Anti-Sway Control - Mitsubishi Electric 800 Series Instruction Manual

5.14.8

Anti-sway 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 anti-sway control
A310
operation
1073 Anti-sway control
A311 operation selection
1074 Anti-sway control
A312 frequency
1075
Anti-sway control depth
A313
1076
Anti-sway control width
A314
1077
Rope length
A315
1078
Trolley weight
A316
1079
Load weight
A317
Anti-sway control operation (Pr.1073)
• Setting Pr.1073 Anti-sway control operation selection = "1" enables anti-sway control. (Anti-sway control is not available
under zero speed or servo lock control.)
• During operation under anti-sway control, the travel distance becomes longer. Input a stop command earlier to avoid a
collision with an obstacle.
• A deceleration to stop without anti-sway 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 signal).
Frequency
Frequency command
RL
RM
STF
NOTE
• Under torque control or position control, the anti-sway control is disabled.
• During operation of the power failure time deceleration-to-stop function, or when the automatic restart after instantaneous
power failure is enabled (Pr.57  "9999"), the anti-sway control is disabled.
Initial Setting
value range
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
(A) Application parameters
Description
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.
Anti-sway control disabled
Anti-sway control enabled
Sets the swinging frequency of the load.
A swinging frequency is estimated based on the Pr.1077 to
Pr.1079 settings, and anti-sway 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 anti-sway control
Time
PARAMETERS
5
GROUP
A
471