YASKAWA CR700, Техническое руководство, Страница: 822 / 886

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・If U9-06 [Wire Length] exceeds 50 m, the longer the wire length, the lower the Cargo Swing
Suppression effect.
•If this function is enabled, the actual accel/decel time will be longer than the set accel/decel
time. The longer the U9-06 [Wire Length], the larger the difference from the target value.
• When this function is enabled, the actual acceleration and deceleration times will be longer
than the set acceleration and deceleration times, and the longer the value of U9-06 [Wire
Length], the greater the difference will be from the set times.
• Compared to when this function is disabled, the stopping distance will increase when this
function is enabled. For this reason, increase the timing of when the Stop command is input
or review the deceleration time setting. Install an emergency stop circuit for safety. If the Fast
Stop command is input with a multi-function digital input, Anti Swing Control will be disabled
and the motor will decelerate according to Fast Stop Time.
◆ System Configuration

When There is Little Change in the Length of the Wire up to the Center of Gravity Position of
the Wire Tip
When there is little change in the length of the wire from the center of the lifting and lowering
shaft drum to the center of gravity position of the wire tip, cargo swinging can be suppressed
with simple wiring and without external input of the wire length. If the center of gravity position
changes due to the lifting/lowering operation or the condition of the suspended cargo, wire
length correction can be enabled and disabled using multi-function digital inputs.
Figure 3.4 Example of Connections When There is Little Change in the Center of Gravity
Position
 When There are Large Changes in the Length of the Wire up to the Center of Gravity
Position of the Wire Tip
When there are large changes in the length of the wire from the center of the lifting and
lowering shaft drum to the center of gravity position of the wire tip, the external input amount
according to the lifting and lowering operation can be input to the traverse shaft or traveling
shaft drive. The output of Wire Length Detection of the lifting and lowering shaft drive can
be used as the external input amount. Refer to "3.1 Wire Length Detection" for more
information about Wire Length Detection. In a crane with a main hoist and auxiliary hoist on
the lifting and lowering shaft, switch the external input amount of the main hoist and auxiliary
hoist according to the usage conditions so that the wire length input to the traverse shaft or
traveling shaft drive is the wire length of the side to which Anti Swing Control is applied. If the
center of gravity position changes due to the condition of the suspended cargo, wire length
correction can also be enabled and disabled using multi-function digital inputs.
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Traverse shaft drive
Traveling shaft drive
Multi-function digital inputs Multi-function digital inputs
Wire Length Correction 1
Wire Length Correction 2
Wire Length Correction 3
Fast Stop
Wire Length Correction 1
Wire Length Correction 2
Wire Length Correction 3
Fast Stop
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