Closed Loop Vector Control Method - YASKAWA GA800 Programming Manual

3.7 Fine Tuning during Test Runs (Adjust the Control Function)
Issue
• Unsatisfactory motor torque
C4-02 [Torque Compensation
and speed response
Delay Time 1]
• Hunting or oscillation
• Speed response is slow.
C3-02 [Slip Compensation Delay
Time]
• Speed is not stable.
Speed precision is unsatisfactory. C3-01 [Slip Compensation Gain]
• The volume of the motor
excitation sound is too high.
C6-02 [Carrier Frequency
Selection]
• Hunting or oscillation at low
speeds (10 Hz or lower)
• Torque at low speeds (10 Hz or
lower) is not sufficient. speed
• E1-08 [Mid Point A Voltage]
response is slow.
• E1-10 [Minimum Output
• Speed response is slow.
• Large initial vibration at start
up.
*1 The default setting changes when the settings forA1-02 [Control Method Selection] and o2-04 [Drive Model (KVA) Selection] change.
*2 The default setting changes when the settings for A1-02 [Control Method Selection] and E1-03 [V/f Pattern Selection] change.
*3 The default setting changes when the settings for C6-01 [Normal / Heavy Duty Selection] and o2-04 change.
*4 Recommended settings are for 200 V class drives. Multiply the voltage by 2 for 400 V class drives.
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Closed Loop Vector Control Method

Issue
• High speed
• Low speed
• Unsatisfactory motor torque
and speed response
• Hunting or oscillation
• High speed
• Low speed
The drive cannot find ASR
C5-07 [ASR Gain Switchover
proportional gain or integral time
Frequency]
for low speed or high speed.
602
Parameter Number
• If torque or speed response are
slow, decrease the setting value
in increments of 2 ms.
• If hunting or oscillation occur,
increase the setting value in
increments of 10 ms.
Note:
Make sure that this parameter
setting is: C4-02 ≤ C4-06
[Motor 2 Torque Comp Delay
Time].
When you adjust C4-02, you
must also increase the n2-02
[SpdFeedbackDetCtr (AFR)
TimeConst1] value by the same
ratio.
• If speed response is slow,
decrease the setting value in
increments of 10 ms.
• If speed is not stable, increase
the value in increments of 10
ms.
• If speed is too slow, increase the
setting value in increments of
0.1.
• If speed is too fast, decrease the
setting value in increments of
0.1.
• If the volume of the motor
excitation sound is too high,
increase the carrier frequency.
• If hunting or oscillation occur at
low speeds, decrease the carrier
frequency.
• If torque or speed response are
slow, increase the setting value.
• If there is large initial vibration
at start up, decrease the setting
value
Note:
Voltage]
If the setting value is set too
high, a large torque reference
may be output even with light
loads.
Table 3.17 Parameters for Fine Tuning the Drive (CLV)
Parameter Number
• If torque or speed response are
C5-01 [ASR Proportional Gain
slow, increase the setting value
1]
in increments of 5.00.
• If hunting or oscillation occur,
C5-03 [ASR Proportional Gain
decrease the setting value.
*1
2 (P)]
• If torque or speed response are
C5-02 [ASR Integral Time 1]
slow, decrease the setting value.
• If hunting or oscillation occur,
C5-04 [ASR Integral Time 2
increase the setting value.
*1
(I)]
Change the ASR proportional gain
and ASR integral time to conform
*1
to the output frequency.
Possible Solutions
*1
20 ms
*1
200 ms
*2
1.0
1 (2 kHz)
• E1-08: 11.0 V
• E1-10: 2.0 V
Possible Solutions
20.00
0.500 s
0.0 Hz
YASKAWA TOEPYAIGA8002B GA800 Drive Programming
Default Recommended Setting
20 ms to 100 ms
100 ms to 500 ms
0.5 - 1.5
*3
0 to upper limit value
*2
Default setting +/- 2 V
*2
Default Recommended Setting
10.00 - 50.00
0.300 s to 1.000 s
0.0 Hz to maximum output
frequency
*1
*4