C4: Torque Compensation - YASKAWA GA800 Programming Manual

2.4 C: Tuning
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C4: Torque Compensation

Torque compensation is a function that increases voltage to increase output torque as compensation for insufficient
torque production at start-up or low-speed operation.
Voltage drops due to motor winding resistance cause torque generating voltage to decrease, which causes insufficient
torque. If the main circuit cable connecting the drive and motor is long, this can also cause insufficient torque due to
voltage drops.
Note:
Set the motor parameters and V/f pattern properly before setting C4 parameters.
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C4-01: Torque Compensation Gain
No.
Name
(Hex.)
C4-01 Torque Compensation Gain
(0215)
RUN
Adjust the setting in these control methods and conditions:
A1-02 [Control Method Selection]
0 [V/f Control]
1 [V/f Control with Encoder]
8 [EZ Vector Control]
Note:
• Adjust C4-01 to make sure that the output current is not more than the drive rated current during low-speed operation.
• When A1-02 = 2 [Open Loop Vector], usually it is not necessary to change this setting. If you change this parameter in that control method,
it can decrease the torque precision.
• When A1-02 = 5 [PM Open Loop Vector], usually it is not necessary to change this setting. Setting this value too high can cause
overcompensation and motor oscillation.
• When A1-02 = 8 [EZ Vector Control], you cannot change the setting while the drive is running.
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C4-02: Torque Compensation Delay Time
No.
Name
(Hex.)
C4-02 Torque Compensation Delay
Time
(0216)
RUN
Note:
If A1-02 = 8 [Control Method Selection = EZOLV], you cannot change the setting while the drive is running.
Set this parameter in these conditions:
• If there is vibration in the motor, increase the setting.
• If the motor speed or motor torque response is too slow, decrease the setting.
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C4-03: Torque Compensation @ FWD Start
No.
Name
(Hex.)
C4-03 Torque Compensation @
FWD Start
(0217)
The torque compensation function is performed using the time constant set in C4-05 [Torque Compensation Time].
This is available only when you start the motor with the forward command. Set this parameter to 0.0 to disable this
function.
258
V/f CL-V/f OLV CLV
Sets the gain for the torque compensation function. Use this parameter value for motor 1 when
operating multiple motors.
Status
Torque is not sufficient during low-speed operation of 10 Hz or less.
There is vibration in the motor when operating the drive with a light load. Decrease the setting in 0.05-unit decrements.
The cable between the drive and motor is too long.
V/f CL-V/f OLV CLV
Sets the torque compensation delay time. Usually it is not necessary to change this setting.
V/f CL-V/f OLV CLV
Set the amount of torque reference for forward start as a percentage of the motor rated torque.
Description
AOLV OLV/PM AOLV/PM CLV/PM EZOLV OLV/PM
Increase the setting in 0.05-unit increments.
Increase the setting in 0.05-unit increments.
Description
AOLV OLV/PM AOLV/PM CLV/PM EZOLV OLV/PM
Description
AOLV OLV/PM AOLV/PM CLV/PM EZOLV OLV/PM
YASKAWA TOEPYAIGA8002B GA800 Drive Programming
Default
(Range)
Determined by A1-02
(0.00 - 2.50)
Adjustment
Default
(Range)
Determined by A1-02
(0 - 60000 ms)
Default
(Range)
0.0%
(0.0 - 200.0%)