u
Fine-Tuning Closed Loop Vector Control
Table 6.3 Parameters for Fine-Tuning the Performance in CLV
Problem
Parameter No.
Corrective Action
Default
Suggested
Setting
• Poor torque or speed
response
• Motor hunting and
oscillation
ASR Proportional Gain 1
(C5-01)
ASR Proportional Gain 2
(C5-03)
• Gradually increase the ASR gain setting in increments of 5 if
motor torque and speed response are too slow.
• Reduce the setting if motor hunting and oscillation occur.
• Only adjust parameter C5-03 when C5-05 > 0.
• Perform ASR Auto-Tuning if possible.
20.00
10.00 to 50.00
• Poor torque or speed
response
• Motor hunting and
oscillation
ASR Integral Time 1
(C5-02)
ASR Integral Time 2
(C5-04)
• Reduce the setting if motor torque and speed response are too
slow.
• Increase the setting if motor hunting and oscillation occur.
• Only adjust parameter C5-04 when C5-05 > 0.
0.500 s
0.300 to 1.000 s
Difficulty maintaining the
ASR proportional gain or
the integral time at the low
or high end of the speed
range
ASR Gain Switching
Frequency (C5-07)
Switch the drive between two different ASR proportional gain and
integral time settings based on the output frequency.
0.0 Hz
0.0 to max output
frequency
Motor hunting and
oscillation
ASR Primary Delay
Time Constant (C5-06)
• Gradually reduce the setting in 0.01 s increments if motor torque
and speed response are too slow.
• Increase the setting if the load is less rigid and subject to
oscillation.
0.004 s
0.004 to 0.020 s
• Motor noise
• Control motor hunting
and oscillation occur at
speeds below 3 Hz
Carrier Frequency
Selection (C6-02)
• Increase the carrier frequency if there is too much motor noise.
• Reduce the carrier frequency if motor hunting and oscillation
occur at low speeds.
0 to 4, F
Overshoot or undershoot
when the speed changes
with high inertia load
Feed Forward Control
Selection (n5-01)
Inertia Tuning
(T1-01 = 8)
Set parameter n5-01 to 1 to Enable Feed Forward then perform
Inertia Tuning. Manually set parameters C5-17, C5-18, and n5-03
if Inertia Tuning is not possible.
0
1
<1>
Refer to C5: Automatic Speed Regulator (ASR) on page 228
<2> Default setting is dependent on parameter o2-04, Drive Model Selection.
<3> Setting range is 1 to 4 and F for models 2
Setting range is 0 and F for models 4
6.2 Motor Performance Fine-Tuning
358
YASKAWA ELECTRIC SIEP C710636 04D U1000 Industrial MATRIX Drive Technical Manual
Summary of Contents for U1000 iQpump Drive
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