B7: Droop Control (Clv, Clv/Pm) - YASKAWA U1000 Series Technical Manual

5.2 b: Application
b6-01, b6-02: Dwell Reference, Dwell Time at Start

Parameter b6-01 determines the frequency that is held for the time set in b6-02 during acceleration.
No.
b6-01
b6-02
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (0.0 to 100.0%) instead of in Hz.
b6-03, b6-04: Dwell Reference, Dwell Time at Stop

Parameter b6-03 determines the frequency that is held for the time set in b6-04 during deceleration.
No.
b6-03
b6-04
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (0.0 to 100.0%) instead of in Hz.
 b7: Droop Control (CLV, CLV/PM)
Droop control is a function for setting the motor rated slip as required. Droop control can automatically balance the load
level between two motors that drive the same load, such as the traverse axis in cranes. It must be activated in one of the
two drives that control these motors. The drive in which Droop control is activated will automatically reduce the speed if
the torque reference rises, and increase the speed if the torque reference falls again, thereby shifting the load from one
motor to the other.
Note: Disable Feed Forward (n5-01 = 0) whenever using Droop control.
Figure 5.29
Motor A runs faster than B, pulling more load
A
= 100% Load
B
= 80% Load
Droop Control increases the speed reference in
drive B accomplishing load balance
b7-01: Droop Control Gain

Sets the amount of speed reduction when the torque reference is 100%. The gain is set as a percentage of the maximum
output frequency. A setting of 0.0% disables the Droop control function.
No.
b7-01
Figure 5.30
174
Name
Dwell Reference at Start
Dwell Time at Start
Name
Dwell Reference at Stop
Dwell Time at Stop
A
= 90% Load
f = constant
ref_A
f increase
ref_B
B
= 90% Load
Figure 5.29 Droop Control in a Traverse Application
Parameter Name
Droop Control Gain
Speed
Speed reference
0
Figure 5.30 Droop Control Gain
Setting Range
0.0 to 400.0 Hz
Setting Range
0.0 to 400.0 Hz
Motor B runs faster than A, pulling more load
A
= 80% Load
f = constant
ref_A
f decrease
ref_B
B
= 100% Load
Droop Control decreases the speed reference in
drive B accomplishing load balance
Setting Range
0.0 to 100.0%
Droop control gain
b7-01
common_TMonly
Torque
100%
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Default
0.0 Hz
<1>
0.0 to 10.0 s
Default
0.0 Hz
<1>
0.0 to 10.0 s
A
= 90% Load
common_TMonly
B
= 90% Load
Default
<1>
0.0 s
<1>
0.0 s
0.0%