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26.09 ANTI SWAY
This function keeps the load from swaying during movement and when it stops. An expert user stops swaying
by accelerating and braking the load based on its movement. This function, based on rope length, changes
the speed references given by the control button panel just as an expert user would.
To use the "Anti Sway" function, the Hoist motor has to have an encoder (used to measure available stroke)
that is correctly connected to the command drive, and you have to initialize the rope length measurement
procedure (see "Initialization procedure for calculation of rope length" for more information). Otherwise, do not
enable the function.
The Hoist drive calculates rope length and sends it, to the Gantry and Trolley drives, which perform the
adjustment.
The above figure shows the movement of the Trolley and of the hoisted load.
1.
At start, the load is delayed compared to Trolley movement and, if not properly controlled, it will
continue to sway with a period depending on rope length. The Anti Sway function reduces sway when
the swaying load is perpendicular to the trolley.
2.
When the acceleration phase is done, the load is no longer subject to swaying.
3.
When the speed is reduced, the load shifts in advance of Trolley movement. The Anti Sway function
reduces sway when the swaying load is perpendicular to the trolley.
The following graphs show the results obtained by handling a load giving longer or shorter movement
commands.
The first graph shows speed. The speed reference (given by a movement command) is in magenta, with the
function off. The reference changed by the anti sway function is in yellow.
The second graph shows load angle in the various movements. Note that there is no residual sway when the
load stops.
ADV200-HC Manual
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Page 26 of 55
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