Swinging Suppression Control - Mitsubishi Electric FR-A820-00046 Instruction Manual

Parameters
5.14.8

Swinging suppression control

When an object is moved by a gantry crane, swinging is suppressed on the crane's traveling axis.
Pr.
1072
A310
1073
A311
1074
A312
1075
A313
1076
A314
1077
A315
1078
A316
1079
A317
Swinging suppression control operation (Pr. 1073)
● Setting Pr. 1073 "Anti-sway control operation selection" = "1" enables swinging suppression
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.
● Deceleration 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).
RL
RM
STF
Fig. 5-245:
NOTES Under torque control or position control, the swinging suppression 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 swinging suppression
control is disabled.
FR-A800
Name
DC brake judgment time
for anti-sway control
operation
Anti-sway control
operation selection
Anti-sway control
frequency
Anti-sway control depth
Anti-sway control width
Rope length
Trolley weight
Load weight
Frequency
Frequency command
ON
ON
Timing diagram of swinging suppression
Initial
Setting range Description
value
Set the waiting time to start the DC injection brake
(zero speed control, servo lock) after the output
3 s 0 to 10 s
frequency reaches the Pr. 10 "DC injection brake
operation frequency" or lower.
0 Swinging suppression control disabled
0
1 Swinging suppression control enabled
0.05 to 3 Hz Sets the swinging frequency of the load.
A swinging frequency is estimated based on the
1 Hz
999 Pr. 1077 to Pr. 1079 settings, and swinging
suppression control is performed.
0 (Deep) ➔ 3 (Shallow)
0 0 to 3
0 0 to 3
0 (Narrow)
1 m 0.1 to 50 m Set the rope length of the crane.
1 kg 1 to 50000 kg Set the weight of the trolley.
1 kg 1 to 50000 kg Set the weight of the load.
ON
(A) Application parameters
➔
3 (Wide)
Frequency command of swinging
suppression control
Time
I002839E
5 - 519