Swinging Suppression Control; Swinging Suppression Control Operation - Mitsubishi FR-A800 Instruction Manual

(A) Application parameters
5.14.7

Swinging suppression control

When an object is moved by a gantry crane, swinging is suppressed on the crane's traveling axis.
Pr. Name
DC brake judgment time
1072 for swinging
A310 suppression control
operation
Swinging suppression
1073
control operation
A311
selection
1074 Swinging suppression
A312 frequency
1075 Swinging suppression
A313 depth
1076 Swinging suppression
A314 width
1077
Rope length
A315
1078
Trolley weight
A316
1079
Load weight
A317
Swinging suppression control operation (Pr.1073)
• Setting Pr.1073 Swinging suppression control operation selection = "1" enables swinging suppression control.
Swinging suppression control is available under speed control of Real sensorless vector control or vector control. (Swinging
suppression control is not available under zero speed or servo lock control.)
• During operation under swinging suppression control, the travel distance becomes longer. Input a stop command earlier to
avoid a collision with an obstacle.
• A deceleration to stop without swinging suppression control is applied for stopping as a result of PU stop, an emergency
stop command input from a communication option, Pr.875 Fault definition, or an emergency stop input (X92).
Frequency
Frequency command
RL
RM
STF
486
PARAMETERS
Initial
value
3 s 0 to 10 s
0
0
1
0.05 to 3 Hz
1 Hz
9999
0 0 to 3
0 0 to 3
1 m 0.1 to 50 m
1 kg 1 to 50000 kg
1 kg 1 to 50000 kg
ON
ON
ON
Setting
range
Set the waiting time to start the DC injection brake (zero
speed control, servo lock) after the output frequency reaches
the Pr.10 DC injection brake operation frequency or
lower.
Swinging suppression control disabled
Swinging suppression control enabled
Sets the swinging frequency of the load.
A swinging frequency is estimated based on the Pr.1077 to
Pr.1079 settings, and swinging suppression control is
performed.
0 (Deep)  3 (Shallow)
0 (Narrow)  3 (Wide)
Set the rope length of the crane.
Set the weight of the trolley.
Set the weight of the load.
Frequency command of swinging suppression control
Sensorless Vector Sensorless Sensorless Vector Vector
Description
Time