5.3 C: Tuning
YASKAWA ELECTRIC
SIEP C710636 02B YASKAWA U1000 Technical Manual
221
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C4: Torque Compensation
The torque compensation function compensates for insufficient torque production at start-up or when a load is applied.
Note:
Make sure the motor parameters and V/f pattern are set properly before setting torque compensation parameters.
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C4-01: Torque Compensation Gain
Sets the gain for the torque compensation function.
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, E5-05 for PM motors) and then 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 adjusted, changing the torque compensation gain in small steps of 0.05 may
help in the following situations:
• Increase this setting when using a long motor cable.
• Decrease this setting when motor oscillation occurs.
Adjust C4-01 so that 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. Too high a value can cause overcompensation, resulting in motor oscillation.
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C4-02: Torque Compensation Primary Delay Time
Sets the delay time used for applying torque compensation.
Adjustment
Although C4-02 rarely needs to be changed, adjustments may help in the following situations:
• If the motor vibrates, increase C4-02.
• If the motor responds too slowly to changes in the load, decrease C4-02.
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C4-03: Torque Compensation at Forward Start (OLV)
Sets the amount of torque at start in the forward direction in order 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 of 0.0% disables this feature.
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C4-04: Torque Compensation at Reverse Start (OLV)
Sets the amount of torque reference at start in the reverse direction in order 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.
No.
Parameter Name
Setting Range
Default
C4-01
Torque Compensation Gain
0.00 to 2.50
Determined by A1-02
No.
Parameter Name
Setting Range
Default
C4-02
Torque Compensation Primary Delay Time
0 to 60000 ms
Determined by A1-02
No.
Parameter Name
Setting Range
Default
C4-03
Torque Compensation at Forward Start
0.0 to 200.0%
0.0%
SIEP_C710636_02B_1_0.book 221 ページ ２０１５年１１月２５日 水曜日 午後４時５６分
