Yaskawa CH700 inverter innovatively integrates anti-sway control technology

When the crane is working, the start and stop of the cart and trolley mechanism, as well as the acceleration and deceleration process, will cause the suspended load to swing, which not only reduces the production efficiency but also brings great safety hazards to the staff and related equipment. Yaskawa Electric has been deeply involved in the field of drive control of complete cranes since the last century, and has been successfully applied to anti-sway control technology in the fields of metallurgy and port loading and unloading machinery for more than 25 years.

Today, Yaskawa's high-performance vector control inverter CH700 for the lifting field has a built-in anti-sway function, which can effectively solve the problem of sway during translation. Today, I will introduce the anti-sway suppression function of Yaskawa CH700 inverter from the selection rules, wiring and debugging steps.

CH700 inverter

Integrated anti-sway control technology

Yaskawa CH700 inverter innovatively integrates anti-sway control technology

　　High-performance inverter CH700 for lifting

　　The CH700 anti-sway function is applied

　　Horizontal movement of the crane mechanism is suitable for anti-sway technology!

　　CH700 anti-sway function advantages

Cost savings

There is no need to add an inverter option or a dedicated angle sensor for sway protection.

Wide adaptability

Speed open-loop or closed-loop control, V/f or vector control, translation mechanism or slewing mechanism can be used.

The system is simple

There is no need for complex signal connections, and the anti-sway effect can be achieved even if the hoisting does not use a frequency converter.

Easy commissioning

Parameter settings are minimal, and you can set them with one click.

The results are excellent

Open-loop anti-sway technology can go beyond traditional mechanical sway protection and simple closed-loop sway control.

CH700 selection rules and wiring

Inverters (carts, trolleys, lifts)

Anti-sway of trolley running mechanism: CH700

Trolley running mechanism anti-sway: CH700

Lifting mechanism: There is no anti-sway concept itself, but in order to realize the rope length signal exchange of automatic anti-sway of large and small cars, CH700 must be selected.

encoder

For the hoisting inverter to perform automatic rope length calculation, it must be equipped with an encoder.

External Others (Brake Unit)

According to the actual working conditions, such as the poor configuration of the inverter brake unit of large and small cars, it will affect the anti-sway effect.

　　Debugging steps

Detection and debugging of the rope length of the lifting mechanism

STEP1: Self-learning

1. Set the control mode. The lift detection function is only valid in mode with PG vector control. The drive IM motor is A1-02=3;

2. Carry out motor self-learning.

STEP2: Test run

1. Give the inverter up and down operation instructions respectively, and give the frequency command at the same time;

2. Observe whether the monitoring data is normal during no-load operation;

3. Make sure that when rising, the output frequency is positive, and when falling, the output frequency is negative.

STEP3: Reset the hook position

1. Pull the hook up to the upper limit position through the forward rotation inverter;

2. Set the wire rope length detection function to be effective (S9-01 is set to 1);

3. When S9-01 is set to 1, the inverter will alarm OPL, and the alarm will be eliminated after setting S9-03 to 1. The hook is 0 at the upper limit position.

　　STEP4: Record the number of motor revolutions between the upper and lower limits

1. Put the hook from the upper limit to the lower limit;

2. Check the value of the motor speed U9-01 between the upper and lower limits, and input the value of U9-01 into the parameter S9-04.

　　STEPSTEP5: Final confirmation

1. Set FM function H4-02 to 902;

2. Move the hook up and down to observe whether the U9-02 changes according to the position of the hook and whether it changes between 0-100%;

3. Measure whether the voltage between FM-AC varies between 0-100%.

Ensure that the inverter does not report OOR failure when the hook moves up and down

*Note 1: In case the inverter reports oPL (the origin position is not detected) after each power failure and power on, it is recommended to set S9-02 to 1 (when the power is cut off, the position information is maintained).

*Note 2: If you rewind the wire rope and change the machinery, it is recommended to reset the hook position from STEP3 and start the above process again.

*Note 3: If the stroke limit signal is connected to the inverter, the automatic reset of the rope length signal can also be realized to maintain the rope length accuracy of daily operation.

Debugging of anti-sway function of large and small cars

When the wire rope length detection method is a fixed value:

STEP1: Select the rope length detection method

S9-14 (wire rope length detection method) is selected as 0 (fixed value).

STEP2: Manually set the fixed length of the wire rope

In S9-19 (Wire Rope Length), set the length of the center of gravity position of the front end of the wire rope from the center of the lifting shaft drum to the center of gravity of the wire rope when it is rolled down.

STEP3: Turn on the anti-sway function

Set S9-11=1 to make anti-sway control effective.

When the wire rope length detection method is external input:

STEP1: Select the rope length detection method

S9-14 (wire rope length detection method) is selected as 1 (analog input) or 2 (MEMOBUS input).

STEP2: Measure the length of the wire rope at the upper limit

Pull the hook to the upper limit position, measure the distance from the center of the drum to the center of the front section of the wire rope with a tape measure, as shown in the figure on the right, and record the measured distance in meters into the parameters S9-20 of the large and small trolley.

　　STEP3: Measure the length of the lower limit wire rope

Pull the hook to the lower limit position, measure the distance from the center of the reel to the center of the front section of the wire rope with a tape measure, as shown in the figure on the right, and record the measured distance in meters into the parameters S9-19 of the large and small trolley.