Mitsubishi Electric 800 Series Instruction Manual page 473

(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
3
value
Depth Shallow
Gain -4dB
• 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, anti-sway control is performed using a
swinging frequency estimated by the inverter.
Waiting time for brake operation of anti-sway control (Pr.1072)
• Set the time from when the output frequency becomes the Pr.10 DC injection brake operation frequency 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
STF
NOTE
• During anti-sway 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 anti-sway control, set Pr.690
Deceleration check time = "9999 (initial value)" to disable the deceleration check function.
• When anti-sway control is enabled, regeneration avoidance, shortest acceleration/deceleration, and the traverse function are
disabled.
• Do not set anti-sway control and droop control together.
Parameters referred to ???????
Pr.10 DC injection brake operation frequency
Pr.78 Reverse rotation prevention selection
Pr.286 Droop gain page 621
Pr.292 Automatic acceleration/deceleration
Pr.592 Traverse function selection
Pr.690 Deceleration check time
Pr.875 Fault definition page 323
Pr.882 Regeneration avoidance operation selection
472
PARAMETERS
2 1 0
 
Deep
-8dB -14dB -∞
ON
page 599
page 308
page 285
page 469
page 179
page 614
Frequency command of anti-sway control
Actual rotation
Pr.10 DC injection brake
operation frequency
Zero speed control
Pr.1072
Servo lock
Time