YASKAWA FSDrive-MV1000 Parameter Manual page 127

u b7: Droop Control (CLV)
Droop control automatically balances the load level between two motors that drive the same load, such as in a traverse
crane applications. Droop control 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 automatically increase the
speed if the torque reference falls again to shift the load from one motor to the other.
Note: Disable Feed Forward (n5-01 = 0) whenever using Droop control.
Figure 2.20
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
n
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 2.21
b7-02: Droop Control Delay Time
n
Adjusts the responsiveness of Droop control. Reduce the setting if the reaction time is too long, and increase the setting if
hunting occurs.
No.
b7-02
b7-03: Droop Control Limit Selection
n
Enables or disables the droop control limit.
No.
b7-03
Setting 0: Disabled
Setting 1: Enabled
YASKAWA ELECTRIC TOEP C710687 03B FSDrive-MV1000 Parameter Guide
A
= 90% Load
f = constant
ref_A
f increase
ref_B
B
= 90% Load
Figure 2.20 Droop Control in a Traverse Application
Name
Droop Control Gain
Motor speed
Speed reference
0
Figure 2.21 Droop Control Gain
Name
Droop Control Delay Time
Name
Droop Control Limit Selection
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%
common_TMonly
b7-01
(Droop control gain)
Torque
100%
Setting Range
0.03 to 2.00 s
Setting Range
0 or 1
2.2 b: Application
A
= 90% Load
common_TMonly
B
= 90% Load
Default
0.0%
Default
0.05 s
Default
1
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