
Modelling of actuators
Contacts of subsystems to other subsystems which are not part of a kinematic are regarded as a contact
to the ground plane (unchanging basic rotation points) for the concerned subsystem. The sole exemption
is made if the connection nodes of the other subsystem have free coordinates. This allows e.g. to
model actuators, such as cylinders, spindles, or control shafts which have alternating lengths throughout
the movement process. Since this kind of free contacts can partly be used to orientate subsystems the
contacts have to be explicitly defined to be free in specific kinematics.
The leading kinematic part has to be a subsystem with a (direct or indirect) connection to the ground
plane.
Interaction of multiple kinematics
Any number of kinematic objects can be generated, allowing for different combinations of subsystem
movements. I.e. a section which has been of variable length in one kinematic can be moved as a rigid
body in another one.

Structural parts that are not kinematically dependent but still have to be moved in a certain relation
towards each other can be modelled using several kinematic displacements that have to be executed
one after the other. Such a sequence can be defined through a relative orientation.
Any position or orientation that has to be available for calculation purposes has to be generated by hand
only once and then can be saved and later recalled as an orientation object. This has to be done only if
changes at the structure have been generated. More about orientation, situation and calculation suite can
be found in the according chapter.
The subsystems, contacts and connections can be displayed similar to the display dialog through an
explosion view. Here subsystems will be reduced in size relative to their geometrical center and hence
the contact nodes and connections will diverge.
5.16.1 Dialog: Kinematic

General information
A kinematic has a name and optionally a comment like every other KRASTA object
5.16.1.1 Target Settings
Plane and Reference System
The frame of reference and the plane in which the kinematic is located in has to be defined in the
second section. The chosen subsystem must not be a child system of the subsystems which will be
moved later on. The frame of reference itself can admittedly be displaced during another kinematic, e.g.
the revolving platform of a tower crane will be the frame of reference for the displacement of the boom
subsystem.
Target
The target that describes the goal of the displacement can be defined in the third section. It is possible
that the target coordinate difference can yield two results. This situation depends on the quadrant in
which the structure in its initial position was located. In order to achieve a certain solution the structure
possibly has to be rotated into the proper quadrant with another kinematic by changing the angles. The
following options are available for the target definition:
Angle to Axis
Two nodes have to be chosen of which at least one has to be located on the subsystem which will be
displaced. The subsystem will be displaced until the vector from the first to the second node has reached
an angle relatively to the chosen axis which is equivalent to the defined in a mathematical positive sense.
Node Coordinate
A node located within one of the substructures has to be chosen. The subsystem will be displaced until
the node has reached the defined coordinate within the chosen frame of reference.

Coordinate Difference
displaced. The subsystem will be displaced until the distance between the two nodes has reached the
defined value.
Projected Coordinate Difference
displaced. The subsystem will be displaced until the distance from the second to the first node has
reached the defined value in the chosen coordinate direction. The positive and negative value of the
number will be observed.
Angle of three Points
Three nodes (
have to be chosen of which at least one has to be located on the subsystem

which will be displaced. The subsystem will be displaced until the angular between the legs
and

has reached the defined value in the chosen value. The positive and negative value of the number will be
observed.
Switch: Best possible
This switch allows the kinematic to be executed even if the target cannot be reached with the predefined
accuracy (to be defined under options). E.g. the smallest possible value is sought and the substructure
adjusted to this value if the distance is given as zero and the switch best possible is ticked. This can be
used to adjust two independently modelled structures which are supposed to be joined within a bi-polar
system by repeated executions of two kinematics, so that the connections will finally be as close as
possible and can then be connected to each other via a connection.
5.16.1.2 Substructures of a kinematic
The substructures of the displacement are defined on the right hand side of the dialog box.
Leading kinematic part
The option for the leading kinematic part can be found right on top of the section. The selection of the
leading kinematic part can occur by selecting the substructure in the drop down menu or by pressing
the button graphical selection and the subsequent selection of the substructure in the view.
Other kinematic parts
Other kinematic parts can be added through the drop down menu and by pressing the button add.
They can be deleted by choosing a substructure and pressing remove.
Kinematically free connections
Those contacts that have free nodes and are to be defined as free themselves within this kinematic have
to be chosen (moved to the right hand window) in the section kinematically free connections.
The program will try to execute the displacement after pressing the button execute. If this is successful
the system will be displayed in its new position. The system will remain in its current position if any errors
should occur.
The button Clear Kinematic Trace can be used to delete any display of the displacement process from
the view.
Pressing the button Options allows for the definition of parameters for the kinematic algorithms. The
predefined values should usually suffice.

5.16.1.3 Options (Kinematic)
Options are the starting step with which the leading kinematic part will be moved with (standard: 0.1 ), the
target precision which has to be reached (standard: 1e-5 m), the maximum number of iterations after
which the kinematic will be stopped (standard: 10 000), and the number of steps that will be displayed for
the optical control (standard: 0 = none).
Dialog: Parameters of Kinematic


5.16.2 Error messages (Kinematic)
During input, while saving or during executing of a kinematic, warning and/or error messages can occur.
Below, possible KRASTA error messages concerning kinematics are listed.
5.16.2.1 Error messages (Kinematic), during the input
Please select subsystem first! Add was pressed without having chosen a substructure first.
Subsystem already in list! A subsystem which is already chosen was to be added to the list.
5.16.2.2 Error messages (Kinematic), while saving the object
No reference subsystem selected! The rotary plane and the frame of reference for the target have to be defined.
No leading kinematic part selected! At least one structure that has to be displaced has to be chosen.
Number of other kinematic parts has to
be even!
The number of other kinematic parts always has to be even because of the
explanations in the chapter General.
No target node selected! The node necessary to define the target was not selected.
No second target node selected! For a function where two nodes are necessary (angle, coordinate difference)
only one has been selected.
5.16.2.3 Error messages (Kinematic), during the execution of a polar kinematic
Reference subsystem is part of
kinematic part!
The frame of reference is identical with the child subsystem of one of the
kinematic subsystems.
Leading kinematic part has no contact
to ground!
The leading kinematic part is not directly connected to the ground plane (the
fixed part, relatively to the given kinematic).
Connection nodes are not in direction of
rotation axis!
In a contact with multiple nodes between two subsystems of different
substructures not all of the nodes are located on the common axis of rotation.
This can only be due to numerical inaccuracies. If necessary the nodes of one
subsystem (preferably of the fixed subsystem) can be forced into a straight line
by manually entering the exact coordinates and the connection nodes of the
second subsystem can then be relocated graphically.
Connection nodes are not in direction of
rotation axis!
Several contacts may exist between two substructures which are not located
on the common axis of rotation. Again, this can only be due to light numerical
inaccuracies.
No target node on kinematic part! None of the nodes used to define the target are located on the moving part of
the structure, therefore the target can never be reached.
Disconnected kinematic parts! The substructures are not connected with the leading kinematic part, with each
other or are free at one end and not on the ground plane or another kinematic
part.
Too many iterations, abort! The program aborts the calculation due to exceeding the maximum number of
iterations. Either the number of allowed iterations is too small, or the target
precision too high, or an unknown error inhibits a proper solution. In order to
help finding the reason the last situation is displayed graphically.
Unreachable target! The program cannot execute any further displacements (clamping). In order to
help finding the reason the last situation is displayed graphically.

5.16.3 Example: (Kinematic)
For example we will look at a double jointed crane, which will be moved kinematically.
First the existing system will be subdivided into the subsystems boom, actuator bar, tension bar, coupler
bar, counter weight, and base using the function split off marked nodes as new subsystem. The node at
the end of the hydraulic actuator will be defined as free.

actuator (leading
kinematic part)
Boom
Tension bar
Secondary member 1
Counter weight
Coupler bar
Secondary member 2
Base

Now it is possible to describe a kinematic object (see Dialog: Kinematic (p.114)).
The subsystem base will be defined as the reference subsystem with its X-Y plane as the plane of
displacement.
The chosen leading kinematic part will be the actuator. Boom, tension bar, coupler bar, and counter
weight (the order is of no matter here) will be the other kinematic parts.
The program will offer a contact (cylinder DL) containing free nodes. This contact is supposed to be free
within the kinematic, hence it will be chosen.

The user can now choose a target. In this example it will be the X coordinate of the node at the tip of the
boom, which will be moved to the position x=-26500mm. After pushing the button execute the boom will
be moved into its new position.

Another possibility to describe the target could be the length of the actuator.

The figure above shows such an example. The actuator will be moved into a position where its length will
be 3500mm.
Pay attention to the selection of the two nodes. One of both (in this case [Drucklenker] DL 8) has to be
part of a kinematic substructure, otherwise no change in length can be achieved. The free node on the
other side will only be displaced later during the reassessment of all coordinates.

5.16.4 Further possibilities to model kinematic displacements
Alternating connections
In order to display different orientations a subsystem can be connected to different connections so that it
can be oriented in a different way relative to its connection mate. Thus, substructures can be displaced
linearly (e.g. a travelling trolley of a bridge crane) or rotated (e.g. a rotation assembly sluing wreath).
In contrast to the kinematics of multiple substructures described above, only the different angles of the
substructures relative to each other will be changed via the orientation vectors of the contacts.
Usually it is sufficient to alternate one of the contacts used in a connection to generate a new orientation
of the whole structure. I.e. one side of the connection or one contact usually remains unchanged,
whereas alternative, though similar, contacts will be used on the other side.
The respective alternative contacts can be generated through a copy of an exemplar contact, where only
the individual orientation vectors have to be changed.
Afterwards, the connection of this contact will be transferred to the new contact (edit connection) and the
new orientation can be saved. Free nodes, attached to the displaced structure, will be displaced
automatically.
The rotating assembly of a rotating substructure can alternatively be represented by a polygon. Different
angles of rotation can then be generated through within the separation by relatively shifting the sequence
of assigned contacts.
Modified angles within the subsystem
The coordinates and angles in a subsystem oriented through vector and angle or contact and angle will
be saved within the orientation. Thus, they can be used to display kinematic displacements too by
directly editing the orientation of a subsystem and subsequently saving this object as a new orientation.

5.17 Situation
Situations are used to reproduce and calculate certain states of a system repeatedly (e.g. construction or
operating states of a structure) with their specific system definitions, orientations, bearing conditions and
load cases. A situation includes an orientation (p.109), a list of associated load cases and a list of
members to be inactivated.
The situation includes the formerly known position and additionally incorporates administrative tools
that had to be executed manually within older KRASTA versions. The descriptor position will therefore
be omitted in future to account for the technical nature of a situation and to avoid any confusion with the
tasks of the object type orientation.
For further description of a calculation result, a reference to a situation object will appear instead of a
position number. Now, the name of the situation will appear on the surface instead of a number.
Internally a position number will be used for the PAS calculations sequence which coincides with the
internal sorting number of the situation.
Situation can be accessed via:
- The tree structure on the left-hand side of the screen
- The menu Calculation | Situation
If no user defined situations are present for KRASTA system the program will simplify input and output
accordingly. An internal situation $uncertain (p.122) will instead be automatically entered and used.
5.17.1 Methods of situations
Create New
Edit, Copy, Delete
Situations can be newly created, edited, copied or deleted just like other
KRASTA objects (p.17).
Execute Orientations can be executed.
The execution of orientations can be initiated from the applicable menus or
from the editing dialog or by dragndrop.
The execution of a situation leads to execution of an associated orientation
(p.109).
If calculation results are represented graphically KRASTA can reproduce the
relevant situation. The results shown match with the current situation.

5.17.2 Dialog Situation

Orientation Refers to an orientation.
Active Load Cases Specifies which load cases will be calculated for the situation.
A list of load cases can be selected. The content of that list is shown as
additional information.
Inactive Beams Specifies which beams will not be considered during calculation for this
situation.
NOTE: Loads and masses of inactive beams are not considered.
A list of beams can be selected. The content of that list is show as
additional information.
Calculate Compensation
Load Cases
If ticked, compensation load cases for constraint conditions are calculated.

[Edit] The [Edit] buttons open a short menu with the most important topics for
editing of the relevant object.
[Execute] Saves and executes a situation. I.e. the chosen orientation will be
reproduced.
5.17.3 The situation $uncertain
For systems without user defined situations (p.121), calculations and evaluations show no releation to a
certain situation. No information about orientations is available in the model, all load cases and all
members are active. The situation $uncertain cannot be edited and only calculation suites can access
this situation. Thus, calculations can be done without having to define orientations, situations and
calculation suites first.
KRASTA implies the uncertain state, as long as no explicitly defined situation can be found in the
system, not even in the solver result file. In this case, KRASTA does not ask for situations in dialogs and
shows no certain situation in outputs. Nevertheless, internally the situation $uncertain is used in all
cases.
Referring to the situation $uncertain means:
When creating solver input sets:
No (certain) situation is set before, the static system is used in its current state.

When evaluating result sets:
There is no (certain) situation associated with the individual result. KRASTA cannot determine that
situation, which leads to the result. The result is shown in the current, maybe different, situation.
5.17.4 Create situations for orientations
Apart from creating situations "manually", there is assistance in creating situation for existing
orientations. Situations can be created automatically for specified orientations. The newly created
situations share the base name of the orientation and the orientation is referred to in the situation.
For single orientations this can be done by right-clicking on an orientation in the object tree and selecting
"Create Situation". If multiple situations shall be created the menu item "[Situation] Create for
Orientations..." in the main menu "calculation" can be used.
KRASTA 9.5 Manual Calculation 125

6 Calculation
The following chapter describes components of KRASTA involved solving the statically problem, such as
calculation suite, core solver, result and log files.
Error and warning messages that can occur during a PAS solver run are listed as well.

6.1 Calculation Suite
A calculation suite is used for the repeatable calculation of a list of situations (p.121). Apart from a list of
situations it contains information about the chosen solver, the method of calculation and further solver
settings.
Two standard calculation suites are available for PAS, 1
st
and 2
nd
order theory with the situation
$uncertain (p.122).
Standard calculation suite can be edited. Copies can be made and edited in order to copy the default
settings.
Calculation suite can be accessed via:
- The tree structure on the left-hand side of the screen
- The menu Calculation | Calculation suite
6.1.1 Available solvers and computation theories
KRASTA supports several the following solver:
6.1.1.1 PAS III
Calculation of a spatial framework according to 1
st
and 2
nd
order theory, considers mass load cases,
knows (semi-)rigid and/or conical cross sections. It is shipped with the KRASTA package.
6.1.1.2 PAS IV
The same capabilities as PAS III with accelerated calculation core.
6.1.1.3 MOD (modal analysis)
The modal analysis of spatial frameworks, calculates natural frequencies and natural modes, it considers
bearing rigidity and mass cases. It is shipped with the KRASTA package.
6.1.1.4 STAB88 / NODYA [OPTION]
Calculation of a spatial framework according to 1
st
and 2
nd
order theory, capable of nonlinear calculations
for both geometry and material. STAB88 / NODYA is a third party solver and is not shipped with the
KRASTA package.
6.1.2 Methods of calculation suites
Create New
Edit
Copy
Delete
Calculation suites can be newly created, edited, copied or deletedjst like other
KRASTA objects.
Execute Calculation suites can be executed.
The execution of calculation suites can be initiated from the applicable menus or from
the editing dialog or through the menu Calculation | Execute >.
The execution of a calculation suite means the reproduction and calculation of
predefined situations.
128 Calculation KRASTA 9.5 Manual

6.1.3 The default calculation suites PAS linear and PAS ThII
The calculation suites "PAS linear" and PAS ThII are available by default. The program starts the solver
PAS IV when executing these calculations suites in order to calculate all basic or ThII load cases. All
members are considered active and all compensation load cases are calculated if necessary. The results
are assigned to the situation $uncertain (p.122) instead of any defined situation.
The calculation suites "PAS Linear" and PAS ThII can be edited and deleted.
6.1.4 Dialog: Calculation Suite

Calculate immediately ticked: Solver input files are created and sent to the solver.
unticked: Solver input files are created but are not sent to the solver.
The solver may be started for these input files manually.
Clear results before All results are deleted before. This does also include results for situations
which are not to be calculated with this calculation suite.
Clear calc log before The log file with messages from previous calculations is deleted before.
Available The list in the left window shows which situations are available to solve.
Calculate The list in the right window shows which situations are to be solved.
Solver Specifies which solver and which theory will be used.
[Solver settings] Opens a dialog with detailed solver settings when available (see below).
No setting details are required for PAS III and PAS IV.

6.1.4.1 Dialog: Solver Options Modal Analysis

Mass load case The mass case for which natural modes and frequencies are to be
determined.
Number of natural modes The number of the natural modes and frequencies to be determined.
6.1.4.2 Dialog: Solver Options NODYA
Register: General

For descriptions of the individual entries refer to the NODYA documentation.

Register: Nonlinear Calculation

For descriptions of the individual entries refer to the NODYA documentation.

6.2 Calculation according 2
nd
Order Theory
6.2.1 2
nd
Order Theory, Basics
The following theory is implemented for 2
nd
order calculation of PAS:
For the single beam the differential equation system (DES) is solved according to the technical bending
theory. The equilibrium is formulated in a deformed condition in order to consider term is
considered for bending:

The stiffness matrices for beams with constant cross section is determined analytically, the stiffness
matrices for beams with conical cross section is determined numerically with a tolerance of approx. 1
0
/00.
geometrically linear (Williot plan of displacement). The solution of the equation system is iterated over the
normal forces.
A prerequisite of 2
nd
order calculation is, that in spatial frames the differential equations for bending of
both cross section axes are decoupled, both for strain and for torsion. In [1] prerequisite conditions to this
decoupling are discussed and shown.
In which conditions these can prerequisite can be seen as fulfilled is shown in [1].
For 2
nd
Order theory calculations the equilibrium is formulated for the deformed framework. Inner forces
refer to axes of the deformed beams. Loads and predeformations are considered in undistorted working
direction but with a relocated working point. Geometrical effects due to inner beam deflection or
shortening are neglected in general. If this seems to be not appropriate this can be corrected by creating
additional nodes along the beam. Load components in beam direction may have an influence on the
beam stiffness. This influence is only taken into account correctly if the loads are applied at begin or end
of the beams.
Beam loads and beam predeformations are already considered to calculate inner forces in the 1
st
load
step. Loads applied at the start node of beam (L=0) are considered for the beam itself, further loads
(L>0) are considered at the start of the next beam.
It is possible to determine the ideal bifurcation load (ideal buckling load). This is done by iterative
increaments of the loads up to the factor when the stiffness matrices determinant denominator becomes
zero (or negative).
Literature: 2
nd
Order Theory
[1] Mller, K.-H. , Mrchen, H., Vlkel, G.
Zur Berechnung ebener und rumlicher Stabwerke
Theoretische Grundlagen zu PAS (mit weiteren Literaturangaben)
Verffentlichungen des Institutes fr Statik und Stahlbau der TH Darmstadt, Heft 9, 1970.
6.2.2 Th. II, Modelling techniques
- The count of the equilibrium iteration steps needed depends on the nature of the system. Criterion to
check is the determinant dominators rate of change. Often, one equilibrium iteration step is sufficient,
especially if the load steps are not too wide.
- Relevant steps in normal forces should only be present at beam ends, i.e. at nodes. If needed, one
should create intermediate nodes to be able to distribute beams loads and masses concentrated to
these nodes.
- Using wider beam lengths or relevant non-constant normal forces, affected beams should be split up
to appropriate shorter beams parts.
See also:
Load Case 2nd Order (p.76)
Brief Information for Review (p.221)

6.3 Situation-independent calculation
Using the menu item Situation independent calculation KRASTA allows to create solver input (resp.
result) sets indcated by position numbers.
The Situation independent calculation is equivalent to the solver interface of version 9.2 and older. That
way to specify a position is obsolete and should not be used anymore. Please use the more modern
and flexible calculation suite introduced with version 9.3 instead.
Obsolete Idiom Position
In KRASTA 9.2 and older, the idiom position was used. The user was able to identify result data,
loosely specified at the time of solver execution. The user had to track position numbers and according
structural system himself. No means were available to automatically recreate the static situation referred
to by the position number.
Since KRASTA 9.3 the concept of Situations allows switch between different static situations in a
systematic and comfortable manner.
For favor of the more general situations the usage of position numbers has become obsolete.

6.4 Content of the result file
The result file contains inner forces of beams at particular sections points (p.40) and support forces
(p.41) of nodes, resulting from certain load cases (p.71) in certain situations (p.121).
If the result file already contains inner forces for a given load and a certain situation these results are
overwritten.
Only the results of basic load cases (p.71) and (if any) TH II load cases (p.76) are stored into the result
file. Load combinations are always superposed according to their actual definition. Stresses are newly
determined referring the actual cross sections (p.47).

6.5 Process Solver Input Files
A solver input file is a self consistent calculation order for a specific solver (p.127).
Input files are created by calculation suites (p.127). Usually the according solver is started to process the
solver input file. The results are stored in the Result File (p.135) for later analysis (p.212).
However, calculation suites may just create solver input files without starting the solver. Such suspended
input files may be sent to the solver with the menu item Calculate solver input file.

6.6 Calculation Log
The calculation log stores messages, which occur during the execution of a solver input file (p.137), e.g.
start and end time, available disk space, storing places etc. as well as all output of the solver (p.127).
The solver may fail to solve a problem due to numerical problems or an insufficiently constraint model.
Even if the solver finishes the solution errors and warnings may have occurred (refer to e.g. PAS error
messages (p.141)).
A 2nd order theory (p.131) calculation may be used to determine the maximum stable load factor (Euler
buckling). In this case an error 455 indicates unstable load factors.
The calculation log can be reviewed after the solver finishes through menu item Show Log-File.

6.7 PAS error messages
This chapter describes the most frequent PAS error messages/warnings, their causes and methods to
identify the sources of error.
Assistance and suggestion are given to eliminate the errors. Usually different options to eliminate the
source of error are available for the desired static system.
6.7.1 Error/Warning Nr. 229
Error message
Fehler oder Warnung (229) aufgetreten!
Cause
No support conditions were defined, the structure is not supported.
Error message
Warnung Nr.
451 : DAS TRAGWERK ODER TEILE DAVON SIND KINEMATISCH UEBERBESTIMMT.
451 : The structure or parts of are kinematically underdetermined
Cause
- There is a closed structure of (partially) rigid beams (example #1)
- There is a open structure of (partially) rigid beams but rigidly supported (example #2)
Finding the culprit
Mark all beams with rigid and/or partly rigid cross sections (menu item Selection | Beam property | Cross
Section) and display all support conditions. Places, in which several (partly) rigid beams are present,
must be examined for closed and/or rigidly supported beam chains.

Example: Error/Warning Nr. 451, #1
A massive structural element in your structure is modeled using rigid
beams. This could be a casting with several beams of the structure
attached.

Since the casting is quite rigid and not in the scope of your
calculation anyway, you have decided to model the outline shape of
the casting with rigid beams. The individual rigid beams are
connected rigidly to each other.
The closed ring causes an error Nr. 451 during the calculation.

Fault repair
Open the ring by deleting one segment of the beam chain. The rigid
beams and their rigid connection remain a rigid and distortionless
structure.


Example: Error/Warning Nr. 451, #2
Next to supports you model a shear panel with the help of rigid
beams. Therefore, you introduce a bracing with a coupling node at
the intersection of the bracings. All four rigid beams use this node as
an end node.
Rigid beams and rigid support together, achieve a rigid structure
(Fig. rigid Support, dashed line) and cause an error Nr. 451.

Fault repair:
Here, several possibilities are available to remove the fault. You have
to decide which one is compatible with the needs of your static
system.
- Release a support in direction of the connection line between
the support nodes (Fig. Release Support).
- Apply a joint condition to three of the four beams to enable a
cross angle change (Fig. with Joint).

Please also consider chapter Notes on using rigid cross sections


Error message
Warnung Nr.
453 : DAS TRAGWERK ODER TEILE DAVON SIND BEWEGLICH.
453 : The structure or parts of are free to move.
Cause
Joint and/or support conditions allow a part of the structure to move/rotate without resistance. The
movable part can be an underconstraint node, a rotating beam as well as a larger kinematic part of the
structure.
Modelling faults, which cause warning 453, fall into two categories: real movability and rotating
objects.
Fault finding
Looking for the fault, the knowledge of the linkage between nodes and beams as well as between nodes
and inertial system (fixed base, earth) is necessary

The linkage between beam and nodes is determined by joint conditions of the beam (beam property), the
linkage between nodes and fixed base by support conditions (node property). In each case, six degrees
of freedom are available, three translational and three rotational (Fig. Degrees of Freedom).
fixed base
support cond.
node
beam
joint cond.
Fig. Degrees of Freedom

6.7.3.1 Real Movability
Generally real movability can be sought out easily by examining the bending line. Uncommonly large
deflections indicate the movability.
If there is no load in the direction of the movability, it may necessary, to introduce additional loads in this
direction (e.g. additional load cases with horizontal acceleration).
Approach:
Display a selected bending line and show the whole system (fully zoomed out).

If no extra ordinary deformation is shown then either the load case is unappropriate or there is no real
movability.
If the display looks like fig. huge deformation, select the beams with the huge deformation (in mode
beam selection click the bending line with left mouse button and select all offered beams).
Choose the display setting minimal and show the whole system (fully zoomed out). The selected beams
indicate the area of movability (fig. area of movability).

6.7.3.2 Rotating Objects
In order to find this error, the KRASTA model must be scanned for usual error patterns. Here all joint and
support conditions should be displayed.

In large systems it can be helpful to cut the model into smaller parts. Eventually delete a part of the
model, supporting the remaining part if necessary and evaluate again. If the error still occurs then the
error is part of the remaining structure otherwise of the deleted part. Keep attention of not producing
further errors by dividing the model.
Node can rotate
Type of Fault: At a bearing support in the model both a support condition
(ball bearings) and a joint condition (ball joint) is defined as shown in fig.
rot. node #1. The node is neither rotational linked with the fixed base
system nor with the beam, thus it can rotate freely.
Proposal: Modelling bearing condition, one should always use support
condition wherever possible. Connect the beam rigidly to the support node
and apply the desired support conditions to the node.
If this is not applicable, because the desired support condition cannot be
defined in the node coordinate system, fix the node in all degrees of freedom
and apply the joint conditions to the beam.
Type of Fault: All beams are connected to a node with joints
(Fig. rot. node #2). The node is rotational connected with none of the
beams, thus it can rotate freely.
Proposal: Connect one of the beams rigidly with the node.

Beam (chain) can rotate
Type of Fault: A beam or a beam chain is not fixed against rotation about the center line (Fig. rot. beam
#1, Fig. rot. beam #2, Fig. rot. beam #3).
Proposal: Define support conditions, joint conditions of the beam (chain) or adjoinded beams in a way to
fix the rotation.

Error message
Warnung Nr.
455 : DIE BELASTUNG LIEGT BER DER NIEDRIGSTEN VERZWEIGUNGSLAST
455 : THE LOAD LIES OVER THE LOWEST BIFURCATION LOAD
Cause
Calculation according 1
st
order theory:

In 1st order calculations error 455 usually occurs in combination with warning 453. Eliminating warning
453 eliminates error 455.
Calculation according 2
nd
order theory:
In 2
nd
order calculations this error message occurs if a beam or a structural part exceeds the ideal
buckling load (bifurcation load).
Note: Unfortunately there is no way to spot out the affected beam(s). Buckling, in the sense of applied
theory, is a system fault not caused by single beams. The bending line of the 2
nd
order results just below
the buckling load may be evaluated to get an idea of the failing members or substructure.

6.8 Modal Analysis
KRASTA supports the calculation of natural frequencies and according Eigen vectors (modes) of elastic
systems. Rigid, partially rigid or conical cross sections have to be replaced with elastic or constant cross
sections.
A modal analysis requires the selection of a mass case (usually the "Permanent Mass") and a maximum
number of natural frequencies to calculate. The results of the analysis can be output in textual form for
further computations.
Eigenvectors can be displayed and animated in a user defined scale by the menu item
View | Eigen Vector.
KRASTA 9.5 Manual Analysis and Documentation 151

7 Analysis and Documentation
The following chapter describes the possibilities to analyse, evaluate and document KRASTA systems.

7.1 Proofs
Proofs and results (p.207) are handled by KRASTA in similar manner (see Proof- / Result-Control-Sets
(p.211)). In both cases, the evaluation pattern, the type of evaluation, extremation and textual output are
specified.
In contrast to result controls sets proof controls sets compare a result value to a permissible value
according to a standard leading to a utilization.
Classifications
To determine permissible values according to a standard it is usually necessary to provide additional
information, e.g. for materials (p.63). Usually this information is a so called classification.
E.g. a classification can be something like this:
The material named StE 355 is in terms of DIN 15018 to be classified as St 52

7.1.1 Proof of fatigue based on damage accumulation
Modern proofs of fatigue are based on damage accumulation to evaluate the operating characteristics in
detail. Therefore, the operation is summarized in form of particular load sequences and design spectra.
Load sequences result in unique stress time histories at every point in the structure. KRASTA performs a
rainflow analysis to determine the stress ranges and associated number of occurrence.
The fatigue damage analysis is done according the linear damage accumulation hypothesis by
Palmgren-Miner as described below. The analysis results in a total sum of damage which is often
reformulated to damage equivalence factors or effective stress history parameters.
The partial damages are evaluated in respect to S-N curves and safety factors according to individual
standards.
The current KRASTA version offers the following proofs of fatigue based on damage accumulation:
- DIN 13001-3-1:2005-03 (p.163) resp. prEN 13003-1-1:2009 (p.169)
- EN 1993-1-9:2005 (EC 3) (p.179)
The specification of a design spectrum replaces the specification of a S class (or similar) as well as the
load evaluation pattern.
156 Analysis and Documentation KRASTA 9.5 Manual

7.1.1.1 Linear damage accumulation according to Palmgren-Miner
The following description is kept standards independent, no additional factors according to standards are
considered..
Diagram: Linear damage accumulation acc. Palmgren-Miner

As an example, one S-N (Whler) curve from [EC 3] is shown, whereas:
Inverse slope of S-N curve above fatigue limit
according to notch case.

Inverse slope of S-N curve below fatigue limit
and above cut-off limit
acc.
[StK].Chap.1.1.4.2.

stress range , number of stress cycles
actual number
with stress range
characteristic stress range
fatigue limit stress range
cut-off limit stress range

Number of stress cycles to failure
for periodic stress range with

(constant) amplitude

The partial damage
for a given stress range
is the ratio of actual number of stress

cycles
to the number of stress cycles to failure

Linear accumulation of partial damages gives the total damage.
(Damage summation according Palmgren-Miner rule)

The proof is fulfilled if
(e.g.: lt. [EC 3].Appendix A)

Some standards allow values different from 1.0 for the total damage.


The linear damage accumulation hypothesis according to Palmgren-Miner assumes that partial damages
are independent from each other. Thus, they are independent from the earlier stress history. The non-
linearities of the S-N curve are already included in each partial damage.
Therefore, linear damage accumulation allows to
- evaluate and document normal and shear stress damage separately
- associate a partial damage to a particular working cycle
7.1.1.2 Result values of a damage accumulation
Additionally to the result items commonly used in KRASTA proof of fatigues (notch case, maximum
stress range, tolerable stress range and utilization) there are items specific to damage accumulation such
as stress collective values and sum of damage.
For the point of proof of stresses showing the highest utilization the textual output additionally lists the
partial damages (see example below).
Example: Textual Output in case of Damage Accumulation

beam section pntW ds c m sig s sig max sig lpS min sig lps ds Sd ds Rd uti sig D sig O
Pivot Frame
...
U 109 47.2 3 8.0 3.0 .047 -1.87 14 -7.65 4 5.78 16.45 .351 .043 b
...
Root
Abspg. 4 2.3E+03 1 8.0 3.0 .091 12.94 29 1.65 6 11.29 13.19 .856 .627 b
Abspg. 5 .0 2 8.0 3.0 .043 13.82 15 2.43 3 11.4 16.88 .675 .308 b
...
HT 14 .0 7 8.0 3.0 .094 -.79 1 -6.57 29 5.78 13.05 .443 .087 b
HT 15 .0 -1 8.0 3.0 .059 2.71 4 -11.44 15 14.15 15.18 .932 .81 b
HT 16 421.75 7 8.0 3.0 .043 -.39 1 -5.08 15 4.69 16.92 .277 .021 b
...
HT 15 .0 -1 8.0 3.0 .059 2.71 4 -11.44 15 14.15 15.18 .932 .81 a
Spectral Components Damage:
Number/Weigthing x Load Sequence -> D_sig
7500.0 x unload 55t B<>D -> .01
40000.0 x unload 45t A<>F -> .273
100000.0 x unload 25t A<>F -> .336
100000.0 x unload 15t C<>F -> .191
...

Example of a textual output of a proof acc. DIN 13001-3-1:
- For each point an individual stress history parameter
is determined and listed.

- It is possible to show the stress utilization
as well as the damage

- For the point of proof of stresses with the maximum utilization the partial damages
are
shown for each component (working cycle) of the design spectrum
.
Literature: Damage Accumulation
[EC 3] EN 1993-1-9:2005
Ausgabe: 2005-07
Eurocode 3: Bemessung und Konstruktion von Stahlbauten -
Teil 1-9: Ermdung
[StK] Stahlbaukalender, 2006
8. Jahrgang, Herausgegeben von Prof. Dr.-Ing. Ulrike Kuhlmann
Abschnitt 2: Grundlagen und Erluterungen der neuen Ermdungsnachweise nach Eurocode 3
Dr.-Ing. Alain Nussbauer, Dr.-Ing. Hans-Peter Gnther


7.1.2 Proof of Fatigue acc. DIN 15018
A proof of fatigue according to DIN 15018 requires the classification of the used materials and the
classification of the points for proof of stresses into notch conditions.
The loading group may be determined for every individual proof.
Points for proof of stresses, that have not been given a notch case, may be supplied with a default notch
condition. If no default is selected, only points with classified notch conditions are considered for the
proof.
The proof may be applied to normal stresses only, shear stresses only or combined stresses. These
three possibilities can also be used together.
For each subtype of proof an individual output format has to be selected.
In the case of normal and shear stresses the search for extreme values is carried out along the util ization
of the permissible stresses, for combined stresses along the resulting comparison value of the two
utilizations, that is to be compared to 1.1 (DIN 15018, Part 1, 7.4.5).
If more than one subtype of proof is carried out simultaneously, it is possible to output the worst case
only. The worst case is the one with highest utilization.
The proof of combined stresses can either be done "simplified" by combining the two maxima of normal
and shear stress without consideration of their coincidence or as proposed by the standard.
It can be selected whether the permissible
shall be calculated according to the formula for struc-

tural elements or welded joints (DIN 15018, Part 1, Table 19).
Proof: DIN 15018
Def.:

Table 18 (DIN 15018)
Equations for permissible upper stresses depend on ,
according to Table 17 and
(tensile strength) according to the classification of the material.

(alternating domain)

(tension)

(pressure)

(swelling domain)

(tension)

(pressure)

Furthermore is considered:
(yield point acc. classification of the material).


Permissible stress
for structural elements and welding.

Structural Elements

(acc. W0)

Welding

(acc. K0)

proof of normal stresses:

proof of shear stresses:

combined proof:

For non simplified combined proofs, the sum shown above is maximized. For simplified combined proofs
the maximum normal stress and maximum shear stress utilization are evaluated first. They are combined
later.
Materials: DIN 15018
St 37
St 52-3
Notch Cases: DIN 15018
W0
W1
W2
K0
K1
K2
K3
K4
Loading Groups: DIN 15018
B1
B2
B3
B4
B5
B6


7.1.3 Proof of Fatigue acc. DIN 22261
A proof of Fatigue according to DIN 22261 requires the classification of the points for proof of stresses
into notch cases.
Points for proof of stresses, that have not been given a notch case, may be supplied with a default notch
case for the proof. If no default is selected only classified points are considered for the proof.
The proof may be applied to normal stresses or shear stresses. These two proofs can also be used
together.
Extreme values are searched for the utilization of the admissible stress differences (Cond. 66 and
Cond. 67). The fatigue factor can be specified.
If both subtypes of proof are carried out simultaneously, it is possible, to output the worst case only. The
worst case is the one with highest utilization.
Notch case: DIN 22261
Notch cases for DIN 22261 are:
Notch case Go0 Go1 Go2 Go3 Go4 Go5
adm Ao [kN/cm] 25,0 22,4 20,0 18,0 16,0 14,0
Notch case Gt1 Gt2 Gt3 Gt4 Gt5 Gt6
adm At [kN/cm] 18,0 16,0 14,0 12,5 (11,2)
*)
10,0
*) Notch case Gt5 is not specified in Table 17 explicitly and is added here analogous to Kt5.
Notch case Ko1 Ko2 Ko3 Ko4 Ko5,Kt5 Ko6,Kt6
adm Ao,t [kN/cm] 18,0 16,0 14,0 12,5 11,2 10,0
Notch case Ko7,Kt7 Ko8,Kt8 Ko9,Kt9 Ko10,Kt10 Ko11,Kt11 Ko12,Kt12
adm Ao,t [kN/cm] 9,0 8,0 7,1 6,3 5,6 5,0

Proof: DIN 22261
Consideration of fatigue factor :

Conditions of the proof of fatigue:
The stresses are signed.
Def.:


1.) Parts beyond zones of welded joints:
normal stress :
1.1)
Cond.66:
( Row 1 )
1.2)
Cond.66:
( Row 2 )
1.3)
Cond.66:
( Row 3 )
shear stress :
1.4) Cond.67:
( Row 4 )
2.) (Welds) and Parts within zones of welded joints:
normal stress :
2.1)
Cond.66:
( Row 7 )
2.2)
Cond.66:
( Row 8 )
shear stress :
2.3) Cond.67:
( Row 9 )
The -condition in universal form is:

The utilization is calculated by:

At small stress differences at a high pressure stress level, it is possible to calculate negative utilization
values. These values satisfy the proof.

7.1.4 Proof of Fatigue according to DIN CEN/TS 13001-3-1:2005-03
In the following the concept of the proof is explained first. After that, the implementation in KRASTA and
used calculation formula are shown. Finally according program dialogs, output formats and value tables
are described.
DIN CEN/TS 13001-3-1:2005, Method of Proof
Based on the operating method, notch case and accessibility, permissible stress ranges are determined
and compared against characteristic stress ranges. The workflow in detail is as follows:
Operating method:
In general, the operating method is specified by a range of load working cycles of which each is weighted
with a relative frequency, i.e. by a certain load spectrum.
S-Classes:
The S-class is derived from a load spectrum considering further parameters like the class of load
spectrum factors Q
0
to Q
5
(see [13001-3-1:2005], Tab 4) and the S-class S0 to S9 (see [13001-3-
1:2005], Tab. 11 and Tab. 12) respectively. Alternatively, a guidance for empiric selection of S-classes is
given in [13001-3-1:2005], Annex B.
Notch cases:
Structural details are covered by classification of notch cases (see [13001-3-1:2005], Annex A and E).
With the classification of a certain notch case, a characteristic stress range
or
and the inverse

slope of the o/N-curve is determined. Notch cases consider connection geometry, weld characteristics
and (partly) material and structural part thickness.
Characteristic stress range and slope can be determined by fatigue testing (see [13001-3-1:2005], Chap.
6.2.4) also. Thus, a slope between (material in welded connections) and (flat material or
shear in longitudinal welds) can be taken into account by the proof.
Notch cases are specified individually for normal and for shear stresses.
Resistance factor
:
To consider fail-safe or non fail-save components, accessibility and hazards for persons a fatigue
strength specific resistance factor
is used according to [13001-3-1:2005], table 10:

Inspection and access Fail-safe components Non fail-save components
without
hazards for persons
with
hazards for persons
Periodic inspection and
maintenance
Accessible joint detail

maintenance
Poor accessibility

Stress history parameter
:
Each load cycle causes individual nominal stress cycles in every location and therfore individual stress
spectra. Based on the shape of the stress spectra and the slope values specified by the notch case
individual stress history parameters
are calculated according to [13001-3-1:2005], Chap. 4.3.4.

For each stress component (normal or shear stress) a unique stress history parameter is associated.

Permissible stress ranges:
The permissible (limit) stress range is calculated for each stress component separately as follows:

The dependency between S-classes and
is defined as follows:
Class S0 S1 S2 S3 S4 S5 S6 S7 S8 S9
0.008 0.016 0.032 0.063 0.125 0.25 0.5 1.0 2.0 4.0

The formulation may be transformed using stress spectrum factors
and
according to
DIN13001-1, Chap. 4.3.4. Because of
it is:
mit

The stress spectrum shape is covered by the ratio parameter
. All other parameters are independent

from the stress spectrum.
Analyzing the stress spectrum shape is done for a proof based on damage accumulation (p.166). A proof
following the simplified procedure (p.165) is using
as a substitute, as mentioned in DIN-Chap.

6.5.3.4. This allows a save approximation of permissible stress range independent from the actual stress
spectrum.
Design stress ranges:
In general, the design stress range is the difference between maximum and minimum stress component
present in the stress spectrum.
For thermally stress relieved or non-welded structural members the compression portion of the stress
range may be reduced to 60%.
Utilizations:
For different stress components the proof shall be executed separately. To each stress component an
utilization is calculated by comparison of permissible to design stress range.
Additionally a combined utilization may be determined. See Types of proof below.
DIN CEN/TS 13001-3-1:2005, Implementation in KRASTA
Classification of notch cases:
A proof of fatigue according to DIN 13001 requires the classification of the Points for Proof of Stresses
(p.47) in regard to:
- characteristic stress ranges
and

- inverse slope of o/N-curve
and
.
For
or
values out of a given list are available (see Chapter Notch Cases 13001-3 (p.177)).
The slopes
or
can be chosen in a range of 3.0 to 5.0.

The combined specification of characteristic stress range and inverse slope is called notch case in the
following. For a point for proof of stresses individual notch cases for normal and for shear stresses are
assigned (see Dialog: Classification of Points for proof of Stresses according to DIN 13001-3 (p.175)).
Consideration of material and part thickness by the user:
When selecting the notch cases in the scope of [13001-3-1:2005] tables A.1 and A.2 the user himself
has to consider part thickness or the yield stress of the material.
Welding thicknesses have to be considered by the user.

Proof Control Sets:
For each proof the following is specified (see Dialog: Proof of fatigue according to DIN 13001-3 (p.167)):
- Either a design spectrum or a s-Class according to DIN Tab. 11 and DIN Tab. 12 or Appendix B (see
Loading Groups: DIN 13001-3 (p.177))
- A fatigue specific resistance factor
according to DIN-Tab. 10
- If the compression portion of the stress range shall be reduced to 60%
- Optionally default notch cases for unclassified points for proof of Stresses.
Thus, the proofs have to be formulated separately for different S-Classes, specific resistance factors,
compression stress evaluation and (if any) default notch cases. But proofs can be combined into lists to
be evaluated together.
If no default notch case is specified only classified points for proof of Stresses are proven. If no
classification is given the point is not taken into account. The notch case to be taken into account is
determined for normal and for shear stresses independently.
Types of proof:
The proof can be done separately
- for normal stresses,
- for shear stresses
- combined
It is also possible to do all three types simultaneously. For each of these proofs a specialized output
format is available.
If more than one type of proof is done simultaneously it is possible to output the worst case only. The
worst case is the proof with highest utilization.
Proof: DIN CEN/TS 13001-3-1:2005 (simplified procedure)
Stress History Parameter:
In the simplified procedure, the stress history parameter
is given by the specified S-class

according to [13001-3-1:2005] Tab. 13.
Evaluation pattern:
The evaluation pattern is a list of load events consisting of load case and situation. The S-class (see
above) is used as an indication on load ranges and frequencies within the evaluation pattern; it implies a
certain load spectrum.
Extremation:
KRASTA determines stress differences or design stress ranges for every possible combination of two
load cases out of the evaluation pattern. For each stress difference the according utilizations are
computed. The cases which result in highest utilizations are documented.
KRASTA assumes
for the simplified method.


Def.:
or

whereas compression portions are reduced to 60%, optionally.

:

with:
,
bzw.

according to individual classification of the points for proof of Stresses.
according to Proof Control Set.
according to [13001-3-1:2005] Tab.13 for an S-class according to proof control set.
save approx.
*)

Type of Proof Utilization
Proof of normal stresses:

Proof of shear stresses:

Combined proof:

with
and
save approximated
*)
.
*) KRASTA is using KRASTA
, given by DIN Chap. 6.5.3.4 Simplified method for slope

(see: DIN 13001-3, Method of Proof, Permissible stress ranges (p.163)).
Proof: DIN CEN/TS 13001-3-1:2005 (damage accumulation procedure)
Design Spectrum:
The design spectrum completely specifies the mode of operation with load sequences and their
frequencies.
Time History Parameter:
The time history parameter
is determined by a damage analysis according to the hypothesis of

linear damage accumulation (Palmgren-Miner rule) of stress histories specified by design spectra.
DIN CEN/TS 13001-3-1 uses a simplified S-N curve with a constant slope parameter
with
consideration of fatigue limit and cut off stress ranges.
The result of the analysis, given in form of collective coefficient and relative total number, is listed in
combined form as the time history parameter
.
Def.:
bzw.


with:

Analog to the simplified procedure. The design stress range is the difference between
maximum and minimum across all load events present in the design spectrum.


relative total number of cycles,

with:
,
bzw.

according to individual classification of the points for proof of stresses.

according to design spectrum, determined for each point for proof of stresses
individually.

stress related value damage related value
)
)
Combined proof:

with

Dialog: Proof of Fatigue according to DIN 13001-3
If specifying a design spectrum (damage accumulation procedure)

If specifying a S-Class (simplified procedure)

In the Proof of area of the dialog, design spectrum or S-Class (Loading Group), specific resistance
factor
and the kind of consideration of compression portion are specified.

Default notch cases enable proof for points for proof of stresses without individual classifications
according to DIN 13001.
The stress components for the proof can be selectable independently from each other. If desired, the
textual output can be limited to the worst case.

For each stress component a specialized Output Format (p.176) is available.
Literature: DIN CEN/TS 13001-3-1:2005-03
[DIN 13001-3-1] DIN CEN/TS 13001-3-1:
Ausgabe: Mrz 2005
Krane, Konstruktion allgemein, Teil 3-1: Grenzzustnde und Sicherheitsnachweis von Stahltragwerken
Deutsche Fassung CEN/TS 13001-3-1:2004
Cranes General Design Part 3-1: Limit states and proof of competence of steel structure
German Version CEN/TS 13001-3-1:2004
[13001-3-1:2009] prEN 13001-3-1:2009
Ausgabe: 2009-10


7.1.5 Proof of Fatigue according to prEN 13001-3-1:2009
are described.
prEN 13001-3-1:2009, Method of Proof
Operating method:
S-Classes:
The stress history parameter
is derived from the total damage considering further parameter.

Alternatively, the damage equivalence factor may be specified by selecting a certain S-Class S0 to S9 (s.
[13001-3-1:2009] Chap. 6.3.4).
Notch cases:
Structural details are covered by classification of notch cases (see [13001-3-1:2009], Anhang D und H).
or
and the inverse

slope of o/N-curve is determined. Notch cases consider connection geometry, weld characteristics and
(partly) material and structural part thickness.
Characteristic stress range and slope can be determined by fatigue testing (see [13001-3-
1:2009] chapter 6.2.3) also. Thus, a slope between (material in welded connections) and
(flat material or shear in longitudinal welds) can be taken into account by the proof.
Resistance factor
:
To consider fail-safe or non fail-save components, accessibility and hazards for persons a fatigue
strength specific resistance factor
is used according [13001-3-1:2009] tab. 9:

Inspection and access Fail-safe components Non fail-save components
without
hazards for persons
with
hazards for persons
maintenance
Accessible joint detail

maintenance
Poor accessibility

Stress history parameter
:
Each load cycle causes individual nominal stress cycles in every location and therefore individual stress
spectra. Based on the shape of the stress spectra and the slope value specified by the notch case
individual stress history parameters
are calculated according [13001-3-1:2009] chapter 6.3.3.

For each stress component (normal or shear stress) a unique stress history parameter is associated.

Permissible stress ranges:
The permissible (limit) stress range is calculated for each stress component separately as follows:

The dependency between S-classes and
is defined as follows:
Class S0 S1 S2 S3 S4 S5 S6 S7 S8 S9
0.008 0.016 0.032 0.063 0.125 0.25 0.5 1.0 2.0 4.0

The formulation may be transformed using stress spectrum factors
and
according to
DIN13001-1, Chap. 4.3.4. Because of
it is:
mit

The stress spectrum shape is covered by the ratio parameter
. All other parameters are independent

from the stress spectrum.
Analyzing the stress spectrum shape is done for a proof based on damage accumulation. A proof
following the simplified procedure is using
as a substitute, as mentioned in [13001-3-

1:2009] 6.5.3.4. This allows a save approximation of permissible stress range independent from the
actual stress spectrum.
In general, the design stress range is the difference between maximum and minimum stress component
For thermally stress relieved or non-welded structural members the compression portion of the stress
Utilizations:
For different stress components the proof shall be executed separately. For each stress component the
utilization is calculated by comparing permissible to design stress range.
prEN 13001-3-1:2009, Implementation in KRASTA
A proof of fatigue according to prEN 13001-3-1:2009 requires the classification of the Points for Proof of
Stresses (p.47) in regard to:
and

and
.
For
or
values out of a given list are available (see chapter Notch Cases 13001-3 (p.177)).
The slopes
or

following. For a point for proof of stresses individual notch cases for normal and for shear stresses are
assigned (see Dialog: Classification of Points of Proof of Stresses according to DIN 13001-3 (p.175)).
When selecting the notch cases in the scope of [13001-3-1:2009] Tables D.1 and D.2 the user himself
has to consider part thickness or the yield stress of the material.

Proof Control Sets:
For each proof the following is specified (see Dialog: Proof of fatigue according to DIN 13001-3 (p.167)):
- Either a design spectrum or a S-Class according to [13001-3-1:2009] Tab. 10 (see Loading Groups:
DIN 13001-3 (p.177))
according to [13001-3-1:2009] Tab. 9

- If the compression portion of the stress range shall be reduced to 60%
- Optionally default notch cases for unclassified points of proof of stresses
Thus, the proofs have to be formulated separately for different S-Classes, specific resistance factors,
compression stress evaluation and (if any) default notch cases. But proofs can be combined into lists to
be evaluated together.
If no default notch case is specified only classified points of proof of stresses are proven. If no
classification is given the point is not taken into account. The notch case to be taken into account is
Types of proof:
- for normal stresses
- combined
Proof: prEN 13001-3-1:2009 (simplified procedure)
Stress History Parameter:
In the simplified procedure the stress history parameter
is given by the specified S-class according

to [13001-3-1:2009] Tab. 10.
Evaluation pattern:
Extremation:
KRASTA assumes
for the simplified method.


Def.:
or


:

with:
,
bzw.

according to individual classification of the points of proof of stresses.
according to proof control set.
according to [13001-3-1:2009] Tab. 10 for an S-class according to proof control set.
save approx.
*)



Combined proof:

with
and
save approximated
*)
.
*) KRASTA is using KRASTA
, given by [13001-3-1:2009] Chap. 6.5.3.4 Simplified method for

slope (see: DIN 13001-3, Method of Proof, Permissible stress ranges (p.169)).
Proof: prEN 13001-3-1:2009 (damage accumulation procedure)
Design Spectrum:
frequencies.
Time History Parameter:
The time history parameter
is determined by a damage analysis according to the hypothesis of

linear damage accumulation (Palmgren-Miner rule of stress histories specified by design spectra.
DIN CEN/TS 13001-3-1 is using a simplified S-N curve with a constant slope parameter
with
consideration of fatigue limit and cut off stress ranges.
The result of the analysis, the collective coefficient and relative total number, is shown in combined
form as the time history parameter
.
Def.:
bzw.


with:



relative total number of cycles,

with:
,
bzw.


according to design spectrum, determined for each point for proof of stresses
individually.

)
)
Combined proof:



In the Proof of area of the dialog, design spectrum or S-Class (Loading Group), specific resistance
factor
and the kind of consideration of compression portion are specified.

Default notch cases enable proof for points of proof of stresses without individual classifications
according to DIN 13001.
For each stress component a specialized Output Format (p.176) is available.

Literature: prEN 13001-3-1:2009
[13001-3-1:2009] prEN 13001-3-1:2009
Ausgabe: 2009-10


7.1.6 Common information to proof of fatigue according to EN 13001-3
This chapter describes common dialogs, output formats and load groups available in KRASTA for proofs
of fatigue according to EN 13001-3.
Details of the individual proof and their implementation in KRASTA are given in the chapter Proof of
Fatigue according to prEN 13001-3-1:2009 (p.169) and Proof of Fatigue according to
DIN CEN/TS 13001-3-1:2005-03 (p.163).
Dialog: Classification of Points for proof of stresses according to DIN 13001-3

Classification of points for proof of stresses according to DIN 13001-3 is done by specifying characteristic
stress ranges
and
and associated inverse slope of o/N-curve
and
, see Implementation in
KRASTA (p.170).
Specification of a specific resistance factor
as well as a reduced compression portion is done by proof

control sets, see below.


Output Formats: DIN13001-3
The layout of an Output Format (p.215) can be defined freely. To build up or edit output formats the
following items are available:
- General data (e.g. beam, section point, sectional point, load case or stresses)
- Proof data (e.g. origin of extremes or if proof(-portion) is satisfied)
- Specific items of the individual proof (e.g. parameter of the proof, intermediated results or utilizations)
Specific items, available in the output format:
Symbols Tab.-Head Value

ds c
dt_c
characteristic stress ranges

m(s)
m(t)
inverse slope of the o/N-curve

sig max
sig min
tau max
tau min
stress components, causing stress ranges.
gamma Mf fatigue specific resistance factor

60% information, if reduced compressive portion is to be considered.

ds Sd
dt Sd
design stress range (may be reduced).

ds Rd
dt Rd
permissible stress range.

part of proof fulfilled if:
uti sig normal stress utilization
uti tau shear stress utilization
uti res resulting utilization
comp res resulting comparison value

*) In the scope of DIN 13001-3, KRASTA does not distinguish resulting utilization and comparison
value.
Prepared Output Formats
Type of Proof Format
Proof of normal stresses: DIN 13001-3 sig
one line, wide page, contains
normal stress proof values.
Proof of shear stresses: DIN 13001-3 tau
shear stress proof values.
Combined Proof: DIN 13001-3 res
three lines, wide page, contains both groups from
above and the res. comparison value comp res.


Notch Cases: DIN 13001-3
Standard sequence with a ratio of 1.125.
See also section DIN 13001-3, Method of Proof (p.170).
355 N/mm
315 N/mm
280 N/mm
.
.
.
8.0 N/mm
7.1 N/mm
6.3 N/mm
Loading Groups: DIN 13001-3 (S-Classes)
See also section DIN 13001-3, Method of Proof (p.169).
S0
S1
S2
S3
S4
S5
S6
S7
S8
S9


7.1.7 Proof of Fatigue according to EN 1993-1-9:2005 (EC 3)
are described.
EN 1993-1-9:2005, Method of Proof
Operating method:
Damage Accumulation:
The damage parts of each working cycle defined in the load spectrum are calculated based on the
Palmgren-Miner rule (p.156). These individual damages parts are, weighted by their relative frequencies,
accumulated to a total sum of damage
S-Class:
Damage equivalence factors
and
are derived from the total damage considering further parameter.

Alternatively, the damage equivalence factor may be specified by selecting a certain S-Class S0 to S9
(see [EC 1] Tab.2.12).
Notch cases:
Structural details are covered by classification of notch cases (see [EC 3] Tab.8]).
or
and the inverse

slope of o/N-curve is determined. Notch cases consider connection geometry, weld characteristics and
(partly) material and structural part thickness.
Resistance factor
:
To consider the safety concept and consequences of failure a partial safety factor for fatigue strength
is used according to [EC 3] tab. 3.1:

Safety Concept Consequence of failure
low high
Damage tolerance concept

Safe life concept

In general, the design stress range is the difference between the maximum and the minimum stress
For thermally stress relieved or non-welded structural members the compressin portion of the stress

Damage equivalence factor :
Each load sequences cause individual nominal stress range collectives for each location. Based on the
shape of this stress range collectives and the S-N curve specified by the notch case the damage
equivalence factor is determined according to [EC 1] Eqn.2.16.
An individual damage equivalence factor is determined for each stress component (normal or shear
stress).
If a S-class is specified for the structural part is given by [EC 1].Tab.2.12:
S-Class S
02
*)
S
01
*)
S
0
S
1
S
2
S
3
S
4
S
5
S
6
S
7
S
8
S
9

0.126 0.159 0.198 0.250 0.315 0.397 0.500 0.630 0.794 1.000 1.260 1.587 m=3
0.289 0.331 0.379 0.436 0.500 0.575 0.660 0.758 0.871 1.000 1.149 1.320 m=5
*) The S-Classes S02 and S01 are not natively known by this standard. Use them is not compliant with the standard.
They are additionally available following EN 13001

Equivalent constant amplitude stress range
or

The equivalent stress range related to
cycles is determined based on damage equivalence

factor
or
and design stress range or :
and

Utilization:
For the stress components the proof shall be executed separately. For each stress component an
utilization is calculated by comparison of equivalent stress range to characteristic stress range.
EN 1993-1-9:2005, Implementation in KRASTA
A proof of fatigue according to to EN 1993-1-9:2005 requires the classification of the Points for Proof of
Stresses (p.47) in regard to:
and

and
.
For
and
values out of a given list are available (see chapter Notch Cases EN 1993-1-9 (EC 3)).
The slopes
an

following. For a point of proof of stresses individual notch cases for normal and shear stresses are
assigned (see Dialog: Classification of Points of Proof of Stresses according to EN 1993-1-9 (EC 3)
(p.175)).
When selecting notch cases in the scope of [EC 3] Tab.8 the user himself has to consider part thickness
or the yield stress of the material.
Welding thicknesses (p.47) have to be considered by the user.

Proof Control Sets:
For each proof the following is specified (see Dialog: Proof of fatigue according to EN 1993-1-9 (EC 3)
(p.184)):
- Either a design spectrum or a S-class according to [EC 1] Tab.2.12
(see S-Classes: EN 1993-1-9 (EC 3))
according to [EC 3] Tab.3.1

- If the compressive portion of the stress range shall be reduced to 60%
- Optionally a default notch cases for unclassified points of proof of stresses
Thus, the proofs have to be formulated separately for different design spectra or S-classes, specific
resistance factors, compression stress evaluation and (if any) default notch cases. But proofs can be
combined into lists to be evaluated together.
If no default notch case is specified, only classified points of proof of stresses are proven. If no
classification is given, the point is not taken into account. The notch case to be taken into account is
Types pf proof:
- for normal stresses
- combined

Proof: EN 1993-1-9:2005 (simplified procedure)
Damage Equivalence Factors:
In the simplified procedure, the damage equivalence factors
or
are given by the specified S-Class

according to [EC 1] Tab.2.12.
Evaluation Pattern:
Extremation:
Def.:
bzw.

whereas compressive portions are reduced to 60%, optionally.

mit:

The design stress range is the difference between maximum and minimum across all
load events present in the evaluation pattern.

According to [EC 1] Tab.2.12 for an S-Class according to proof control set.

stress related value
for the purpose of comparison recalculated
as damage related value


Combined proof:

Currently, KRASTA uses
. All load safety factors have to be already considered at the load

definition.

Proof: EN 1993-1-9:2005 (damage accumulation procedure)
Design Spectrum:
frequencies.
Damage Equivalence Factors:
The damage equivalence factors
or
are determined by a damage analysis according to the

hypothesis of linear damage accumulation (Palmgren-Miner rule) of stress histories specified by design
spectra.
The result of the analysis, the coefficient or
and relative total number or
, is shown in combined
form as the damage equivalence factor.
Def.:
bzw.

whereas compressive portions are reduced to 60%, optionally.

with:


Total number of stress cycles (

Reference number of stress ranges

with:

According to the design spectrum, determined for each point for proof of stresses
individually.



Combined proof:

Currently, KRASTA uses
. All load safety factors have to be already considered at the load definition.


Dialog: Proof of Fatique according to EN 1993-1-9 (EC 3)


In the Proof of area of the dialog, either a Design Spectrum (p.83) or a S-Class (p.186) (Loading
Group), specific resistance factor
and the kind of consideration of compression portions are

specified.
It is not possible to enter a safety coefficient
for loads or stresses. Where needed, safety factors can

be considered at definition of the loads. KRASTA is using the loads specified by the evaluation pattern or
the design spectrum without any further factors.
Default notch cases enable proofs for points for proof of stresses without individual classifications
according to EN 1993-1-9 (EC 3) (p.186).
For each stress component a specialized output format is available.
Dialog: Classification of Points for Proof of Stresses according to EN 1993-1-9 (EC 3)

Classification (p.186) of points for proof of stresses according to EN 1993-1-9 (EC 3) is done by
specifying characteristic stress ranges
or
and associated inverse slope of the o/N-curve
or
, see Implementation in KRASTA (p.180).


Specification of a specific resistance factor
as well as a reduced compression portion is done by proof

control sets, see below.
Output Formats: EN 1993-1-9 (EC 3)
- Proof data (e.g. origin of extremes or if proof(-portion) is satisfied)
- Specific items of the individual proof (e.g. parameter of the proof, intermediated results or utilizations)

ds c
dt c
characteristic stress ranges

m sig
m tau
inverse slope of the o/N-curve

sig max
sig min
tau max
tau min
gamma Mf fatigue specific resistance factor

60% information if reduced compressive portion is to be considered.

ds Sd
dt Sd
design stress range (may be reduced).

ds E2
dt E2
equivalent stress range


A sig
D sig
normal stress utilization
bzw.

A tau
D tau
shear stress utilization
bzw.
Ausn ges resulting utilization
Verg ges resulting comparison value

*)

*)
In the scope of EN 1993-1-9 (EC 3), KRASTA does not distinguish between resulting utilization and comparison
value.

Proof of normal stresses: EN 1993-1-9 sig
Proof of shear stresses: EN 1993-1-9 tau
Combined Proof: EN 1993-1-9 res
Notch Cases: EN 1993-1-9 (EC 3)
Standard sequence with a ratio of 1.125.
355 N/mm
315 N/mm
280 N/mm
.
.
.
8.0 N/mm
7.1 N/mm
6.3 N/mm
Loading Groups: EN 1993-1-9 (EC 3) (S-Classes)
S-Class
Damage Equivalence Factor

, (m=3)
, (m=5)
S
02
*)
0.126 0.289
S
01
*)
0.159 0.331
S
0
0.198 0.379
S
1
0.250 0.436
S
2
0.315 0.500
S
3
0.397 0.575
S
4
0.500 0.660
S
5
0.630 0.758
S
6
0.794 0.871
S
7
1.000 1.000
S
8
1.260 1.149
S
9
1.587 1.320
*) The S-Classes S02 and S01 are not known by the standard. Use is not compliant with this standard.
They are additionally available following EN 13001

Literature: EN 1993-1-9:2005

[EC 1] prEN 1991-3:2002
Ausgabe: 2002-09
Eurocode 1: Einwirkung auf Tragwerke -
Teil 3: Einwirkungen infolge von Kranen und Maschinen
[EC 3] EN 1993-1-9:2005
Ausgabe: 2005-07
Eurocode 3: Bemessung und Konstruktion von Stahlbauten -
Teil 1-9: Ermdung
[StK] Stahlbaukalender, 2006
8. Jahrgang, Herausgegeben von Prof. Dr.-Ing. Ulrike Kuhlmann
Abschnitt 2: Grundlagen und Erluterungen der neuen Ermdungsnachweise nach Eurocode 3
Dr.-Ing. Alain Nussbauer, Dr.-Ing. Hans-Peter Gnther


7.1.8 Proof of Fatigue acc. FEM 1.001
The proceeding is analog to DIN 15018.
- Classification of materials,
- Classification of points for proof of stresses in notch cases (or specifying a default notch case),
- Specification of a loading group (called structural element group in FEM).
Proof: FEM 1.001
Def.:

Equations for permissibl upper stresses, depend on,
according to Table T.A. 3.6.1 and
(tensile strength) according to classification of the material.


(tension)

(pressure)

(swelling domain)

(tension)

(pressure)


Permissible stress

Structural Elements

(acc. W0)

Welding

(acc. K0)



combined proof:

later.
Materials: FEM 1.001

St 37
St 44
St 52-3
Notch Cases: FEM 1.001
W0
W1
W2
K0
K1
K2
K3
K4
Loading Groups: FEM 1.001
E1
E2
E3
E4
E5
E6
E7
E8


7.1.9 Proof of Fatigue acc. ISO 5049-1
The proceeding is analogous to DIN 15018.
- Classification of materials,
- Classification of points for proof of stresses in notch cases (or specifying a default notch case),
- Specification of a loading group (called cycle classes in ISO).
Since in ISO 5049-1 the values for the permissible fatigue strength are given only in graphic form, the
arithmetic values had to be determined by measuring several points.
Proof: ISO 5049-1
Def.:

Equations for permissible upper stresses, depend on , have been taken over from FEM


(tension)

(pressure)

(swelling domain)

(tension)

(pressure)


Permissible stress

Structural Elements

(acc. W0)

Welding

(acc. K0)

The values for
are measured from tables 19, 20 und 21 of the standard!



combined proof:

later.
Materials: ISO 5049

Fe 360
Fe 430
Fe 510
Notch Cases: ISO 5049
W0
W1
W2
K0
K1
K2
K3
K4
Loading Groups: ISO 5049
A
B
C


7.1.10 Proof of Fatigue according to DASt-Ri 011
Proof: DASt-Ri 011
Def.:

Table 12 (DASt-Ri 011)
Rows 4-7: Equations for tolerable upper stresses, depend on ,

acc. Table 12 acc. classification of the material.

(tension)


(swelling domain) notch cases W0 and K0 other notch cases

(pressure)


Rows 8-9: Tolerable stress

Structural Elements

(acc. W0)

Welding

acc. Col. other notch cases with

acc. DIN15018: Material St52-3, notch case K0
for B0 und B7 added analogous.



combined proof:

For non simplified combined proof the sum above is maximized. For simplified combined proof the
maximum normal stress and the maximum shear stress utilization are determined seperately and
combined later.
Materials: DASt-Ri 011
StE 460
StE 690
Notch Cases: DASt-Ri 011

W0
W1
W2
K0
K1
K2
K3
K3/4
K4
Loading Groups: DASt-Ri 011
B0
B1
B2
B3
B4
B5
B6
B7


7.1.11 Proof of Fatigue acc. AS 4100:1998
are described.
AS 4100, Method of Proof
Based on the operation method, notch cases and accessibility, permissible stress ranges are determined
Operation method:
In general, the operation method to analyze is specified by a list of load working cycles, each of them
weighted with own relative frequency, i.e. by specifying of a certain load spectrum.
Stress range weighting:
For hollow sections, other cross sections and connections the stress ranges are multiplied by a factor
between 1.0 and 2.0 (ref. AS 4100, Tab. 11.3.1).
For each load oscillation event a partial damage is determined and accumulated according to its
individual number of stress cycles
(ref. AS 4100, Chap. 11.8.2). Hints on how to determine a single,

effective number of load cycles are given in chapter 11.3.2.
Notch cases:
Detail categories are covered by classification of notch cases (ref. AS 4100, Tab. 11.5.1).
With the classification of a certain notch case the reference stress range
or
is determined. The
notch case accounts for stress concentration, material and material thickness. Notch cases are specified
individually for normal and for shear stresses.
S-N Curve:
The inverse slope of the S-N Curve
is a function of the number of stress cycles.

normal stress:

shear stress:

Uncorrected fatigue strength:
The uncorrected fatigue strength
is determined by reference stress range and number of stress

cycles:
normal stress:

shear stress:


Thickness effect
A material thicknesses correction factor
is taken into account to determine the corrected fatique

strength
as follows:
with

Comparison fatigue strength determined by capacity factor:
The proof is made by comparing of design stress range
against a corrected fatigue strength
scaled
by the capacity factor .
The comparison fatigue strength is
.
The maximum capacity factor is 1.0. According to accessibility, type of stress determination, regularity of
stress cycles and redundancy of the load path even smaller. Especially for non-redundant load paths a
capacity factor has to be chosen.
Utilizations:
For different stress components the proof shall be executed separately. For each stress component the
utilization is calculated by comparing the design stress range with the comparison fatigue range.
(proof of constant stress ranges)

A combined proof is defined according to AS 4100-Suppl-1999 Section C11.3.1.b as:

with defined in chap. 11.1.6
AS 4100, Implementation in KRASTA
Stress range weighting:
No stress range weighting according to table 11.3.1 is done by KRASTA. If required, the weighting factor
can be considered by the user by an attenuated capacity factor (see below). This is not applicable for
combined proofs.
The proof is done acc. AS 4100, chap. 11.8.1 for a certain number of load cycles
. By this, the
maximum stress range is considered as constant stress range in the sense of the standard.
Individual number of load cycles
, assigned to different stress ranges (damage accumulation) is not

implemented in KRASTA for proofs according to AS 4100.
A proof of fatigue acc. to AS 4100 requires the classification of the Points for Proof of Stresses (p.47) in
regard to:
- Reference fatigue strength

For reference fatigue strength
values out of a given list are available (see Chapter

Notch Cases AS 4100 (p.201)). Intermediate values are covered safely by specifying the next smaller
value available.
The reference fatigue strength for shear stresses is fixed in KRASTA to
.

When selecting the notch cases in the scope of AS table 11.5.1(2) the user himself has to take into
account the according part thickness of the material.
Proof Control Sets:
For each proof the following is specified (see Dialog: Proof of fatigue acc. AS 4100 (p.199)):
- A number of load cycles

- A capacity factor
- Optionally a default notch case
for unclassified points of proof of stresses.

Thus, the proofs have to be formulated separately for different number of load cycles, specific capacit y
factors and (if any) default notch cases. But proofs can be combined into lists to be evaluated together.
If no default notch case is specified, only classified points of proof of stresses are proven. If no classi fica-
tion is given, the point is not taken into account. The notch case to be taken into account is determined
for normal and for shear stresses independently.
Types of Proof:
- for normal stresses,
- combined
It is also possible to do all three types simultaneously. For each of these proofs, an individual, specialized
output format is available.
If more than one type of proof is done simultaneously, it is possible to output the worst case only. The
worst case is the one with the highest utilization.
Evaluation pattern:
The evaluation pattern is a list of load events consisting of situations and loadcases. At present, there is
no information in regard of frequency of load cycles associated. Analyzing load spectra is not
implemented in KRASTA.
Extremation:
KRASTA determines stress differences and design stress ranges for every possible combination of two
load cases out of the evaluation pattern. For each stress difference the according utilizations are com-
puted. The cases which result in highest individual utilizations are documented.
Proof: AS 4100

Def.:

with:
according to proof control set.



Combined proof
*)
:

*) The definition of the combined proof in AS 4100-Supplement-1999, C11.3.1 use non defined
parameter and . Therefore KRASTA offers a combined proof in an analog sense but not in a form
defined by the standard. For that purpose KRASTA includes the following assumptions:

resp.

Note: To interpret under- or over-utilizations, please consider the different power law of single and
combined stress utilization.

Dialog: Classification of Points of Proof of Stresses acc. AS 4100

Classification of point for proof of stresses according to AS 4100 is done by specifying a reference
fatigue strength for normal stress
, see Implementation in KRASTA (p.196).

Specification of a specific capacity factor is done in proof control sets, see below.
Dialog: Proof of Fatigue acc. AS 4100

In the Proof of area of the dialog, number of load cycles
and the capacity factor are specified.

Default notch cases enable proove of points for proof of stresses without individual classifications
according to AS 4100.
The stress componets to proove are selectable independently. If desired, the textual output can be
limited to the worst case.
For each type of proof, a specialized Output Format (p.200) is available.

Output Formats: AS 4100
- Proof data (e.g. origin of extreme values or if proof(-portion) is satisfied)
- Specific items for the individual proof (e.g. parameter of the proof, intermediated results or
utilizations)

max sig
min sig
max tau
min tau

delta s
delta t
design stress ranges

fr_n,
fr_s
reference fatigue strengths (notch cases)
beta thickness correction factor

fc_n,
fc_s
corrected fatigue strength

fa_sig,
fa_tau
admissible comparison fatigue strength

A sig normal stress utilization
A tau shear stress utilization
Ausn ges resulting utilization
Verg ges resulting comparison value

*) In the scope of AS 4100 KRASTA does not distinguish resulting utilization and comparison value.
Proof of normal stresses: AS 4100 sig
Proof of shear stresses: AS 4100 tau
Combined Proof: AS 4100 res


Notch Cases: AS 4100
See also section AS 4100, Method of Proof (p.195).
180 N/mm
160 N/mm
140 N/mm
.
.
.
45 N/mm
40 N/mm
36 N/mm


7.1.12 Proof of Stresses el.-el. acc. DIN 18800:1990-11
A proof of stresses elastic-elastic according to DIN 18800, element (747) requires the classification of the
used materials (p.63) as well as the input of the according material thickness at every point for proof of
stresses.
Proof: DIN 18800 el.el.
It can be selected for the proof to consider normal stress utilization only
(Cond. 33):

or the shear stress utilization
(Cond. 34):

or the combined value in detail (Cond. 33 - 35):
(Cond. 35):
and
and

with

Extreme values are searched for the utilization of the permissible stresses.
If, in the case of a combined proof, the normal or shear stress utilization is lower than 0.5 the higher one
of the two is used a combined utilization.
Materials: DIN 18800

Materials may be classified for DIN 18800 as:
St 37
St 52-3
StE 355
GS-52
GS-20 Mn 5
C 35 N

Element Thickness: DIN 18800
Structural element thickness for DIN 18800:
Steel Thickness
[mm]
Yield Point
[N/mm]
Tensile Strength
[N/mm]
St 37

St 52-3

For the points for proof of stresses to be considered in the proof the according part thickness must be
defined. For standard, parametric and thin-walled cross sections these are known from cross sections
geometry. For direct input cross sections the user has to enter a thickness for every point for proof of
stresses.
Points for proof of stresses that have no according thickness are considered to fall into the class with the
least thickness.

7.1.13 Proof of Stresses, Buckling acc. DIN 4114-1:1952-07 (Omega-Method)
are described.
Proof: DIN 4114 Buckling (Omega-Method)
As a function of beam slenderness , material and cross section the coefficient is
determined based on the tables. The permissible stress
is to be chosen according the applied

standards, material and security concept.
The proof to satisfy is:

DIN 4114 Buckling (Omega-Method), Implementation in KRASTA
KRASTA evaluates the mono-axial defined proof separately for both principal axes. KRASTA allows
taking into account bending stress components. According to [DIN 4114] bending stress components will
be weighted uniformly with .
The normal stress coefficient is determined in respect to the slenderness of the actual axis:

The proofs are:

The associated utilizations are defined as:

resp.

Dialog: Proof of Stresses Buckling DIN 4114 (Omega-Method)

The extremation can be chosen to cover the maximum utilization
or to cover only the utilization of

one particular axis
or
.
Only results of that chosen utilization are shown in text or plots. Therefore, the normal use case will be to
perform an extremation of
.
There is no classification of materials or cross sections in respect to the omega method in KRASTA. The
classification is part of the proof control set and has to be done by individually for each proof control set.
The available classifications cover tables according to [DIN 4114] (Steel) and additionally tables
according to [DIN 4113] (Aluminium).

Output Formats: DIN 4114 Buckling (Omega-Method)
- General data (e.g. beam, section point, sectional point, load case or stresses),
- Proof data (e.g. origin of extremes or if proof(-portion) is satisfied),
- Beam Buckling data (e.g. beam length, buckling length (coeff.) or slenderness) and
- Specific items for the individual proof (e.g. parameter of the proof, intermediated results or
utilizations)

om_y,
om_z
normal stress coefficients acc. -table

s_om_y,
s_om_z
-stress for proofs of y- resp. z-axis

b(M)y,
b(M)y
Effective coefficient of resulting moment

for proofs of y- resp. z-axis:
a_y, a_z utilization for proofs of y- resp. z-axis

a_max maximum of both utilizations

Proof of y-axis: Omega-Verf.(y) one line, wide page, contains proof values regarding y-axis.
Proof of z-axis: Omega-Verf.(z) one line, wide page, contains proof values regarding z-axis.
Combined Proof: Omega-Verfahren
one line, wide page, contains proof values regarding both axes,
effective coeff. and maximum utilization.
Literature: DIN 4114 Buckling (Omega-Method)
[DIN 4114] DIN 4114-1:1952-07
Ausgabe: Juli 1952
DIN 4114: Stahlbau
Blatt 1: Stabilittsflle (Knicken, Kippung, Beulen); Berechnungsgrundlagen, Vorschriften
[DIN 4113] DIN 4113-1:1980-05
Ausgabe: Mai 1980
DIN 4113: Aluminiumkonstruktionen
Teil 1: Aluminiumkonstruktionen unter vorwiegend ruhender Belastung; Berechnung und bauliche Durchbildung


7.2 Results
Proofs (p.153) and results are handled by KRASTA in a similar manner (see Proof- / Result-Control-Sets
(p.211)). In both cases, the evaluation pattern, the type of evaluation, extremation and textual output are
specified.
The following result control sets are available:
inner forces,
stresses,
delta stresses (p.209),
beam displacements,
node displacements,
spring forces and
support forces.

7.2.1 Delta Stress Results
The result control set Delta Stresses allows to search and document maximum normal stress ranges or
shear stress ranges respectively.
Extremation:
KRASTA determines stress differences for every possible combination of two load cases out of the
evaluation pattern. The cases with highest delta stresses are documented.
Types of extremation:
- sigma : delta of normal stresses caused by normal forces and bending
- tau : delta of shear stresses caused by lateral forces and torsion
Dialog: Extremation of delta stresses

In the Extremation of area of the dialog, the type of delta stress to be evaluated is specified.
The extremation can be done for structural elements or welded joints separately.
For each type of proof a specialized Output Format (p.215) is available.

Output Formats: Delta Stresses
The layout of an output format can be defined freely. To build up or edit output formats the following
items are available:
- General data (e.g. beam, section point, sectional point, load case or stresses),
- Extremation data (e.g. origin of extremes or if proof(-portion) is satisfied) and
- Specific items for the individual extremation (e.g. extreme and according stress components)
Tab-Head Item
s max, s min
ds max
normal stress components, building the normal stress range
maximum normal stress range
t(smax), t(smin)
dt(dsmax)
acc. shear stress components
acc. shear stress difference
t max, t min
dt max
shear stress components, building the shear stress range
maximum shear stress range
s(tmax), s(tmin)
ds(dtmax)
acc. normal stress components
acc. normal stress difference

Type of Extremation Format
delta normal stresses: Delta Normal-St.
normal stress extremation values.
delta shear stresses: Delta Shear-St.
shear stress extremation values.
Delta Stresses three lines, wide page, contains both groups from above.


7.3 Proof- / Result-Control-Sets
Proofs and results are treated in a similar way by KRASTA. In both cases the load cases to be evaluated,
the type of evaluation, extremation and output have to be described.
In contrast to a result a proof considers permissible values depending on certain standards to calculate
utilizations.
Dialog: For Proofs and Results
The information to be specified by the user are grouped into four groups Options for search of
extreme values, Evaluation, Eval. Pattern and Output

7.3.1 Options for search of extreme values
Whether you want to search extreme values indicated by the check box.
Extreme values of which type, e.g. in case of inner forces:
- normal force x,
- shear force y or z
- torsional moment x,
- bending moment y or z,
- resulting bending moment.
The Type of Extremum, generally:
- maximum
- minimum
- maximum magnitude
- minimum magnitude

The extend of the Output of extreme values: extreme value of all beams (1 value), extreme value per
beam (1 value per beam), extreme value per section, extreme value per point for proof of stresses (if
applicable), all values.
7.3.2 Evaluation
It is possible to do the evaluation for all section points, at the start, at the end or at start and end of
beams and for following Beams refered to in a list of beams.
With the option Filter the extend of result output can be limited. It is possible to output only values which
are greater (or smaller) than a selectable value. Several conditions can be combined via "and" or "or".
The filtering is done before any extremation. Therefore, the extreme values of the already pre-filtered
data set be shown.
Dialog: Filter

7.3.3 Output
At the output area of the dialog the way to show the results is specified.
7.3.3.1 Textual Output
Output formats define which result items are listed, how they are arranged in a result table and what a
format is to be used.
For the textual output of results and proofs default output formats are available. Additionally, output
formats can be modified, added or imported.
Details
The amount of the textual output can be specified in more detail. The following text groups are selectable
separately to do this:
- Comprehensive Description of Options: A detailed description of the proof. If not wanted, only the
name of the proof is listed.
- Expand Lists of Objects: The content of the lists of beams or nodes to proof are listed. If not
selected, only the name of the list is listed.
- Description of Tables as well as Bounds: The parts of the table (of the format) and (if any)
specified limits to regard small values as zero are described in detail. If not selected, nothing in this
regard is listed. In particular, this can be reasonable, if several results are listed in series and this
type of information is redundant.
- Description of Load Case Permutations: The composition of the load case permutations
mentioned in the result table. If not selected no description is given.
- Warnings: If any.
Textual Output Format
An output format for the results is to be select here.

7.3.3.2 Conversion of permutation to combination load cases
Sometimes it is required to further analyze a permutation that has been relevant for a certain point. For
this purpose it is possible to convert a permutation into a combination load case or a load case 2
nd
order
from the context menu (right mouse button).
Load cases that were created in this way get the name "Perm ##." (## = Number of permutation).

7.3.3.3 Border Lines
A Border Line is used to display extreme values graphically by border lines with a certain numbering
style and an adjustable view factor.
7.3.3.4 Color Gradation
A Color Graduation is used to display extreme values as colored gravity axis using an adjustable color
palette. Color palettes are defined in specific physical dimensions, palettes using unit can be adapted to
the range of result values by using the button Adaption. Use Remove to remove them.
7.3.4 Evaluation Pattern
The Evaluation Pattern is used to select the load cases in corresponding situations for which results are
to be evaluated.
Using List of Situations
Especially in systems with some structural degrees of freedom many different orientations and/or
situations have to be considered. To simplify the handling of these sets of situations so-called Lists of
Situations exist.
Lists of Situations can be used for a clear definition of evaluation patterns, as they are found in the
KRASTA result and proof control dialogs.
Example: Evaluation Pattern

The number of situation/load case couples
to be analyzed (the evaluation pattern)
may be extensive.

The list of situations 0 bis 90 e+a
contains the required situations [1]
defined in a correct order [2],
[ [2 2] ]
[ [1 1] ]

Using a list of situations the same
evaluation pattern can be formulated in a
substantially simpler fashion.

The list of situations is a replacement for its expanded content. To analyze a given evaluation pattern
all used lists of situations will be expanded internally to a simple linear list of situation / load case
couples.
Wvaluate each line separately means that each line of the expanded simple list is evaluated
independently. This, there will no evaluation across different situations if lists of situations are used.
The list of situations
can also be used in
calculation suits:


Example: Adopt existing evaluation pattern (automatically)
Longer lists of individual situation / load case couples may be required for an evaluation pattern. The
same evaluation pattern may be needed for different result and/or proof controls. For this purpose, it is
possible to adopt evaluation patterns from other result or proof control sets.

The evaluation pattern does not have to be defined locally (as defined here), but can be copied from
any other result control.

The local evaluation pattern copy is updated automatically every time the result control set is evaluated
(used) or edited. The template evaluation pattern (e.g. the evaluation pattern of the result control
SigmaV) is copied to the local evaluation pattern again.
Even if the template result control set is deleted the evaluation pattern remains accessible locally. The
evaluation pattern is redefined as defined here.
7.4 Output Format
Output formats define which result data are to be output at which line and column in which length and
precision.
Standard formats are supplied for every type of proof/result. Individual formats can be defined by the
user.
Dialog: Output Format

The list of items Text and Results summarizes the layout of the output format. Additionally, a preview is
available (see below). The items can be arranged in the table layout at fixed columns (as shown here) or
relative to each other with given spacing. It is easier to (re-)arrange new topics in relative mode. It is
possible to toggle between the absolute and the relative mode at any time.

A specific item is created or edited in the edit pane Topic Layout. The Topic selection box lists all
available items in regard of the actual output format. In a format for inner forces, utilization items will not
be available. The extend of item layout specification depends on the item type. Common to all types of
items is the positioning part.
The current Text Output Layout is displayed in an extra window:
Preview: Text Output Layout

7.5 Palettes
A color gradation palette defines according colors for ranges of values. The border values of the color
sections may have dimensions (stress, force, moment, length, angle and fraction) or may be
dimensionless.
The dialog to edit a Palette offers the following items:
Dialog: Palettes

The dimension of the Value needs to be specified.
The Number of Colors and the border values can be determined by user. For values with dimensions
these values are the border values. For dimensionless palettes have to be scaled to fit the displayed
values.
The border values must have an increasing order from bottom to top.
For values outside the defined color range black is used as a fallback. This may be avaoided by very
large upper and very low lower limits.
Interpolation may be used for your convenience. After pressing the buttons Values or Colors a column
of buttons appears next to the values, adjusted to the values or the colorsds. As soon as two buttons are
pressed the colors or values in between are interpolated.

Adaption of a Palette
When adapting a dimensionless palette for values with a dimension, the dimensionless values (e.g. 0
and 1) are related to the corresponding absolute values in the adequate unit (e.g. 0 N/mm and
180 N/mm). The reference values may be generic (e.g. minimum or maximum of values to display).
Each dimensionless palette has a default adaption (preset to 0=minimum; 1=maximum) so it can be used
without changes. It is certainly possible to adapt the palette for proofs or results individually.

7.6 System Documentation
All textual and graphical output is stored in files. The system tracks which files were created and allows
printing in user defined orders with consecutive page numbering.
7.6.1 Textual Documentation
The textual documentation is controlled by output controls that contain information on which attributes of
which objects are to be output.
Additionally it can be selected whether the output should be object oriented (e.g. all data of one beam
together) or attribute oriented (e.g. each type of beam attribute in table form).
7.6.2 Graphical Output
The structure can be output with different properties or results displayed (e.g. cross sections on beams,
loads, inner forces). All plots may be created with hidden lines. Plots of thin walled or parametric cross
sections can also be produced.
KRASTA 9.5 Manual Brief Information for Review 221

Further information are available by:
Khne BSB GmbH
Mina-Rees-Strae 5A
DE 64295 Darmstadt
Phone
Fax
Hotline
+49 (0) 6151 397690-0
+49 (0) 6151 397690-200
+49 (0) 6151 397690-222
Web
Email
www.krasta.de
support@krasta.de

8 Brief Information for Review
In this short information you find the essential information and definitions about the program system
KRASTA.
KRASTA has been developed at the Fachbereich Frdertechnik und Lasthebemaschinen der TH
Darmstadt (Institute of Lifting Appliances at the Technical University of Darmstadt ) in cooperation with
the industry. The work has been supported by the Fachgemeinschaft Frdertechnik im VDMA (Verband
Deutscher Maschinen und Anlagenbau) and FKM (Forschungskuratorium Maschinenbau)
The program KRASTA/PAS III is maintained and purchased by Khne BSB GmbH since 1991 and will be
further developed in cooperation with universities and industry. The program system has been ported on
Windows and other operating systems since 1995.
KRASTA is used in material handling, mechanical and structural steel engineering.
KRASTA and KRACAD are registered trademarks.
KRASTA is a program system for beam
statical and modal analysis of spatial
structures in the fields of general steel
construction, material handling and plant
manufacturing. Structures or parts of
structures can be moved in different positions
for calculation. Results can be evaluated
across positions.
The structural model is created graphical interactive by means of beam elements and nodes.
8.1 General
The calculation continues up to the proof of stresses (e.g. acc. DIN 18800 or Omega-Method acc.
DIN 4114) and fatigue incl. damage accumulation (e.g. acc. DIN 15018, DIN 22261, DIN 13001,
AS 4001, ISO 5049-1, EN 1993-1-9 (EC3) and other).
The nominal stresses are determined on the base of technical bending theory of the beam and the St.
Venant torsion theory.
For a calculation according to theory 2
nd
order partial safety coefficients and predeformations can be
considered.
Input and output of data can be done in German and English.
The program PAS III used as solver has the following theoretical foundation.
For the single beam the differential equation system (DES) is solved according to the technical beam
bending theory. As the inhomogeneous DES is solved the loads and predisplacements can be placed
inside the beams without definition of intermediate nodes.
The calculation may be according to theory 1
st
or 2
nd
order. The equilibrium is calculated in the deformed
state. Theory 2nd order iterates over the normal force of the beam. The buckling load (eigen value) can
be determined iteratively.
PAS III contains a theory of small displacements which means that the plan of displacement is built
linear.
Each of the 6 cross section values (area, shear areas, bending- and torsional inertia moments) can be
set rigid or elastic. Elasticity equations for rigid are replaced by equilibrium conditions. Structures that
show great differences in elasticity or regions that cannot be modelled by beams, can be modelled in this
way so that the global flow of forces can be determined correctly without numerical difficulties in solving
the equations.
The optional solver program STAB88 is a finite element program with geometrical nonlinear calculation of
beam -, bar - and rope structures. Loads are increased step by step according to a time function. After
each step of load the equilibrium between inner and outer forces is improved by a iteration of equilibrium.
222 Brief Information for Review KRASTA 9.5 Manual

8.2 Coordinate Systems
KRASTA provides 4 coordinate systems:
- Inertial System
- Subsystem Coordinate System
- Beam Coordinate System
- Principal Axes Coordinate System
The Inertial System (IN-CS) is a space fixed cartesian coordinate system.
Each subsystem has its own Subsystem Coordinate System (SS-CS), in which the according objects
are described. In the KRASTA-basic version the SS-CS is equivalent to the IN-CS.
For each beam a Beam Coordinate System (BM-CS) (x
0
, y
0
, z
0
) is defined, whose relative position to
the SS-CS is described by start of beam, end of beam and an auxiliary vector (Aux.). The longitudinal
axis shows into the x
0
- direction. The cross sections are described in the BM-CS.

The direction of the longitudinal axis runs from the start node to the end node. It defines the x0- axis.
The other two axes are defined by input of an auxiliary vector like this:
The positive local x0- and y0-axis form a semi plane. By input of an auxiliary vector (H) in this semi
plane, the position of the local beam coordinate system is defined in the subsystem or in the inertial
system respectively.
The definition of the local beam coordinate system can be described as follows:
- The local x
0
-axis is known by input of the start- and end node.
- An aux.-vector (H), described in global coordinates, is input to the set the other local axes.
- The cross product of x
0
and aux. results in the local z
0
- axis.
- From the cross product z
0
with

x
0
follows the local y
0
- axis.

Example: Input of Aux.-Vectors (H):

The Principal Axes Coordinate System (PA-CS) is rotated by a principal axis angle o against the BM-
CS. At double- or single symmetrical cross sections the PA-CS corresponds to the BM-CS. Inner forces
and beam deformations are described in principal axes.
8.3 Properties of Beams
In KRASTA, beams are defined statically by the location of the end nodes, the cross section geometry
and orientation, a material, an opt. additionally mass and specifications of end hinges and springs resp.
8.3.1 Beam Spring
The connection between beam and node is rigid by default. To represent elasticity between beam and
node, springs can be defined.
Beam springs are described in the local beam coordinate system.
8.3.2 Joints
Beam joints provide translational and rotational degrees of freedom between beam end and node. Beam
joints are beam properties, they are described in the beam coordinate system of the beam.
If the beam coordinate system does not correspond with the desired directions of the joint axes a short
(rigid) beam with the desired local axes has to be created.
8.3.3 Material
KRASTA allows the definition of different materials like steel or aluminium by the input of specific material
properties.
8.3.4 Force Conditions
For elements that can only transmit forces that are higher or lower than a certain value, force conditions
can be defined. They behave like an ideal elastic-plastic material. Typical applications for such elements
are ropes, which only transmit tension, wheels and legs, which only transmit pressure or hydraulic
buffers, which only transmit a limit force.
Each load combination is calculated first without consideration of the force conditions. At each force
condition a unit beam predeformation is applied at the affected degree of freedom. After the elastostatic
calculation the force conditions are met by superposition of the unit predeformations multiplied by factors.
The factors are calculated by iterative solution of an equation system.
These force conditions work only in connection with linear theory and cannot be used with nonlinear
theory or 2
nd
order theory.

8.3.5 Beam Buckling Data
Beam Buckling Data define beam buckling properties of each individual beam. They are used in proof of
beam buckling (e.g. acc. DIN 4114 (Omega-Method)).
Slenderness
For each principal axis separately, the actual beam slenderness is evaluated based on the directly or
indirectly defined beam buckling length
and cross section properties
and
resp.

resp.

In case of conical beams the minor of both inertia radii associated to the end cross sections is taken
(
). This is results in a save upper approximation of the slenderness of a conical

beam.
8.4 Properties of Nodes
8.4.1 Support Conditions
Support nodes can be defined as rigid, jointed or elastic. Each individual degree of freedom can be
defined as rigid, jointed or can be given a spring rate.
8.5 Cross Section
Cross sections differ in standardized cross sections, thin-walled input cross sections, parametrical cross
sections and directly input cross sections.
For the usual standardized cross sections libraries are delivered.
Thin-Walled Cross Sections can be described individually. The input of the parts takes place in the
beam coordinate system. The cell distribution is determined independently. The number of the cells is not
limited.
Point areas can be used to substitute parts, which are small compared to the total dimensions (rolled
radius, welds, etc.) For the inertia moments only the Steiner-parts of the point area are considered.
For each plate part the unit stresses at start and end point (stresses as a result of inner forces = 1.0) are
calculated. Negative point numbers mean part start, positive signs mean part end.
Shear stresses are positive in arrow direction.
With the Direct Input Cross Sections the six cross section values have to be input.
Individual (or even all) cross section values may be set rigid by input of a negative number in the specific
field. The weight of the cross section is calculated from the magnitude of the cross sectional area A
x
.
Examples for the use of rigid cross sections are offsets as used for the modelling of eccentric
connections or points of application of load.
Ropes are usually defined with the cross sectional area A
x
only. All other cross section values are set
rigid.
For Parametrical Cross Sections the shear areas are calculated by means of a shear factor from the
cross section.
The center of shear forces is calculated relative to the input system.
Statical Moment

The Center of Gravity is calculated relative to the input system.

Torsional Moment of Inertia

(2
nd
Bredt Formula)
For thin-walled open cross sections (H, C and L-Sections) the Bredt Formula extends to:

For determination of IT a corrective factor is used at thin-walled sections. The exact value is shown at the
description of the specific cross sections.
Moments of Inertia
The moments of inertia for the individual cross sections are calculated with the help of the
Steiner Theorem, radii are considered with their moment of inertia and the Steiner part. More
complicated cross sections are decomposed in partial cross sections, for which the individual moments of
inertia are calculated and combined.

For asymmetric cross sections (L-Sections) the principal axis angle and the moments of inertia round the
principal axes are calculated.
Moments of Resistance
The torsional moment of resistance for St. Venant torsion is calculated according to the Bredt Formula.
(1
st
Bredt Formula)
For thin-walled sections

The bending moment of resistance is calculated out of the moment of inertia and the distance of the
section center line to the outer fibre.

Stresses
Stresses as a result of normal forces are calculated out of the force acting in longitudinal direction of the
beam and the cross sectional area.
Bending stresses are calculated from the bending moment and the bending moment of resistance.

Torsional shear stresses are calculated from the torsional moment and the torsional moment of
resistance.

Shearing force shear stresses are calculated out of the shear force, the statical moment, the moment of
inertia and the thickness according to the "Dowel" Formula.

At open cross sections the shear stresses resulting from torsion and shear forces are positive in positive
beam coordinate direction, at closed cross sections (tube and rectangle tube) in mathematical positive
direction of rotation.

Plastic Moment of Resistance
The plastic moment of resistance is determined from the double statical moment round the area bisectric.

8.6 Mass Cases
Mass cases are useful for modelling fixed, variable or moveable masses placed on the structure.
Mass distributions, as occurring in practice, are composed of permanent available masses, masses
variable in magnitude (e. g. counter weight, pay load) and moveable masses (e. g. trolley positions).
The net mass distribution of the construction is calculated from product of cross sectional area and
density. Usually the real mass is greater. Connections, transverse diaphragms, electrical equipment and
further parts are added, which are not included in the statical model. To describe the mass distribution
more exactly, beam mass factors can be applied to represent evenly distributed additional masses. For
local mass concentrations node- and beam masses (concentrated or distributed) can be defined.
In KRASTA three kinds of mass cases are distinguished:
- Mass case "Permanent Mass"
- Basic mass cases
- Combination mass cases
Permanent Mass comprises masses which are directly stored with the objects beam and node and
therefore are carried with these objects if they are copied or imported with subsystems [OPTION].
Basic Mass Cases containing mass factors and individual masses can be defined for variable or
moveable masses or to describe parts of a model that are to be accelerated
Mass factors can be applied to the permanent mass where you can select whether it should be applied
on the distributed mass (resulting from sectional area and density) only or also on the beam- and node
masses.
This mass information is assigned to beam- and node lists. On calculation of the mass the
permanent mass (beam mass factors, beam masses, node masses) of the given objects in the lists is
then multiplied by the respective mass factors. Additional individual masses are added.
Basic mass cases can be supplied with factors and combined to Combination Mass Cases.
Different mass distributions can easily be described by this means. Basic- or combination mass cases
are used in description of inertia load cases and for the modal analysis. With a consequently mass
orientated input all inertia loads can be generated with ease.
8.7 Load Cases
In load cases the loads on the structure resulting from outer forces or predeformations acting on beams
and/or nodes is described.
In KRASTA different types of load cases can be defined:
- Basic load cases
- Combination load cases
- Logic load cases
- Load cases for 2nd order theory (PAS III)
- Load cases for geometrical nonlinear calculation with STAB88
- Nonlinear logic load cases
A Basic Load Case can consist of directly input loads and/or generated loads. The loads described
below can be used with the solver PAS III. For STAB88, which supports node loads only, all beam loads
are automatically converted into equivalent node loads

On beams it is possible to define any concentrated, uniformly or trapezoidal distributed beam loads or
beam predeformations.
Loads with constant directions can be described in the inertial system, loads that are to be moved with a
subsystem or beam, can be described in the subsystem- or beam coordinate system. If there are any
principal axis angles, loads will automatically be transformed to the principal axes at creation of solver
input file.
The following described loads can be used in connection with PAS III:
- Distributed Loads can be projected for spatial beams if desired, where the force or the moment per
unit of length is input in the inertial- or subsystem coordinate system. The program carries out a load
projection. The load is adjusted so that the resultant is constant.
- Node Loads can be input in the according subsystem- or in the inertial system. One node load can
consist of up to 6 components.
- With Temperature Loads a steady and a different heating at beam upper side or beam underside is
intended. Out of the coefficient of thermal expansion, which is saved in material data and the
temperature details, substitute predeformations are determined.
- The complete structure or parts of it can be accelerated translational or rotational and rotated
(centrifugal forces). For a translational acceleration the direction of acceleration and its magnitude
has to be described. For a rotational movement the axis of rotation, the rotational acceleration and/or
the angular velocity are to be input. The acceleration loads are generated from acceleration
description and the mass distribution described by a mass case. As a special case of translational
acceleration the acceleration due to gravity is implemented, where the direction of action of the
weight has to be given only.
- Different Wind Profiles can be defined. Only the wind direction, the height range with according
pressure and the direction of the height range gradation is input. Effects as resistance coefficient,
cross sectional height, wind shadowing, aerodynamic effective length etc.) can be considered by
input of one factor per beam
- At Rope Loads the rope force and a series of nodes, which the rope shall touch, have to be input. To
model a pulley the rope force can be given a different factor between each two nodes. This
calculation is suitable for 1
st
order theory only, as the course of the rope is modelled by constant-
directed forces.
Basic load cases can be provided and combined with partial safety coefficients (factors). These
Combination Load Cases can be combined with other combination- and basic load cases again. The
number of combination levels is not limited.
This kind of load case corresponds to the current standardization (CEN, ISO) as well as DIN 15018, part
3, which intends the working with partial safety coefficients according to the method of limit states.
In many cases, especially such where many acceleration loads are involved (as often used in material
handling), it is not always possible to tell in advance, which combination of loads leads to the biggest
stresses in one certain point. That is why logic load cases can be defined.
The following parameters describe a logic load case:
- Of the load cases in the logical combination acts "Exactly One", "One or None", "All" or "All Possible
Combinations".
- Each load case can be given a factor
- Each load case can possibly be defined to act in positive or negative direction.
The level of logic load cases is not restricted.
Structures can be calculated according to theory 2
nd
order. The equilibrium is formulated in a deformed
condition, so that in the differential equation for bending,

the term is considered.

geometrically linear (Williot plan of displacement). The solution of the equation system is made by
iteration of normal forces.
Buckling loads can be determined by iterative increase of the loads. The condition is, that the
denominator determination becomes zero.
The program STAB88/NODYA [OPTION] allows the Geometrical Nonlinear Calculation of beam
structures.
Using this type of load case, individual loads can be gradually applied according to a time function. After
each load step the equilibrium between inner and outer forces is improved by an equilibrium iteration.
Basic- and combination load cases can be multiplied by factors, provided with according time functions
and combined to a geometrical nonlinear load case.
Geometrically nonlinear load cases can be comprised to a Nonlinear Logic Load Case. Then they are
connected with or.
8.8 Results
Solver input files can be created for different kinds of calculation. Calculations according to theory 1st or
2nd order or nonlinear calculations respectively are possible. The input can be made for the calculation
programs PAS III and STAB88 [OPTION]. Different positions of the systems can be considered.
Proofs and Results are treated in a similar way by KRASTA. In both cases the load cases to evaluate,
the type of evaluation, extremation and output have to be described.
In contrast to a result a proof considers permissible strain values, depending on certain standards to
calculate utilizations.
The following categories of results of calculations can be output
- inner forces
- stresses
- delta stresses (stress ranges)
- beam displacements
- node displacements
- spring forces
- support forces.

8.9 Sign definition of inner forces and stresses
Inner forces and beam deformations are output in the local principal axis system.

Section banks are set according to the convention that at the end of beam positive inner forces show into
positive coordinate direction (positive section bank).
At the start of beam positive inner forces show into negative coordinate direction (negative section bank).
Stresses as a result of normal force, bending, torsion and shearing force can be output individually each
or in combination.
In addition the combined stress can be output according to the theory of v. Mises (GEH), the shear stress
hypothesis (SH) or the Normal stress hypothesis (NH).

KRASTA 9.5 Manual Index 231

9 Index
$
$uncertain, Situation ..................................... 122
2
2
nd
Order Theory ............................................. 76
A
Acceleration .................................................... 72
Acceleration Loads ......................................... 72
Adaption of a Palette ..................................... 217
Alternating connections ................................. 120
altitude range .................................................. 73
Angle of three Points ..................................... 115
Angle to Axis ................................................. 114
Archive / Dearchive ......................................... 21
Area Moments of Intertia ................................. 48
AS 4100 ........................................................ 195
AS 4100, Implementation in KRASTA .......... 196
AS 4100, Method of Proof ............................. 195
Assistant: Equality ........................................... 92
Assistant: Friction Element ............................. 94
Assistant: Hydraulics ....................................... 93
Assistant: Rope Polygon ................................. 94
Assistant: Slotted Hole .................................... 95
AutoBack.zip ................................................... 22
Auxiliary Vector ................................. 35, 39, 105
B
Basic Load Case (BLC)
Acceleration .................................................. 72
Beam Load ................................................... 72
Beam Predeformation .................................. 72
Node Load .................................................... 72
Rope Load .................................................... 74
Temperature Load ........................................ 74
Wind Load .................................................... 73
Basic Mass Case (BMC) ................................. 67
$Permanent Mass ........................................ 69
Beam Mass ................................................... 69
Mass Factor .................................................. 69
Node Mass ................................................... 70
Basic system without constraint condition ...... 90
Beam
Coordinate System ................................. 35, 39
Copy ....................................................... 44, 45
Displacement ................................................ 40
Joints ............................................................ 38
Load .............................................................. 72
Mass ....................................................... 39, 67
Mass Factor .................................................. 39
Mirror ............................................................ 45
Move ............................................................. 44
on top of each other ..................................... 45
Predeformation ............................................. 72
Reverse ........................................................ 44
Split ......................................................... 43, 45
Spring ........................................................... 38
Beam (chain) can rotate ................................ 146
Beam Buckling Data ........................................ 40
beam length..................................................... 40
Beam list .......................................................... 65
Beam Loads and Beam Predeformation ......... 72
Beam Mass ..................................................... 69
Beam Mass Factors ........................................ 39
Beam Masses.................................................. 39
Beam or Node Lists
Drag'n'Drop ................................................... 16
Beam or Node Lists creation ........................... 65
Beam or Node Lists editing ............................. 65
Beam Springs .................................................. 38
Bending Moment of Resistance ...................... 52
Bending Stresses ............................................ 53
BLC 71
Border Lines .................................................. 213
Bredt Formula............................................ 51, 52
Brief Information ............................................ 221
Buckling ................................................... 40, 205
C
Calculation formulas ........................................ 51
Calculation Suite ........................................... 127
Default ........................................................ 128
Methods ...................................................... 127
Center of Gravity ............................................. 51
Center of Shear Forces ................................... 51
Circular Tube ................................................... 61
Classification ............................................. 47, 63
Material ......................................................... 63
Classifications ............................................... 153
Color Gradation ..................................... 213, 216
Colors .............................................................. 27
Combination Load Case (CLC) ..................... 213
Combination Mass Case (CMC) ..................... 70
Comment ......................................................... 18
Comparison between force condition and
general constraint condition .............. 87, 88
Compensation loads ....................................... 85
Composition list ............................................... 66
Connection ...................................... 99, 101, 106
Alternation ................................................... 120
Display ........................................................ 106
Consideration of constraint conditions ............ 86
Constraint Conditions
Assistant
Equality ...................................................... 92
Friction Element ......................................... 94
Hydraulics .................................................. 93
Rope Polygon ............................................ 94
Slotted Hole................................................ 95
Buffer ............................................................ 95
compatibility .................................................. 96
Consideration................................................ 86
232 Index KRASTA 9.5 Manual

Error bounds for ............................................ 96
Example
Friction Element ......................................... 88
Overload Clutch ......................................... 87
Tension element, Rope .............................. 87
General ......................................................... 85
Contact ............................................ 99, 101, 107
Auxiliary Vector ........................................... 105
Error Messages .......................................... 107
Examples .................................................... 105
Contact and Angles ............................... 102, 113
Contact with one auxiliary vector: ................. 105
Contact with two auxiliary vectors: ................ 105
Contact without auxiliary vectors: .................. 105
Conversion of permutation to combination load
cases ..................................................... 213
Coordinate Difference ................................... 115
Coordinate System
Beam............................................................. 35
Inertial ........................................................... 35
Subsystem .................................................... 35
Copy ................................................................ 44
Copy an Object ................................................ 18
Copy Subsystems ........................................... 97
Create an Object ............................................. 18
Cross Section
Conical ........................................................ 149
Direct Input ................................................... 48
Import ............................................................ 62
Parametric .................................................... 51
Rigid .............................................................. 48
Standard ....................................................... 62
Thin-Walled ................................................... 50
Cross sectional area .................................. 48, 51
Cross Sections ................................................ 39
Drag'n'Drop ................................................... 16
C-Section ......................................................... 56
Current Selection
Changing by beam or node prop. ................. 24
Changing graphical interactive ..................... 23
current subsystem ........................................... 99
Cut Subsystems .............................................. 97
Cycle Classes ................................................ 191
D
Damage Accumulation .................................. 179
Damage equivalence factor .......................... 179
DASt-Ri 011 .................................................. 193
dead weight ..................................................... 39
Default Wind Pressure .................................... 73
Delete an Object .............................................. 18
Delete Subsystems ......................................... 97
Delta Stresses ............................................... 209
Design Spectrum ............................................. 83
Diagram: Linear damage accumulation acc.
Palmgren-Miner ..................................... 156
Dialog: Acceleration Load ............................... 72
Dialog: Basic Load Case ................................. 71
Dialog: Basic Mass Case ................................ 68
Dialog: Basic Orientation ............................... 110
Dialog: Beam Buckling Data ............................ 40
Dialog: Beam Mass ......................................... 69
Dialog: Captions .............................................. 27
Dialog: Classification of Points for proof of
stresses according to DIN 13001-3 ....... 175
Dialog: Classification of Points for Proof of
Stresses according to EN 1993-1-9 (EC 3)
............................................................... 184
Dialog: Classification of Points of Proof of
Stresses acc. AS 4100 .......................... 199
Dialog: Colors .................................................. 27
Dialog: Combination Load Case ...................... 75
Dialog: Combination Mass Case ..................... 70
Dialog: Connection ........................................ 106
Dialog: Constraint Conditions .......................... 86
Dialog: Contact .............................................. 107
Dialog: Cross Section - Direct Input ................ 48
Dialog: Design Spectrum ................................. 83
Dialog: Displacement Conditions .................... 41
Dialog: Display ................................................. 28
Dialog: Extremation of delta stresses ............ 209
Dialog: Filter .................................................. 212
Dialog: For Proofs and Results ..................... 211
Dialog: Force Conditions ................................. 87
Dialog: General Constraint Condition ........ 87, 88
Dialog: Kinematic ........................................... 114
Dialog: Languages ........................................... 31
Dialog: List ....................................................... 65
Dialog: Load Sequence ................................... 81
Dialog: Logic Load Case ................................. 77
Dialog: Mass Factor ......................................... 69
Dialog: Material ................................................ 63
Dialog: Name Assignment ............................... 37
Dialog: Node Mass .......................................... 70
Dialog: Orientation Modification .................... 111
Dialog: Output Format ................................... 215
Dialog: Page Layout ........................................ 30
Dialog: Palettes ............................................. 216
Dialog: Parameters of Kinematic ................... 116
Dialog: Printing ................................................ 29
Dialog: Proof of Fatigue acc. AS 4100 .......... 199
Dialog: Proof of Fatigue according to DIN
13001-3 .................................................. 167
Dialog: Proof of Fatique according to EN 1993-
1-9 (EC 3) .............................................. 184
Dialog: Proof of Stresses Buckling DIN 4114
(Omega-Method) ................................... 205
Dialog: Purge System ...................................... 21
Dialog: Put KRASTA System into archives ..... 22
Dialog: Relative Orientation ........................... 111
Dialog: Reverse Beam..................................... 44
Dialog: Rope Load ........................................... 74
Dialog: Rounding ............................................. 45
Dialog: Situation Dependent Load or Mass Case
................................................................. 79
Dialog: Solver Options Modal Analysis" ........ 129
Dialog: Solver Options NODYA" .................... 129
Dialog: Split Beams ......................................... 43

Dialog: Structural Input of thin-walled Cross
Sections ................................................... 50
Dialog: Subsystem Import ............................... 98
Dialog: Temperature ....................................... 74
Dialog: Units .................................................... 31
Dialog: Wind .................................................... 74
Dialog: Windprofile .......................................... 73
Dimetrie ........................................................... 25
DIN 13001 ............................................. 163, 169
DIN 13001-3
Permissible stress ranges .................. 163, 169
Types of proof..................................... 164, 170
DIN 15018
Proof of Fatigue .......................................... 159
DIN 18800
Materials ..................................................... 203
Proof of Stresses el.-el. .............................. 203
Thickness ................................................... 203
DIN 22261
Proof of Fatigue .......................................... 161
DIN 4114 ....................................................... 205
DIN 4114 Buckling (Omega-Method),
Implementation in KRASTA .................. 205
DIN CEN/TS 13001-3-1:2005, Implementation in
KRASTA ................................................ 164
DIN CEN/TS 13001-3-1:2005, Method of Proof
.............................................................. 163
Direct Input Cross Section .............................. 48
Displacement Conditions .......................... 41, 85
Display Everything .......................................... 25
Display of Connections ................................. 106
Display of physical units .................................. 20
Display Settings .................................. 25, 28, 86
Drag'n'Drop ................................................... 16
Display Subset ................................................ 25
Distance and Angle ....................................... 113
Drag'n'Drop
Beam or Node Lists ...................................... 16
Cross Sections ............................................. 16
Display Setting.............................................. 16
Load Case .................................................... 16
Mass Case .................................................... 16
Material ......................................................... 16
Orientation .................................................. 111
Projection Setting ......................................... 16
Situation ...................................................... 121
E
EC 3 .............................................................. 179
Edit an Object .................................................. 18
Eigen Vectors ................................................ 149
Element Thickness: DIN 18800 .................... 203
EN 13001 ...................................................... 169
EN 1993 (EC 3) ............................................. 179
EN 1993-1-3 (EC 3)
Types of proof............................................. 180
EN 1993-1-9:2005, Implementation in KRASTA
.............................................................. 180
EN 1993-1-9:2005, Method of Proof ............. 179
Error messages (Kinematic), during the
execution of a polar kinematic ............... 117
Error messages (Kinematic), during the input
............................................................... 117
Error messages (Kinematic), while saving the
object ..................................................... 117
Evaluation Pattern ......................................... 213
Example: Acceleration by drives ..................... 77
Example: Adopt existing evaluation pattern
(automatically) ....................................... 215
Example: Constraint Conditions ...................... 86
Example: Contacts ........................................ 105
Example: Copy an Object ............................... 18
Example: Edit an Object .................................. 18
Example: Error/Warning Nr. 451, #1 ............. 142
Example: Error/Warning Nr. 451, #2 ............. 143
Example: Evaluation Pattern ......................... 213
Example: Expanded Combination Load Case 75
Example: Input of Aux.-Vectors (H): ............. 223
Example: Load Sequence "cycle 15t A<>D" ... 82
Example: Load Sequence "PS 15t D->A" ....... 82
Example: Logic Load Case ............................. 77
Example: Permanent Mass ............................. 67
Example: Rotational Acceleration Load .......... 73
Example: Situation Dependent Load or Mass
Case ........................................................ 79
Example: Subsystem Structure ..................... 103
Example: Sum of Masses ............................... 70
Example: Suspension between tower and boom
............................................................... 100
Example: Textual Output in case of Damage
Accumulation ......................................... 157
Example: Use of rigid cross sections .............. 48
Execute
Calculation Suite ......................................... 127
Orientation .................................................. 111
Expand Subset ................................................ 25
Extreme Values ............................................. 211
F
FEM 1.001 ..................................................... 189
Filter list ........................................................... 66
First level subsystems ................................... 103
Force Conditions ....................................... 38, 85
Format ........................................................... 215
Friction Element ........................................ 88, 94
G
General Constraint Conditions ........................ 85
General information ....................................... 114
Geometrical Specifications .............................. 44
Graphical Output ............................................. 21
Graphical Selection ......................................... 20
Gravity ............................................................. 72
Gravity Load .................................................... 72

H
Height ranges .................................................. 73
Helpful display setting to view subsystem
organization ........................................... 101
Hide Subset ..................................................... 25
Hotkeys............................................................ 17
H-Section ......................................................... 55
Hydraulics with constant hydraulics volume.... 91
I
Import an Object .............................................. 18
In- and Output Language ................................ 13
In- and Output Units: ....................................... 13
Inertial Coordinate System .............................. 35
Information ...................................................... 18
Information Window ......................................... 16
Inner Forces .................................................... 40
Input of numerical values ................................ 20
Input of points and vectors .............................. 20
Insert new objects into lists ............................. 45
Interaction of multiple kinematics .................. 113
ISO 5049-1 .................................................... 191
Items of the Status Line................................... 17
J
Joints ............................................................... 38
K
Kinematic movability vs. static flexibility ........ 113
Kinematic plane ............................................. 113
Kinematically free connections ...................... 115
KRASTA Main Window ................................... 15
KRASTA Main Window/ .................................... 9
KRASTA Objects ............................................. 17
KRASTA Start Window ...................................... 8
L
Language .................................................. 13, 31
Layout ............................................................ 215
Leading kinematic part .................................. 115
Left Mouse Button ........................................... 23
Lifetime ............................................................ 83
Linear Beam Predeformation .......................... 75
Linear damage accumulation according to
Palmgren-Miner ..................................... 156
List 65
composition list ............................................. 66
filter list .......................................................... 66
proof list ........................................................ 65
result list ........................................................ 65
simple beam list ............................................ 65
simple node list ............................................. 65
simple object list ........................................... 65
Lists of Objects ................................................ 19
Lists of Situations .......................................... 213
Literature: 2nd Order Theory ......................... 131
Literature: Damage Accumulation ................. 157
Literature: DIN 4114 Buckling (Omega-Method)
............................................................... 206
Literature: DIN CEN/TS 13001-3-1:2005-03 . 168
Literature: EN 1993-1-9:2005 ........................ 186
Literature: prEN 13001-3-1:2009 ................... 174
Load
Rope.............................................................. 74
Temperature ................................................. 74
Load Case
Basic ............................................................. 71
Combination .................................................. 75
Drag'n'Drop ................................................... 16
Logic.............................................................. 76
Nonlinear ....................................................... 76
Nonlinear Logic ............................................. 77
Situation Dependent ..................................... 76
Load Sequence ............................................... 81
Loading Groups: DASt-Ri 011 ....................... 194
Loading Groups: DIN 13001-3 (S-Classes)... 177
Loading Groups: DIN 15018 .......................... 160
Loading Groups: EN 1993-1-9 (EC 3) (S-
Classes) ................................................. 186
Loading Groups: FEM 1.001 ......................... 190
Loading Groups: ISO 5049 ............................ 192
Logic Load Case (LLC).................................... 76
L-Section ......................................................... 57
M
Main Window ................................................... 15
Manager .................................................... 13, 31
Mase Case
Sum of ........................................................... 70
Mass
Permanent .................................................... 67
Sum of ........................................................... 70
Mass Case ............................................... 67, 149
Basic ............................................................. 67
Combination .................................................. 70
Drag'n'Drop ................................................... 16
Permanent .................................................... 69
Situation Dependent ..................................... 70
Mass Factor ............................................... 67, 69
Mass of Beam .................................................. 39
Mass of Node .................................................. 41
Masses, Sum of ............................................... 70
Material ...................................................... 39, 63
Classification ................................................. 63
Drag'n'Drop ................................................... 16
Materials: DASt-Ri 011 .................................. 193
Materials: DIN 15018 ..................................... 160
Materials: DIN 18800 ..................................... 203
Materials: FEM 1.001 .................................... 189
Materials: ISO 5049 ....................................... 191
Melt a Subsystem .......................................... 100
Menu item
Calculation
Calculate solver input file ......................... 137
Show Log-File .......................................... 139

Situation indipendet calculation ............... 133
File ................................................................ 21
Help .............................................................. 10
Info ................................................................ 10
List ................................................................ 65
Option ........................................................... 31
Property ........................................................ 37
Selection ................................................. 16, 23
Sum of Masses ............................................. 70
View ................................................ 25, 27, 149
Merging ........................................................... 45
Minimal ............................................................ 25
Minimal Text Only ........................................... 19
Mirroring .......................................................... 45
MOD .............................................................. 127
MOD (modal analysis) .................................. 127
Modal Analysis .............................................. 127
Modelling of actuators ................................... 113
Modelling with kinematics ............................. 113
Modified angles within the subsystem .......... 120
Moments of Inertia .................................. 52, 225
Moments of Inertia about the Principal Axes: . 52
Moments of Resistance ................................ 225
Mouse
Left Button .............................................. 23, 99
Right Button .................................................. 17
Move ............................................................... 44
Multiple Object Selection ................................ 19
N
Name ............................................................... 18
Natural Frequencies ...................................... 149
net length ........................................................ 40
New Object ...................................................... 18
Node
Copy ....................................................... 44, 45
Free ............................................................ 120
Joint .............................................................. 41
Load .............................................................. 72
Mass ....................................................... 41, 67
Merging ......................................................... 45
Mirror ............................................................ 45
Move ............................................................. 44
on top of each other ..................................... 45
Spring ........................................................... 41
Node can rotate............................................. 146
Node Coordinate ........................................... 114
Node list .......................................................... 65
Node Loads ..................................................... 72
Node Mass ...................................................... 70
Node Masses .................................................. 41
NODYA ......................................................... 127
NODYA / STAB88 [OPTION] .......................... 85
Nonlinear Load Case ...................................... 76
Nonlinear Logic Load Case ............................. 77
Normal Stress Ranges .................................. 209
Normal Stresses as a result of Normal Force . 52
Notch case: DIN 22261 ................................. 161
Notch cases .................................................. 179
Notch Cases: AS 4100 .................................. 201
Notch Cases: DASt-Ri 011 ............................ 193
Notch Cases: DIN 13001-3 ........................... 177
Notch Cases: DIN 15018 ...................... 159, 160
Notch Cases: EN 1993-1-9 (EC 3) ................ 186
Notch Cases: FEM 1.001 .............................. 190
Notch Cases: ISO 5049 ................................ 192
Notes on using rigid cross sections ................ 48
O
Object .............................................................. 17
Comment ...................................................... 18
Copy ............................................................. 18
Delete ........................................................... 18
Edit ................................................................ 18
Import ............................................................ 18
Information .................................................... 18
Multiple Selection ......................................... 19
Name ............................................................ 18
New ............................................................... 18
Single Selection ............................................ 19
Object list ......................................................... 65
Object Lists ...................................................... 19
Object Tree ...................................................... 16
OK and Cancel ................................................ 19
Omega-Method ............................................. 205
Operating method ......................................... 179
optimised coupling .................................... 90, 92
Options (Kinematic) ....................................... 116
Orientation ..................................................... 101
by Contact ................................................... 101
by Contact and Angles ............................... 102
by Vector and Angles ........................... 99, 101
Drag'n'Drop ................................................. 111
Execute ....................................................... 111
Modification................................................. 110
Modification Sequence ............................... 111
Modified Subsystem Angles ....................... 120
Orientation Modification ................................ 110
Other kinematic parts .................................... 115
Output
Border Lines ............................................... 213
Color Gradation .................................. 213, 216
Layout ......................................................... 215
Palettes ....................................................... 216
Plots .............................................................. 21
Text ....................................................... 21, 215
Output Format ............................................... 215
Details ......................................................... 212
Output Formats: AS 4100 ............................. 200
Output Formats: Delta Stresses .................... 210
Output Formats: DIN 4114 Buckling (Omega-
Method) ................................................. 206
Output Formats: DIN13001-3 ........................ 176
Output Formats: EN 1993-1-9 (EC 3) ........... 185
Overload Clutch .............................................. 87

P
Page Layout .............................................. 19, 30
Page Partitioning ............................................. 30
Palettes.......................................................... 216
Parabolic Beam Predeformation ..................... 75
Parametric Cross Section................................ 51
Partial Rigid Cross Sections .................... 48, 149
PAS
Error/Warning Nr. 299 ................................. 141
Error/Warning Nr. 451 ................................. 141
Error/Warning Nr. 453 ................................. 144
Error/Warning Nr. 455 ................................. 146
Partial rigid cross section ................................ 3
Theoretical foundation .................................... 3
PAS III ........................................................... 127
PAS IV ........................................................... 127
PAS linear ..................................................... 128
Paste Subsystems ........................................... 97
Permanent Mass ............................... 67, 69, 149
Permutation ................................................... 213
Plane and Reference System ....................... 114
Plastic Moment of Resistance ................. 53, 226
Plots ................................................................. 21
Details ........................................................... 19
Minimal Text ................................................. 19
Print ............................................................... 19
Save .............................................................. 19
Point for Proof of Stresses ...................... 47, 159
Position, oboslete idiom ................................ 133
Predeformation
Linear ............................................................ 75
Parabolic ....................................................... 75
prEN 13001-3-1:2009, Implementation in
KRASTA ................................................ 170
prEN 13001-3-1:2009, Method of Proof ........ 169
Pressure .......................................................... 73
Preview: Text Output Layout ......................... 216
Principal Axes .................................................. 36
Principal Axis Angle: ........................................ 52
Printer Settings ................................................ 28
Projected Coordinate Difference ................... 115
Projection Settings .......................................... 25
Drag'n'Drop ................................................... 16
Proof list........................................................... 65
Proof of Fatigue
acc DIN 15018 ............................................ 159
acc. AS 4100 .............................................. 195
acc. DASt-Ri 011 ........................................ 193
acc. DIN 22261 ........................................... 161
acc. FEM 1.001 ........................................... 189
acc. ISO 5049-1 .......................................... 191
according to DIN 13001 ...................... 163, 169
Proof of Fatigue according to EN 1993 (EC 3)
............................................................... 179
Proof of Stresses
Buckling acc DIN 4114 (Omega-Method) ... 205
el.-el. acc. DIN 18800 ................................. 203
Proof: AS 4100 .............................................. 197
Proof: DASt-Ri 011 ........................................ 193
Proof: DIN 15018 ........................................... 159
Proof: DIN 18800 el.el. .................................. 203
Proof: DIN 22261 ........................................... 161
Proof: DIN 4114 Buckling (Omega-Method) . 205
Proof: DIN CEN/TS 13001-3-1:2005 (damage
accumulation procedure) ....................... 166
Proof: DIN CEN/TS 13001-3-1:2005 (simplified
procedure) ............................................. 165
Proof: EN 1993-1-9:2005 (damage
Proof: EN 1993-1-9:2005 (simplified procedure)
............................................................... 182
Proof: FEM 1.001 .......................................... 189
Proof: ISO 5049-1 .......................................... 191
Proof: prEN 13001-3-1:2009 (damage
Proof: prEN 13001-3-1:2009 (simplified
procedure) ............................................. 171
Pulley Factor .............................................. 74, 94
R
Real Movability .............................................. 145
Rectangle Section ........................................... 59
Rectangular Tube ............................................ 58
Reeving ........................................................... 94
Register: General .......................................... 129
Register: Nonlinear Calculation ..................... 130
Resistance factor ........................................... 179
Result list ......................................................... 65
Result values of a damage accumulation...... 157
Results ........................................................... 207
Review ........................................................... 221
Right Mouse Button ......................................... 17
Rigid................................................................. 48
Rope Loads ..................................................... 74
Rotating Objects ............................................ 145
Rotational Acceleration Load .......................... 73
Round Section ................................................. 60
S
safety factor for fatigue strength .................... 179
Scaling ............................................................. 45
S-Class .......................................................... 179
Scope............................................................... 47
Screen after copying a subsystem .................. 99
Screen Settings ............................................... 28
Second level subsystems .............................. 104
Section
C 56
Circular Tube ................................................ 61
H 55
L 57
Rectangle ...................................................... 59
Rectangular Tube ......................................... 58
Round ........................................................... 60
Section Points .................................................. 40
Select Picture Details ...................................... 19
Selection .......................................................... 47
Graphical ....................................................... 20

Multiple Objects ............................................ 19
Single Object ................................................ 19
Sensor and actuator, case 1 ........................... 91
Sensor and actuator, case 2 ........................... 91
Sensor degrees of freedom ............................ 90
Shear Areas .............................................. 48, 51
Shear Force induced Shear Stresses ............. 53
Shear Stress Ranges .................................... 209
Simple beam list .............................................. 65
Simple model of a tower crane (total system)103
Simple node list ............................................... 65
Simple object list ............................................. 65
Single Object Selection ............................. 18, 19
Situation ........................................................ 121
$uncertain ................................................... 122
create for orientations ................................. 123
Drag'n'Drop ................................................. 121
Execute ....................................................... 121
Methods ...................................................... 121
SLC 76
Slenderness .................................... 40, 205, 224
Slotted Hole ..................................................... 95
SMC ................................................................ 70
solver input file .............................................. 137
Spring .............................................................. 38
St. Venant torsion...................................... 55, 76
STAB88 ......................................................... 127
STAB88 / NODYA [OPTION] ............ 76, 85, 127
Standard Cross Section .................................. 62
Statical Moment ...................................... 51, 224
Status Line ...................................................... 17
Stress Differences ......................................... 209
Stress Range
Design Value .............................................. 179
Stresses ........................................................ 225
Stretching ........................................................ 45
Structural Thickness ....................................... 47
Substructure
Copy ............................................................. 44
Mirror ............................................................ 45
Move ............................................................. 44
Scale ............................................................. 45
Stretch .......................................................... 45
Substructures of a kinematic ......................... 115
Subsystem ...................................................... 97
Cut, Copy, Paste .......................................... 97
Delete ........................................................... 97
Error Messages .......................................... 107
Hierarchy ...................................................... 97
Import ........................................................... 97
Melting ........................................................ 100
Orientation .................................... 99, 101, 120
Splitting ....................................................... 100
Subsystem Coordinate System ....................... 35
Support ............................................................ 41
Support Conditions (Joints/Springs) ............... 41
Switch: Best possible .................................... 115
T
Table 10 (DIN 22261) .................................... 162
Table 12 (DASt-Ri 011) ................................. 193
Table 17 (DIN 22261) .................................... 161
Table 18 (DIN 15018) .................................... 159
Table 19 (DIN 15018) .................................... 160
Table 20 (DIN 22261) .................................... 161
Target ............................................................ 114
Target Settings .............................................. 114
Temperature Loads ......................................... 74
Tension element, rope .................................... 87
Text 21
Print .............................................................. 20
Save .............................................................. 20
Text Output Layout ........................................ 215
Textual Documentation ................................. 219
Textual Output ......................................... 21, 212
Textual Output Format .................................. 212
TH2 \b .............................................................. 76
Thin-Walled Cross Section .............................. 50
Torsional Moment of Inertia .................... 51, 224
Torsional Moment of Resistance..................... 52
Torsional Shear Stresses ................................ 53
tower crane .................................................... 103
Translational Acceleration Load ...................... 73
Tube
Circular ......................................................... 61
Rectangular .................................................. 58
Types of Parametric Cross Sections ............... 54
U
uncertain, Situation ....................................... 122
Units .................................................... 13, 17, 31
User 13, 31
Using force condition ....................................... 87
Using general constraint condition ............ 87, 88
Using List of Situations .................................. 213
V
Vector and Angles ................................... 99, 101
W
Welding seams ................................................ 47
Williot plan of displacement ............................. 76
Wind direction.................................................. 73
Wind Loads ..................................................... 73
Wind Profile ..................................................... 73
Wind resistance ............................................... 74
Window: Information ....................................... 17
Window: Object Tree ....................................... 16
Window: Working Area .................................... 16
Wizard: Beam as Subsystem ........................ 100
Working Area....................................... 16, 17, 20

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Khne BSB GmbH, DE 64295 Darmstadt, Mina-Rees-Strae 5A, Tel:+49-(0)6151/397690-0, Fax: -200

Program for statical and modal

and cross section properties

). This results in a save upper approximation of the

is specified for a principle axis then KRASTA determines the according

based on the current beam length .

are determined according to thin-walled theory.

are determined according to thin-walled theory.

are determined according to thin-walled theory.

(drag coeff. * height) and a

KRASTA 9.5 Manual Modelling 91

have to be chosen of which at least one has to be located on the subsystem

Inverse slope of S-N curve above fatigue limit

according to notch case.

and above cut-off limit

with stress range

characteristic stress range

fatigue limit stress range

cut-off limit stress range

for periodic stress range with

for a given stress range

is the ratio of actual number of stress

to the number of stress cycles to failure

is determined and listed.

as well as the damage

shall be calculated according to the formula for struc-

according to Table 17 and

(tensile strength) according to the classification of the material.

(yield point acc. classification of the material).

for structural elements and welding.

and the inverse

is used according to [13001-3-1:2005], table 10:

are calculated according to [13001-3-1:2005], Chap. 4.3.4.

. All other parameters are independent

as a substitute, as mentioned in DIN-Chap.

can be chosen in a range of 3.0 to 5.0.

is given by the specified S-class

for the simplified method.

according to Proof Control Set.

according to [13001-3-1:2005] Tab.13 for an S-class according to proof control set.

, given by DIN Chap. 6.5.3.4 Simplified method for slope

is determined by a damage analysis according to the hypothesis of

according to Proof Control Set.

and the kind of consideration of compression portion are specified.

is derived from the total damage considering further parameter.

and the inverse

is used according [13001-3-1:2009] tab. 9:

are calculated according [13001-3-1:2009] chapter 6.3.3.

. All other parameters are independent

as a substitute, as mentioned in [13001-3-

can be chosen in a range of 3.0 to 5.0.

according to [13001-3-1:2009] Tab. 9

is given by the specified S-class according

for the simplified method.

according to proof control set.

according to [13001-3-1:2009] Tab. 10 for an S-class according to proof control set.

, given by [13001-3-1:2009] Chap. 6.5.3.4 Simplified method for

is determined by a damage analysis according to the hypothesis of

according to Proof Control Set.

and the kind of consideration of compression portion are specified.

and associated inverse slope of o/N-curve

as well as a reduced compression portion is done by proof

gamma Mf fatigue specific resistance factor