YASKAWA T1000A Technical Manual page 238

5.9 n: Special Adjustments
Figure 5.89
Figure 5.90
Frequency
reference after
Soft Starter
U1-20
Note: 1. Feed Forward can only be used in CLV, AOLV/PM, and CLV/PM control modes.
2. Prior to using Feed Forward, always perform Auto-Tuning or set the correct motor data manually. Also perform ASR Auto-Tuning to
set the speed loop gain (C5-01), or adjust it manually. Fine-tune the other speed control loop parameters (C5-
3. If not restricted by the application, use Inertia Auto Tuning (T1-01 = 8) to have the drive automatically optimize Feed Forward
parameters. If Inertia Auto Tuning cannot be performed, parameters related to Feed Forward should be set manually.
n
n5-01: Feed Forward Control Selection
Enables to disables the Feed Forward function.
No.
n5-01
Setting 0: Disabled
Setting 1: Enabled
n
n5-02: Motor Acceleration Time
Sets the time required to accelerate the motor from a full stop up to the rated speed at the rated torque.
No.
n5-02
This value can be set automatically by Inertia Auto-Tuning. If Inertia Auto-Tuning cannot be performed, use one of the
methods below to determine the setting value for this parameter.
Calculation
The motor acceleration time can be calculated by,
2π J n
Motor rated
n5-02 =
60 T
rated
or
4π J
f
Motor rated
n5-02 =
p T
rated
238
1050
900
750
0
0 0.5 1
Time (s)
Conventional Speed Control
Figure 5.89 Overshoot Suppression by Feed Forward Control
Feed Forward Torque
Compensation Value
Feed Forward
Control
n5-02/03
+
Frequency
-
Reference
Speed
Feedback
Figure 5.90 Feed Forward Control
Name
Feed Forward Control Selection
Parameter Name
Motor Acceleration Time
Where:
• J is the motor inertia in kg⋅m
Motor
• n is the rated speed of the motor in r/min
rated
• T is the rated torque of the motor in N⋅m.
rated
Where:
• J is the motor inertia in kg⋅m
Motor
• f is the rated frequency of the motor in Hz.
rated
• p is the number of motor poles (not pole pairs!).
• T is the rated torque of the motor in N⋅m.
rated
1050
Overshoot
900
750
0
0 0.5 1
Time (s)
Feed Forward Control
Feed Forward Output
U6-26
+
ASR P and I
C5-01/02/03/04
U6-25
ASR Output
2
.
2
.
YASKAWA ELECTRIC SIEP C710616 30B YASKAWA AC Drive T1000A Technical Manual
Suppresses
overshoot at the
end of acceleration
ASR Delay and
Torque reference
+
Torque Limits
C5-06, L7-
U1-09
Setting Range
0 or 1
Setting Range
0.001 to 10.000 s
) if required.
Default
0
Default
Determined by C6-01,
E5-01 and o2-04