No.
Parameter Name
Setting Range
Default
C4-04
Torque Compensation at Reverse Start
-200.0 to 0.0%
0.0%
n
C4-05: Torque Compensation Time Constant (OLV)
Sets the time constant for applying the torque compensation at start that is set to C4-03 and C4-04.
No.
Parameter Name
Setting Range
Default
C4-05
Torque Compensation Time Constant
0 to 200 ms
10 ms
n
C4-07: Motor 2 Torque Compensation Gain
Functions for motor 2 the same way that C4-01 functions for motor 1.
Refer to C3-01: Slip Compensation Gain on page 224
for details on adjusting this parameter.
No.
Parameter Name
Setting Range
Default
C4-07
Motor 2 Torque Compensation Gain
0.00 to 2.50
1.00
u
C5: Automatic Speed Regulator (ASR)
The ASR controls the motor speed in V/f w/PG, CLV, AOLV/PM, and CLV/PM control modes and adjusts the output frequency
(V/f w/PG) or torque reference (CLV, AOLV/PM, CLV/PM) to minimize the difference between frequency reference and
actual motor speed.
illustrate ASR functionality:
P
I
+
+
+
-
+
+
Output frequency
C5-01
C5-03
C5-02, C5-04
C5-05
Frequency
reference
Detected speed
Change
rate
limiter
Limit
ASR limit
Figure 5.36 Speed Control Block Diagram for V/f Control with PG
<1>
P
I
+
+
+
-
C5-02, C5-04
C5-06
I
C5-08
C5-01, C5-03
Frequency
reference
Detected speed
Torque limits
Torque reference
limit
Primary
filter
L7-01 to L7-04
Figure 5.37 Speed Control Block Diagram for CLV, AOLV/PM and CLV/PM
<1> AOLV/PM estimates the speed using the motor model and does not require an encoder feedback signal.
n
Adjusting the ASR Parameters
Perform Auto-Tuning and set up all motor data correctly prior to adjusting ASR parameters.
Use analog output signals to monitor the frequency reference after softstarter (U1-16) and the motor speed (U1-05) when
adjusting the ASR.
Refer to H4: Multi-Function Analog Outputs on page 303
for details on setting up analog output
functions.
Generally when tuning the ASR, optimize the ASR gain before adjusting the integral time settings. Always make adjustments
with the load connected to the motor.
Adjusting the ASR Parameters in V/f Control with PG
In V/f Control with PG, the ASR settings change between two sets of parameters depending on the motor speed as described
C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2/ASR Integral Time 1, 2
.
5.3 C: Tuning
228
YASKAWA ELECTRIC SIEP C710636 04D U1000 Industrial MATRIX Drive Technical Manual
Summary of Contents for U1000 iQpump Drive
Page 705: ......
