Setting 1: Enabled (6 Hz and above)
Setting 2: Enabled (compensation provided wherever possible)
u
C4: Torque Compensation
The torque compensation function compensates for insufficient torque production at start-up or when a load is applied.
Note:
Set the motor parameters and V/f pattern properly before setting torque compensation parameters.
n
C4-01: Torque Compensation Gain
Sets the gain for the torque compensation function.
No.
Parameter Name
Setting Range
Default
C4-01
Torque Compensation Gain
0.00 to 2.50
Determined by
A1-02
Torque Compensation in V/f, V/f w/PG, and OLV/PM:
The drive calculates the motor primary voltage loss using the output current and the termination resistor value (E2-05 for IM
motors, E5-05 for PM motors) and adjusts the output voltage to compensate for insufficient torque at start or when load is
applied. The effects of this voltage compensation can be increased or decreased using parameter C4-01.
Torque Compensation in OLV:
The drive controls the motor excitation current (d-Axis current) and torque producing current (q-Axis current) separately.
Torque compensation affects the torque producing current only. C4-01 works as a factor of the torque reference value that
builds the torque producing current reference.
Adjustment
Although this parameter rarely needs to be changed, it may be necessary to adjust the torque compensation gain in small steps
of 0.05 in the following situations:
• Increase this setting when using a long motor cable.
• Decrease this setting when motor oscillation occurs.
Adjust C4-01 so the output current does not exceed the drive rated current.
Note:
1.
Refrain from adjusting torque compensation in Open Loop Vector Control, as it can have a negative effect on torque accuracy.
2.
Refrain from adjusting this parameter in OLV/PM. Setting this value too high can cause overcompensation and motor oscillation.
n
C4-02: Torque Compensation Primary Delay Time
Sets the delay time used for applying torque compensation.
No.
Parameter Name
Setting Range
Default
C4-02
Torque Compensation Primary Delay Time
0 to 60000 ms
Determined by
A1-02
Adjustment
Although C4-02 rarely needs to be changed, adjustments may be necessary in the following situations:
• Increase this setting if the motor vibrates.
• Decrease this setting if the motor responds too slowly to changes in the load.
n
C4-03: Torque Compensation at Forward Start (OLV)
Sets the amount of torque at start in the forward direction to improve motor performance during start with a heavy load.
Compensation is applied using the time constant set in parameter C4-05. Enable this function when the load pulls the motor
in reverse when starting with a Forward run command. Setting 0.0% disables this feature.
No.
Parameter Name
Setting Range
Default
C4-03
Torque Compensation at Forward Start
0.0 to 200.0%
0.0%
n
C4-04: Torque Compensation at Reverse Start (OLV)
Sets the amount of torque reference at start in the reverse direction to improve motor performance during start with heavy
load. Compensation is applied using the Torque Compensation Time set in parameter C4-05. Enable this function if the load
pulls the motor in the forward direction when starting with a Reverse run command. Setting 0.0% disables this feature.
5.3 C: Tuning
YASKAWA ELECTRIC SIEP C710636 04D U1000 Industrial MATRIX Drive Technical Manual
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5
Parameter Details
Summary of Contents for U1000 iQpump Drive
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