Mitsubishi Electric FR-A820-00046 Instruction Manual page 722

(A) Application parameters
Swinging frequency setting (Pr. 1074 to Pr. 1079)
● Set a swinging frequency in Pr. 1074 "Anti-sway control frequency". The swinging frequency is
used as a notch filter frequency. Lower the response level of speed control in the frequency band
with the width set in the Pr. 1076 "Anti-sway control width" by the gain set in the Pr. 1075 "Anti-
sway control depth".
● A deeper notch depth has a greater effect in reducing mechanical resonance, but because the
phase delay is larger, swinging may increase. Adjust by starting from the shallowest value.
Setting value
Depth
Gain
Tab. 5-214: Setting of depth and gain
● If the Pr. 1076 setting is too large (the width is too wide), the response level of speed control will
drop, and the system may become unstable.
● After setting Pr. 1074 = "9999", set the crane rope length in the Pr. 1077 "Rope length", the trolley
weight in the Pr. 1078 "Trolley weight", and the weight of an object in the Pr. 1079 "Load weight".
Then, swinging suppression control is performed using a vibration frequency estimated by the
inverter.
Waiting time for brake operation of swinging suppression control (Pr. 1072)
Set the time from when the output frequency becomes the Pr. 10 "DC injection brake operation fre-
quency" or less to when the zero speed control or the servo lock operation starts in the Pr. 1072 "DC
brake judgment time for Anti-sway control operation".
Frequency
command
Fig. 5-246:
NOTES During swinging suppression control operation, even if the motor rotation is restricted to one
direction in the Pr. 78 "Reverse rotation prevention selection", the motor may rotate in a direction
opposite to the setting.
A protective function (E.OSD) may be activated during vibration control. When using vibration
control, set Pr. 690 "Deceleration check time" = "9999 (initial value)" to disable the deceleration
check function.
When swinging suppression control is enabled, regeneration avoidance, shortest acceleration/
deceleration, and the traverse function are disabled.
Do not set swinging suppression control and droop control together.
5 - 520
3
Shallow
–4 dB
ON
Function of Pr. 1072
2 1
➔
–8 dB –14 dB
Frequency command of swinging suppression control
Actual rotation
Zero speed control
Pr. 1072
Servo lock
Parameters
0
Deep
–∞
Pr. 10 "DC injection brake
operation frequency"
Time
I002840E