Anti-Sway Control - Mitsubishi Electric FR-A800 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 0
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).
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.
 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
Gain (depth) -4 dB (shallow) -8 dB
584
5. PARAMETERS
5.14 (A) Application parameters
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Initial Setting
value range
3 s 0 to 10 s
0
0
1
0.05 to 3 Hz Set a swinging frequency of the object.
1 Hz
9999
0 to 3
0 0 to 3
1 m 0.1 to 50 m Set the rope length of the crane.
1 to 50000
1 kg
kg
1 to 50000
1 kg
kg
Frequency
Frequency command
RL
ON
RM
STF
ON
3 2
-14 dB
search engine
Set the time from when the output frequency becomes the Pr.10 DC injection
brake operation frequency or less to when the DC injection brake (zero speed
control or the servo lock) operation starts.
Anti-sway control disabled
Anti-sway control enabled
Anti-sway control is performed using a swinging frequency estimated by the
inverter according to the settings of Pr.1077 to Pr.1079.
0 (Deep) → 3 (Shallow)
0 (Narrow) → 3 (Wide)
Set the weight of the trolley.
Set the weight of the object.
Frequency command of anti-sway control
ON
1 0
-∞ (deep)
Description
Time