(A) Application parameters
486
PARAMETERS
5.14.7 Swinging suppression control
Swinging suppression control operation (Pr.1073)
• Setting Pr.1073 Swinging suppression control operation selection = "1" enables swinging suppression control.
Swinging suppression control is available under speed control of Real sensorless vector control or vector 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.
• A deceleration to 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).
When an object is moved by a gantry crane, swinging is suppressed on the crane's traveling axis.
Pr. Name
Initial
value
Setting
range
Description
1072
A310
DC brake judgment time
for swinging
suppression 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
Swinging suppression
control operation
selection
0
0 Swinging suppression control disabled
1 Swinging suppression control enabled
1074
A312
Swinging suppression
frequency
1 Hz
0.05 to 3 Hz Sets the swinging frequency of the load.
9999
A swinging frequency is estimated based on the Pr.1077 to
Pr.1079 settings, and swinging suppression control is
performed.
1075
A313
Swinging suppression
depth
0 0 to 3 0 (Deep) 3 (Shallow)
1076
A314
Swinging suppression
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.
Sensorless
Sensorless
Vector
Vector
Frequency command
Frequency
Time
Frequency command of swinging suppression control
ON
RL
ON
RM
ON
STF
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