C4: Torque Compensation - YASKAWA Z1000 CIMR-ZU*A Series Programming Manual

Setting the S-curve will increase the acceleration and deceleration times.
Actual accel time = accel time setting + (C2-01 + C2-02) / 2
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.
C4-01
Torque Compensation in V/f 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 insufficient torque at start or when load is applied.
The effects of this voltage compensation can be increased or decreased using parameter C4-01.
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: 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.
C4-02
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.
YASKAWA SIEP YAIZ1U 03B YASKAWA AC Drive – Z1000 Programming Manual
FWD run
REV run
C2-02
Output
frequency
C2-01
<1> S-Curve characteristic at Decel Start/End is fixed to 0.20 s.
Figure 1.21 S-Curve Timing Diagram - FWD/REV Operation
Parameter Name
Torque Compensation Gain
Parameter Name
Torque Compensation Primary Delay Time
0.20 s
<1>
0.20 s
<1>
C2-01
0.20 s
C2-02
1.3 C: Tuning
0.20 s
<1>
<1>
Setting Range
Determined by
0.00 to 2.50
Setting Range
Determined by
0 to 60000 ms
A1-02 and o2-04
Default
A1-02
1
Default
53