Droop Control Function - YASKAWA G7 Series Technical Manual

Gain Adjustments at Minimum Output Frequency
Operate the motor at the minimum output frequency. Increase C5-03 (ASR proportional gain 2) to a level
where there is no oscillation. Decrease C5-04 (ASR integral time 2) to a level where there is no oscillation.
Monitor the Drive's output current and verify that it is less than 50% of the Drive rated current. If the output
current exceeds 50% of the Drive's rated current, decrease C5-03 and increase C5-04.
Gain Adjustments at Maximum Output Frequency
Operate the motor at the maximum output frequency. Increase C5-01 (ASR proportional gain 1) to a level
where there is no oscillation. Decrease C5-02 (ASR integral time 1) to a level where there is no oscillation.
Fine Adjustments
When you want even finer gain adjustment, adjust the gain while observing the speed waveform. The adjust-
ment method is the same as that for vector control.
Enable integral operation during acceleration and deceleration (by setting F1-07 to 1) when you want the
motor speed to closely follow the frequency reference during acceleration and deceleration. Reduce the setting
of C5-01 if overshooting occurs during acceleration, and reduce the setting of C5-03 and increase the setting
of C5-04 if undershooting occurs when stopping. If overshooting and undershooting cannot be eliminated by
adjusting only the gain, reduce the value of C5-05 speed control and reduce the limit of the frequency refer-
ence compensation value.

Droop Control Function

Droop control is a function that allows the user to set the amount of motor slip.
When a single load is operated with two motors (such as in a crane conveyor), a high-resistance motor is nor-
mally used. This is to use torque characteristics that exhibit proportion movements due to changes in the sec-
ondary resistor to maintain torque balance with the load and overall speed balance with the load.
If droop control is used, a high-resistance motor characteristics can be set for a general-purpose motor.
Related Parameters
Parameter
Number
Droop Control
Level
b7-01
Droop Quantity
Droop Control
Delay Time
b7-02
Droop Delay
Time
-134
6
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Name
Description
Display
Sets the speed decrease as a
percentage of motor base speed
(E1-06) when the motor is at
100% load torque. Setting of 0.0
disables droop control.
Determines the droop control
delay time in response to a load
change.
Change
Setting Factory
during
Range Setting
V/f
Operation
0.0
to 0.0 Yes No
100.0
0.03
to 0.05sec No A
2.00
Control Methods
Open Open
V/f
Loop Flux Loop
with
Vector Vector Vector
PG
1 2
No No A A
A A A A