Mitsubishi Electric FR-A820-00046 (0.4K), Instruction Manual

Page: 721 / 1218

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