9.4.2.4
Setting the permissible residual sway
Set the parameters for residual sway (P169, P170) only as low as required. Values that are too
low can have the following effects due to dead times in the communication of all components:
● Residual sway after stopping
● Delay in reaching the target position
Table 9-3
Residual sway as a function of the control method
Control method
Parameter operative at
end of acceleration:
Parameter operative at end of
deceleration:
Conventional control
P169
P169
Time-optimized control
P170
P169
Note
If parameter P169 is operative, the SC_COMPLETED status bit is set when the set residual
sway is reached. Elimination of the sway continues with the maximum possible accuracy
however.
You can therefore decide whether elimination of the sway should cease when the
parameterized residual sway is reached, or whether it should continue so as to reduce the
residual sway even further.
Note
If parameter P170 is operative, the SC_COMPLETED status bit is set when the set residual
sway is reached and sway elimination is terminated immediately.
It is therefore possible to prevent higher levels of dynamic stress at the end of acceleration with
the time-optimized control method. The residual sway at the end of acceleration may be greater
than the residual sway at the end of stopping.
9.4.2.5
Settings to monitor the oscillation state
Set parameters P156 and P159 as described in Chapter Monitoring the oscillation state
9.4.2.6
Setting the damping factor
A damping factor (P85, P86) for the trolley can be set separately for the acceleration and
deceleration phases. Higher values (approximately > 1.4) result in non-periodic transient
responses, lower values (approximately < 1.4) in overshoot. Damping factors close to the
default settings represent a compromise between short rise time and slight overshoot. We
recommend leaving the parameter at the default value.
The difference between the damping factors for acceleration and deceleration should not be
too large, as the output velocity can otherwise change abruptly during the transition to the
deceleration phase.
Commissioning AddOn Software
9.4 Sway control commissioning
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA
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