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2017 / 08 / 24

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VS-616F7 Parameter Guidel

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End User

CR700 Supplemental Manual

- - (Wire Length Detection & Cargo Swing Suppression) - -

This page does not need to be packaged with the product.

Use the following and subsequent pages when the manual will be included with the product.

Notes Distribution List & Quantities Department in Charge

Ordered by Development Section

Technology & Engineering Dept.

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Created on 2017-08-24
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YASKAWA AC Drive CR700
Supplemental Manual
(Wire Length Detection & Cargo Swing
Suppression)
(Software Version PRG: 010XX)

Table of Contents
1. REVISION HISTORY .............................................................................................................2
2. BASIC SPECIFICATIONS .................................................................................................3
3. FUNCTION DETAILS ..........................................................................................................4
3.1 WIRE LENGTH DETECTION .................................................................................................... 4
3.2 CARGO SWING SUPPRESSION (ANTI SWING CONTROL) ................................ 7
4. PARAMETER LIST ............................................................................................................ 15

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1. Revision History
Revision
Revised Content Date of Publication
Number
- First Edition 2017/08

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2. Basic Specifications
The CR700 is a drive designed especially for use with cranes. The basic specifications of the
CR700 are based on the information described in the CR700 Technical Manual. Refer to the
CR700 Technical Manual for more information about how to use the keypad and Auto-Tuning
methods.

 Precautions before Use

When using the drive with a lifting and lowering shaft, wire the drive so that hoisting direction
of the machine is the Forward Run command and the lowering direction of the machine is the
Reverse Run command (all control modes). If the movement of the machine and the direction
of the Run commands do not match, the functions and performance of the crane software will
be adversely affected, and it will not be possible to obtain sufficient performance from the
machine. If the direction of motor rotation does not match the machine, swap two phases of
the power lines to the motor and change F1-05 (Encoder 1 Rotation Selection) if the motor
has an encoder to set the hoisting direction of the machine to the Forward Run command and
the lowering direction of the machine to the Reverse Run command.
Install a fall detector or overspeed detector for safety.

 General Safety
• Install a holding brake.
• Implement safety measures such as fall prevention on the machine side.
• Ensure that the holding brake will be applied by an external sequence when there is an
emergency or the power supply is turned OFF.
• Implement a safety circuit that uses the fault relay of this product to apply the holding brake
when a fault occurs.

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3. Function Details

3.1 Wire Length Detection

Wire Length Detection detects the length of the wire on the lifting and lowering shaft using
information from the encoder connected to the drive. The proportion of the length from the
hoisting limit position (forward travel limit activation position) to the lowering limit position
(reverse travel limit activation position) of the lifting and lowering shaft can be externally output
as a percentage.
In cranes with a long lifting range, monitoring the wire length can be used as a guide for
changing the speed reference and inputting the Stop command. This function can also be used
as wire length information for Cargo Swing Suppression on the traverse shaft or traveling shaft.
Refer to "3.2 Cargo Swing Suppression" for more information about Cargo Swing Suppression.

◆ Applicable Control Modes

• V/f Control w/ PG (A1-02=1) *Use the dual-phase or higher encoder option.
• Closed Loop Vector (A1-02=3)

Precautions
• This function cannot be used when encoder output is single-phase.
• The multi-function analog output voltage of U9-02 [Hook Position (%)] at the hoisting limit
position is 0 V, but the lowering limit position can also be changed to 0 V with S9-05 [AO 0V
Reference Hook Position].
• If the wire length has a certain amount of length at the hoisting limit position, adjust that with
the analog monitor gain and bias.
• When S9-02=0 [Hook Position Reset @Power down] is selected, oPL [Origin Position Loss
Detected] will be output each time the power supply is turned ON. Reset oPL according to
the corrective action (hook position reset) listed in "4. Parameter List."
• When S9-02=1 [Hook Position Hold @Power down], oPL will not be output. However, to
maintain accuracy, regularly detect the origin position according to the information listed for
parameter S9-02. Also detect the origin position when the wire length changes while the
power supply is turned OFF, such as when maintenance is performed.

◆ System Configuration

Motor cable
PG cable
PG

Hoisting limit position

(Forward travel limit Lifting/lowering shaft
activation position) drive
PG option
S9 Forward travel limit input
S10 Reverse travel limit
Position 30% from hoisting limit input
position
SN

SC
SP
FM Analog output
Lowering limit position AC
(Reverse travel limit
activation position)
(Example: 3 V output at the
30% position.)

Figure 3.1 Example System Configuration of Wire Length Detection

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◆ Descriptions of Parameters

Hoisting limit position

S9-05 = 0 S9-05 = 1
(Forward travel limit
oor detection region U9-01 = 0 rotations U9-01 = 0 rotations
activation position)
U9-02 = 0% U9-02 = 100%
Analog output: 0 V Analog output: 10V

Hook RangeLim Number of

Rotation Hook Position (NumR)
S9-04 = xxxxx rotations U9-01 = yyyy rotations
Hook Position (%)
U9-02 = yyyy/xxxx × 100%
(When S9-05 = 0)

Lowering limit position U9-01 = xxxx rotations U9-01 = xxxx rotations

U9-02 = 100% U9-02 = 0%
(Reverse travel limit activation position) oor detection region
Analog output: 10V Analog output: 0 V

Figure 3.2 Wire Length Detection

 S9-01 Wire Length Detection Selection
Enables and disables Wire Length Detection.

No. Name Setting Range Default Setting

S9-01 Wire Length Detection Selection 0, 1 0
0: Disabled
1: Enabled
Perform the following procedure for the default settings.
• Hoist the hook to the hoisting limit position, and then input Forward Travel Limit or set S9-
03 to 1 [Hook Position Information Reset] to reset U9-01 [Hook Position (NumR)] to zero.
• Lower the hook to the lowering limit position, and set S9-04 [Hook RangeLim Number of
Rotation] to the value indicated by U9-01 at this time.

 S9-02 Hook Position Inform @Power down

Selects whether to hold or reset the hook position information when the power supply is turned
OFF.

No. Name Setting Range Default Setting

S9-02 Hook Position Inform @Power down 0, 1 0

0: Hook Position Reset @Power down

Resets the position information each time the power supply is turned ON. Detect the origin
position with one of the following options.
• Hoist the hook to the hoisting limit position, and then input Forward Travel Limit or set S9-
03 to 1.
• Lower the hook to the lowering limit position, and then input Reverse Travel Limit.
• When using S9-07 [Home Position Number of Rotation], move the hook to the home
position, and then input Home Position Set.
oPL [Origin Position Loss Detected] will be output until the origin position is detected.
1: Hook Position Hold @Power down
The origin position does not need to be detected each time the power supply is turned ON.
However, detect the origin position when the wire length changes while the power supply is
turned OFF, such as when maintenance is performed, and when an error occurs in Wire Length
Detection.
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 S9-03 Hook Position Information Reset
Sets the setting value of this parameter to 1 to zero reset U9-01 [Hook Position (NumR)].

No. Name Setting Range Default Setting

S9-03 Hook Position Information Reset 0, 1 0

0: Disabled
1: Enabled
After U9-01 is reset, the setting value of S9-03 is automatically reset to 0.

 S9-04 Hook RangeLim Number of Rotation

Sets the number of motor rotations when moving from the hoisting limit position (forward
travel limit activation position) to the lowering limit position (reverse travel limit activation
position).
No. Name Setting Range Default Setting
S9-04 Hook RangeLim Number of Rotation 0 to 20000 rotations 10000 rotations

 S9-05 AO 0V Reference Hook Position

Selects whether to set the hoisting limit position or the lowering limit position as the reference
position when the wire length is set to an analog output (AO). The analog signal is 0 V at the
selected reference position.

No. Name Setting Range Default Setting

S9-05 AO 0V Reference Hook Position 0, 1 0

0: Forward Limit Position

Forward travel limit activation position: 0 V, reverse travel limit activation position: 10 V
1: Lower Limit Position
Reverse travel limit activation position: 0 V, forward travel limit activation position: 10 V

 S9-06 Motion Range Over Detect Select

Displays the oor alarm when the setting value of S9-04 [Hook RangeLim Number of Rotation]
is exceeded.

No. Name Setting Range Default Setting

S9-06 Motion Range Over Detect Select 0, 1 0

0: Disabled
1: Enabled

 S9-07 Home Position Number of Rotation

Sets the value that will overwrite U9-01 (Hook Position) as the number of motor rotations when
Home Position Set signal is input. For this setting value, set the number of motor rotations from
the hoisting limit position to the home position (an arbitrary position).

No. Name Setting Range Default Setting

S9-07 Home Position Number of Rotation 0 to 20000 rotations 0 rotations

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3.2 Cargo Swing Suppression (Anti Swing Control)
Cargo Swing Suppression suppresses swinging of the cargo that occurs when the traverse
shaft or traveling shaft accelerates and decelerates in an overhead crane. This function is
effective for suppressing swinging of the cargo and reducing takt time by adjusting the
acceleration and deceleration times during operation. When the function is enabled, the
acceleration and deceleration times are adjusted to times that can suppress cargo swing based
on the acceleration and deceleration times set for the C parameter. For U1-16 [SFS Output
Frequency], the adjusted frequency is output by Anti Swing Control.

◆ Applicable Control Modes

• V/f Control (A1-02 = 0)
• V/f Control w/ PG (A1-02 = 1)
• Open Loop Vector (A1-02 = 2)
• Closed Loop Vector (A1-02 = 3)
• Advanced Open Loop Vector (A1-02 = 4)

Trolley
トロリ－

Cargo
Frequency
周波数 荷
Cargo swinging generated by
加減速により生じる荷振れ
acceleration and deceleration

Time
時間

(a) Function Disabled (S9-11 = 0)

トロリ－
Trolley

Frequency Cargo
荷
周波数
Set acceleration
設定加速時間 Cargo Swing Suppression
荷振れを抑制
time
U1-16
[ソフトスタート後の出力周波数]
SFS Output Frequency
Swing振れ角
Angle Time
時間
Set deceleration
設定減速時間 time

Time
時間

運転指令
Run Command

振れ止め
During Anti
Swing 制御中
Control

(b) Function Enabled (S9-11 = 1)

Figure 3.3 Cargo Swing Suppression (Anti Swing Control)

Note:
• The effect of Cargo Swing Suppression when the traverse shaft or traveling shaft stops is
dependent on the mechanical configuration of the crane. Be aware that cargo swinging
caused by the lifting and lowering operation of the crane, wind, and/or the mechanical
configuration of the crane cannot be suppressed.
• Be aware that effect of Cargo Swing Suppression will be lessened when there is a large degree
of error between the length of the center of gravity position of the wire tip from the center of
the lifting and lowering shaft drum and U9-06 [Wire Length].

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• 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.

Traverse shaft drive Traveling shaft drive

Multi-function digital inputs Multi-function digital inputs
Wire Length Correction 1 Wire Length Correction 1

Wire Length Correction 2 Wire Length Correction 2

Wire Length Correction 3 Wire Length Correction 3

Fast Stop Fast Stop

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 1

Wire Length Correction 2 Wire Length Correction 2

Wire Length Correction 3 Wire Length Correction 3

Fast Stop Fast Stop

External Inputs according

to lifting/lowering External Inputs External Inputs
･Analog connection ･Analog input ･Analog input
･MEMOBUS ･MEMOBUS ･MEMOBUS
communications input wire length input wire length

Figure 3.5 Example of Connections When There are Large Changes in the Center of Gravity
Position

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◆ Enabling and Disabling Anti Swing Control
Anti Swing Control can be enabled and disabled by external digital input (H1- = 50) (only
during bb [Baseblock]). Anti Swing Control changes from enabled to disabled when the
following functions are active. Be aware that any cargo swinging that occurs while Anti Swing
Control is disabled cannot be suppressed.

Function Operation

When the Fast Stop command is input while Anti Swing Control is active, Anti Swing
Fast Stop Control will be disabled and the drive will ramp to stop in the deceleration time set with
C1-09 [Fast Stop Time].

When Rapid Deceleration is enabled while Anti Swing Control is active, Anti Swing
Control will be disabled and the drive will ramp to stop according to S2-19 [Rapid
Rapid Deceleration
Deceleration Time]. If Rapid Deceleration is enabled during operation, Anti Swing Control
will not be re-enabled when Rapid Deceleration is disabled.

When using S1 [Brake Sequence], Anti Swing Control will be disabled while the Brake
Release command is OFF. The effect of Cargo Swing Suppression will decrease when
the frequency level that turns ON the Brake Release command is high. Implement the
Brake Sequence following measures if you need to increase the effect of Cargo Swing Suppression.
• Lower the frequency level that turns ON the Brake Release command.
• Set S1-54＝0 [Disable Brake Sequence] and assign during bb [Baseblock] to the
Brake command.

Motors 2 and 3 do not support Anti Swing Control. Anti Swing Control is applied to
Motor Switch
motor 1.

◆ Descriptions of Parameters
 S9-11 Anti-Swing Control Selection
Enables and disables Anti Swing Control.

No. Name Setting Range Default Setting

S9-11 Anti-Swing Control Selection 0, 1 0

0: Disabled
1: Enabled (Feedforward)

 S9-14 Wire Length Detection Method

Selects the wire length detection method.

No. Name Setting Range Default Setting

S9-14 Wire Length Detection Method 0 to 2 0

0: Fix (S9-19 [Wire Length])

Uses the setting value of S9-19 [Wire Length]. The wire length can also be changed in steps
using S9-28 to S9-30 [Correction value1 to 3 of Wire Length].

1: External (Analog Input)

Uses the input value of an analog input terminal. The set wire length can be changed
according to the analog input value. When this parameter is used in combination with Wire
Length Detection of the lifting and lowering shaft drive, U9-06 [Wire Length] will change
according to the analog output of Wire Length Detection. If the center of gravity position of
the wire tip changes due to the condition of the suspended cargo, correct for this using S9-
28 to S9-30 [Correction value1 to 3 of Wire Length].

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2: External (COM)
Uses the input value from MEMOBUS communications. The set wire length can be changed
according to the input value from MEMOBUS communications. When this parameter is used in
combination with Wire Length Detection of the lifting and lowering shaft drive, U9-06 [Wire
Length] will change according to the detected value of Wire Length Detection. If the center of
gravity position of the wire tip changes due to the condition of the suspended cargo, correct
for this using S9-28 to S9-30 [Correction value1 to 3 of Wire Length].

Motor cable Motor cable

Encoder cable Encoder cable

Cargo Cargo

(a) When There is Little Change in the Center of Gravity Position of the Wire Tip from the
Center of the Lifting and Lowering Shaft Drum (A ≒ B)

Motor cable Motor cable

Encoder cable Encoder cable

Cargo

Cargo

(b) When There is a Large Change in the Center of Gravity Position of the Wire Tip from the
Center of the Lifting and Lowering Shaft Drum (C ≠ D)

Figure 3.6 Wire Length from the Center of the Lifting and Lowering Shaft Drum to the Center
of Gravity Position of the Wire Tip

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 S9-19 Wire Length
Sets the wire length in meters from the center of the lifting and lowering shaft drum to the
center of gravity position of the wire tip when the wire is lowered. When using Wire Length
Detection on the lifting and lowering shaft drive, set this parameter so that Wire Length
Detection is 100% output when the hook is lowered. Refer to "3.1 Wire Length Detection" for
more information about Wire Length Detection.
No. Name Setting Range Default Setting
S9-19 Wire Length 1.0 to 50.0 m 10.0 m

S9-14 = 0: Setting value of the wire length.

Sets the wire length from the center of the lifting and lowering shaft drum to the center of
gravity position of the wire tip. The wire length can be changed in steps using S9-28 to S9-
30 [Correction value1 to 3 of Wire Length].

S9-14 = 1: Sets the wire length when the analog input is 100%.
Sets the wire length in meters from the center of the lifting and lowering shaft drum to the
center of gravity position of the wire tip when the wire is lowered to the lowering limit
(reverse travel limit activation) with no cargo suspended. If the center of gravity position of
the wire tip changes due to the condition of the suspended cargo, correct for this using S9-
28 to S9-30 [Correction value1 to 3 of Wire Length].

S9-14 = 2: Sets the wire length when the MEMOBUS input is 100%.
Sets the wire length in meters from the center of the lifting and lowering shaft drum to the
center of gravity position of the wire tip when the wire is lowered to the lowering limit
(reverse travel limit activation) with no cargo suspended. If the center of gravity position of
the wire tip changes due to the condition of the suspended cargo, correct for this using S9-
28 to S9-30 [Correction value1 to 3 of Wire Length].

 S9-20 Wire Length@Rolling Up

This parameter is enabled when Wire Length Detection Method is set to an external input (S9-
14 = 1 or 2).
This parameter sets the wire length in meters from the center of the lifting and lowering shaft
drum to the center of gravity position of the wire tip when the wire is hoisted to the hoisting limit
(forward travel limit activation) with no cargo suspended. When using Wire Length Detection on
the hosting/lowering shaft drive, set this parameter so that Wire Length Detection is 0% output
at the hoisting limit.
S9-14 = 1: Sets the wire length to S9-20 when the analog input is 0%.
S9-14 = 2: Sets the wire length to S9-20 when the MEMOBUS input is 0%.

No. Name Setting Range Default Setting

S9-20 Wire Length@Rolling Up 1.0 to 50.0 m 1.0 m

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 At hoisting Limit At lowering limit
(At forward travel (At reverse travel
limit activation) limit activation)
Motor cable Motor cable Motor cable
Encoder cable Encoder cable Encoder cable

Length calculated using

external input value

[Wire Length@Rolling Up]

[Wire Length]

Change in center of gravity position of wire tip due to suspended cargo

Corrected by S9-28 to 30 [Correction value1 to 3 of Wire Length]

Cargo

Figure 3.7 Settings when S9-14 = 1 or 2 [Wire Length Detection Method = External Input]

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 S9-28 Correction value1 of Wire Length
Sets the wire length correction value in meters for the center of gravity position of the wire tip.
To enable the correction value, set Wire Length Correction 1 (51 or 151) to a multi-function
digital input (H1-), and then enable and disable the correction value with external input.

No. Name Setting Range Default Setting

S9-28 Correction value1 of Wire Length -50.0 to 50.0 m 0.0 m

 S9-29 Correction value2 of Wire Length

Sets the wire length correction value in meters for the center of gravity position of the wire tip.
To enable the correction value, set Wire Length Correction 2 (52 or 152) to a multi-function
digital input (H1-), and then enable and disable the correction value with external input.
No. Name Setting Range Default Setting
S9-29 Correction value2 of Wire Length -50.0 to 50.0 m 0.0 m

 S9-30 Correction value3 of Wire Length

Sets the wire length correction value in meters for the center of gravity position of the wire tip.
To enable the correction value, set Wire Length Correction 3 (53 or 153) to a multi-function
digital input (H1-), and then enable and disable the correction value with external input.
No. Name Setting Range Default Setting
S9-30 Correction value3 of Wire Length -50.0 to 50.0 m 0.0 m

U9-06
Wireワイヤ長
Length

S9-30

S9-30
S9-29 S9-29

S9-29 S9-30
S9-28 S9-28 S9-28 S9-28

Length according to
S9-19もしくは外部
S9-19 入力に応じた長さ
or external input

時間
Time
ワイヤ長補正1 ON ON
Wire Length Correction 1
ワイヤ長補正2 ON ON ON
Wire Length Correction 2

ワイヤ長補正3 ON ON
Wire Length Correction 3

Figure 3.8 Wire Length and the Status of Wire Length Correction Multi-Function Digital Inputs

When multiple corrections are enabled using Wire Length Correction 1 to 3, the wire length is
corrected with the total value of the enabled correction values. However, the wire length is
limited by the setting range of Wire Length (S9-19).

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4. Parameter List
◆ S9 Application for Crane
Default Setting
No. (Hex.) Name Description Ref.
(Range)

S9: Application for Crane

V/f CL-V/f OLV CLV AOLV

S9-01 Wire Length Enables and disables Wire Length Detection. 0

(1A8C) Detection 0: Disabled 5
(0, 1)
Expert Selection 1: Enabled *oPL [Origin Position Loss Detected] is detected
when this setting value changes from 0 to 1.

V/f CL-V/f OLV CLV AOLV

S9-02 Hook Position
0
(1A8D) Inform @Power 0: Hook Position Reset @Power down 5
(0, 1)
Expert down 1: Hook Position Hold @Power down

V/f CL-V/f OLV CLV AOLV

S9-03 Hook Position
0: Hook Position Hold 0
(1A8E) Information 6
1: Hook Position Reset (U9-01=0) (0, 1)
Expert Reset
*After U9-01 is reset, the setting value of S9-03 is reset to 0.

V/f CL-V/f OLV CLV AOLV

S9-04 Hook RangeLim 10000 rotations
(1A8F) Number of Sets the number of motor rotations from the hoisting limit (0 to 20000 6
Expert Rotation (forward travel limit activation) position to the lowering limit rotations)
(reverse travel limit activation) position.

V/f CL-V/f OLV CLV AOLV

S9-05 AO 0V
0
(1A90) Reference Hook 0: Forward Limit Position: Upper limit 0 V, lower limit 10 V 6
(0, 1)
Expert Position 1: Lower Limit Position: Upper limit 10 V, lower limit 0 V

V/f CL-V/f OLV CLV AOLV

S9-06 Motion Range
0
(1A91) Over Detect 0: Disabled 6
(0, 1)
Expert Select 1: Enabled

V/f CL-V/f OLV CLV AOLV

S9-07 Home Position 0 rotations
(1A92) Number of Sets the number of motor rotations from the hoisting limit (0 to 20000 6
Expert Rotation position to the home position (an arbitrary position) when rotations)
Home Position Set is input.

V/f CL-V/f OLV CLV AOLV

S9-11 Anti-Swing
Enables and disables Anti Swing Control. 0
(1A94) Control 10
0: Disabled (0, 1)
Expert Selection
1: Enabled (Feedforward)

V/f CL-V/f OLV CLV AOLV

S9-14 Selects the wire length detection method.

Wire Length
(1A97) 0: Fix (S9-19 [Wire Length]) 0
Detection 10
Expert 1: External (AI) (0 to 2)
Method
2: External (COM)

V/f CL-V/f OLV CLV AOLV

The wire length detection method changes according to the

setting of S9-14 [Wire Length Detection Method].
• S9-14=0 [Fix]
Sets the wire length in meters from the center of the
hoisting and lowering shaft drum to the center of gravity
S9-19 position of the wire tip in conditions where Cargo Swing 10.0 m
(1A9C) Wire Length Suppression is applicable. 12
(1.0 to 50.0 m)
Expert • S9-14=1 or 2 [Wire Length Detection Method = External
Input]
Sets the wire length in meters from the center of the
lifting and lowering shaft drum to the center of gravity
position of the wire tip when the wire is lowered to the
lowering limit (reverse travel limit activation) with no cargo
suspended.

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 Default Setting
No. (Hex.) Name Description Ref.
(Range)

V/f CL-V/f OLV CLV AOLV

When S9-14 = 1 or 2 [Wire Length Detection Method =

S9-20 Wire External Input] is enabled. 1.0 m
(1A9D) Length@Rolling Sets the wire length in meters from the center of the lifting 12
(1.0 to 50.0 m)
Expert Up and lowering shaft drum to the center of gravity position of
the wire tip when the wire is hoisted to the hoisting limit
(forward travel limit activation) with no cargo suspended.

V/f CL-V/f OLV CLV AOLV

S9-28 Correction Sets the wire length correction value in meters for the center
of gravity position of the wire tip. The correction value is the 0.0 m
(1AA5) value1 of Wire 14
total value of the correction values that are enabled by multi- (-50.0 to 50.0 m)
Expert Length
function digital input out of the values of Correction value1
to 3 of Wire Length.

V/f CL-V/f OLV CLV AOLV

Correction Sets the wire length correction value in meters for the center
S9-29
value2 of Wire of gravity position of the wire tip. The correction value is the 0.0 m
(1AA6) 14
Length total value of the correction values that are enabled by multi- (-50.0 to 50.0 m)
Expert
function digital input out of the values of Correction value1
to 3 of Wire Length.

V/f CL-V/f OLV CLV AOLV

S9-30 Correction Sets the wire length correction value in meters for the center
of gravity position of the wire tip. The correction value is the 0.0 m
(1AA7) value3 of Wire 14
total value of the correction values that are enabled by multi- (-50.0 to 50.0 m)
Expert Length
function digital input out of the values of Correction value1
to 3 of Wire Length.

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◆ Multi-Function Digital Inputs (H1-)
H1 Multi-Function Digital Inputs
Setting
Function Description Ref.
Value
V/f CL-V/f OLV CLV AOLV

When this multi-function digital input is closed during forward operation, the
Forward Travel Brake Release command is opened (brake is applied) and the motor coasts to
31 stop. Only the Reverse Run command is accepted at this time. When this -
Limit (N.O.)
multi-function digital input is closed during reverse operation, the operation
does not change. The Forward Run and Reverse Run commands are both
valid when this digital input is open.

V/f CL-V/f OLV CLV AOLV

When this multi-function digital input is opened during forward operation, the
Forward Travel Brake Release command is opened (brake is applied) and the motor coasts to
32 stop. Only the Reverse Run command is accepted at this time. -
Limit (N.C.)
When this multi-function digital input is closed during reverse operation, the
operation does not change. The Forward Run and Reverse Run commands
are both valid when this digital input is open.

V/f CL-V/f OLV CLV AOLV

When this multi-function digital input is closed during reverse operation, the
Reverse Travel Brake Release command is opened (brake is applied) and the motor coasts to
33 stop. Only the Forward Run command is accepted at this time. -
Limit (N.O.)
When this multi-function digital input is closed during forward operation, the
operation does not change. The Forward Run and Reverse Run commands
are both valid when this digital input is open.

V/f CL-V/f OLV CLV AOLV

When this multi-function digital input is opened during reverse operation, the
Reverse Travel Brake Release command is opened (brake is applied) and the motor coasts to
34 stop. Only the Forward Run command is accepted at this time. -
Limit (N.C.)
When this multi-function digital input is closed during forward operation, the
operation does not change. The Forward Run and Reverse Run commands
are both valid when this digital input is open.

V/f CL-V/f OLV CLV AOLV

3C Home Position Set Closes Home Position Set to set the setting value of S9-07 [Home Position 6
Number of Rotation] to U9-01.

V/f CL-V/f OLV CLV AOLV

When S9-11=1 [Anti-Swing Control Selection Enabled], Anti Swing Control

50 Anti Swing Switch can be enabled and disabled by external digital input only during bb 10
[Baseblock].
To disable Anti Swing Control for safety during operation, use Fast Stop or
Rapid Deceleration.

V/f CL-V/f OLV CLV AOLV

Corrects the center of gravity position of the wire tip using an external digital
input.
When S9-14=0 [Wire Length Detection Method = Fix], the setting value of
Wire Length S9-19 [Wire Length] is corrected with the setting value of S9-28 [Correction
51 value1 of Wire Length]. 14
Correction 1
When S9-14=1 or 2 [Wire Length Detection Method = External], the wire
length calculated from the external input is corrected with the setting value of
S9-28 [Correction value1 of Wire Length].
The correction value is the total value of the correction values that are
enabled by Wire Length Correction 1 to 3.

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 H1 Multi-Function Digital Inputs

Setting
Setting Value Setting Value
Value
V/f CL-V/f OLV CLV AOLV

Corrects the center of gravity position of the wire tip using an external digital
input.
When S9-14=0 [Wire Length Detection Method = Fix], the setting value of
S9-19 [Wire Length] is corrected with the setting value of S9-29 [Correction
Wire Length value2 of Wire Length].
52 14
Correction 2 When S9-14=2 or 2 [Wire Length Detection Method = External], the wire
length calculated from the external input is corrected with the setting value of
S9-29 [Correction value1 of Wire Length].
The correction value is the total value of the correction values that are
enabled by Wire Length Correction 1 to 3.

V/f CL-V/f OLV CLV AOLV

Corrects the center of gravity position of the wire tip using an external digital
input.
When S9-14 = 0 [Wire Length Detection Method = Fix], the setting value of
S9-19 [Wire Length] is corrected with the setting value of S9-30 [Correction
Wire Length value3 of Wire Length].
53 14
Correction 3 When S9-14 = 1 or 2 [Wire Length Detection Method = External], the wire
length calculated from the external input is corrected with the setting value of
S9-30.
The correction value is the total value of the correction values that are
enabled by Wire Length Correction 1 to 3.

V/f CL-V/f OLV CLV AOLV

Home Position Set
13C -
Inverse Output Inverse output of setting value 3C.
V/f CL-V/f OLV CLV AOLV
Anti Swing Switch
150 Inverse input of setting value 50. -
Inverse Input
V/f CL-V/f OLV CLV AOLV
Wire Length
151 Correction 1 Inverse input of setting value 51. -
Inverse Input
V/f CL-V/f OLV CLV AOLV
Wire Length
Inverse input of setting value 52.
152 Correction 2 -
Inverse Input
V/f CL-V/f OLV CLV AOLV
Wire Length
153 Correction 3 Inverse input of setting value 53. -
Inverse Input

◆ Multi-Function Digital Outputs (H2-)

H2 Multi-Function Digital Outputs
Setting
Function Description Ref.
Value
V/f CL-V/f OLV CLV AOLV

During Anti Swing Allows you to check the control status of Anti Swing Control when S9-11 = 1
50 [Anti-Swing Control Selection Enabled]. This output terminal is closed when 7
Control
Anti Swing Control is active.
During Anti Swing V/f CL-V/f OLV CLV AOLV

150 Control Inverse output of setting value 50. -

Inverse Output

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◆ Multi-Function Analog Inputs (H3-02/H3-06/H3-10)
H3 Multi-Function Analog Inputs

Setting
Function Description Ref.
Value
V/f CL-V/f OLV CLV AOLV
Inputs the wire length to the drive as analog input. This input is used when S9-14 =
28 Wire Length 1. 10
100% = S9-19 [Wire Length]
0% = S9-20 [Wire Length@Rolling Up]

◆ MEMOBUS Inputs
MEMOBUS Inputs

Register
No. Function Range Resolution Unit Description Ref.
(Hex.)

V/f CL-V/f OLV CLV AOLV

0.0 to Inputs the wire length to the drive as analog input. This input is
Wire
00F4 0.1 % used when S9-14 = 2. 10
Length 100.0 100% = S9-19 [Wire Length]
0% = S9-20 [Wire Length@Rolling Up]

◆ Monitors
No.
Name Description MFAO Signal Level Unit Ref.
(Hex.)

U9: Dedicated Application Monitors

V/f CL-V/f OLV CLV AOLV

U9-01 Displays the current position of the hook as the

Hook Position number of motor rotations. The number of motor No signal output 1
(0820) 5
(NumR) rotations is always the Forward Limit Position available rotation
Expert
(forward travel limit = 0 revolutions).

V/f CL-V/f OLV CLV AOLV

U9-02 Displays the current position of the hook (U9-01) as 10 V: Hook

Hook Position a percentage.
(0821) RangeLim Number 0.1% 5
(%) The reference position is set with S9-05. The display
Expert
is limited between 0% and 100%. of Rotation

V/f CL-V/f OLV CLV AOLV

U9-06 10 V: Wire Length
(0825) Wire Length The monitor value of the wire length. 0.1 m 14
Expert The wire length after wire length correction is (S9-19)
output.

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◆ OPE Errors
For parameter setting errors related to these functions, refer to the following table, check the
parameter setting that caused the error, and then remove the cause of the error.

Code Name Cause Possible Solution

V/f Control w/ PG (A1-02 = 1) and Use a dual-phase or higher pulse encoder.
the single-phase pulse encoder option
(FA-21 = 0) is installed.

Anti Swing Control and Overload Check the shaft to which the drive is
Detection were set at the same time.
connected. If the shaft is the traverse shaft
(S9-11≠0 and S5-01≠0 or S5-04≠0) or traveling shaft, disable Overload
Detection. If the shaft is the lifting and
lowering shaft, disable Anti Swing Control.
Parameter Selection
oPE08
Error Anti Swing Control and Light-Load Check the shaft to which the drive is
Acceleration were set at the same time. connected. If the shaft is the traverse shaft
(S9-11≠0 and S4-01≠0) or traveling shaft, disable Light-Load
Acceleration. If the shaft is the lifting and
lowering shaft, disable Anti Swing Control.
Anti Swing Control and Wire Length Check the shaft to which the drive is
Detection were set at the same time. connected. If the shaft is the traverse shaft
(S9-11≠0 and S9-01 = 0) or traveling shaft, disable Wire Length
Detection. If the shaft is the lifting and
lowering shaft, disable Anti Swing Control.
H3-xx = 28 (Wire Length) is not set Set H3-xx to 28.
when S9-14 = 1 (Wire Length
Detection Method: Analog) is set.
Anti-Swing Setting
oPE34
Error S9-19 (Wire Length) is set to a value Correctly set the parameters so that S9-19
smaller than S9-20 (Wire ≧ S9-20.
Length@Rolling Up).

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◆ Alarm
Code Name Cause Possible Solution

The range of the lifting/lowering Review the setting value of S9-04 [Hook
operation has exceeded the setting RangeLim Number of Rotation].
value of S9-04 [Hook RangeLim
Number of Rotation]. Detect the origin position with one of the
following options.
• Hoist the hook to the hoisting limit
position, and then input Forward Travel
Over Operation Limit or set S9-03 = 1 [Hook Position
oor
Region Reset].
• Lower the hook to the lowering limit
position, and then input Reverse Travel
Limit.
• When using S9-07 [Home Position
Number of Rotation], move the hook to
the home position 2, and then input Home
Position Set.
The origin (home) position was not Detect the origin position with one of the
detected when Wire Length Output following options.
was enabled.
• Hoist the hook to the hoisting limit
position, and then input Forward Travel
Limit or set S9-03 = 1 [Hook Position
Reset].
Origin Position Loss
oPL • Lower the hook to the lowering limit
Detected
position, and then input Reverse Travel
Limit.
• When using S9-07 [Home Position
Number of Rotation], move the hook to
the home position 2, and then input Home
Position Set.

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