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5. PARAMETERS
5.14 (A) Application parameters
1
2
3
4
5
6
7
8
9
10
5.14.8 Anti-sway control
When an object is moved by a gantry crane, swinging is suppressed on the crane's traveling axis.
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.
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 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.
1073
A311
Anti-sway control
operation selection
0
0 Anti-sway control disabled
1 Anti-sway control enabled
1074
A312
Anti-sway control
frequency
1 Hz
0.05 to 3 Hz Set a swinging frequency of the object.
9999
Anti-sway control is performed using a swinging frequency estimated by the
inverter according to the settings of Pr.1077 to Pr.1079.
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 object.
Setting 3 2 1 0
Gain (depth) -4dB (shallow) -8 dB -14 dB -∞ (deep)
Frequency command
Frequency
Time
Frequency command of anti-sway control
ON
RL
ON
RM
ON
STF
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