C4: Torque Compensation - YASKAWA GA700 Series Technical Manual

12.4 C: Tuning
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C3-28: Adaptive Slip Control Mode
No.
Name
(Hex.)
C3-28 Adaptive Slip Control
Mode
(1B5B)
Expert
0 : Normal
1 : Advanced
Note:
Set C3-28 = 0 for better torque precision. If the torque precision does is not better, set C3-28 = 1 and increase the value of n4-65 [Flux
Estimate Response@High Freq] or n4-66 [Flux Estimate Response @Low Freq] in 0.1-unit increments. Then, you must do Rotational
Auto-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:
• When A1-02 = 5 [Control Method Selection = OLV/PM], you cannot change the setting while the drive is running.
• When A1-02 = 8 [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.
702
V/f CL-V/f OLV CLV
Sets the slip compensation function mode.
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.
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.
Description
AOLV OLV/PM AOLV/PM CLV/PM EZOLV OLV/PM
Description
AOLV OLV/PM AOLV/PM CLV/PM EZOLV OLV/PM
Increase the setting in 0.05-unit increments.
Decrease the setting in 0.05-unit decrements.
Increase the setting in 0.05-unit increments.
Description
AOLV OLV/PM AOLV/PM CLV/PM EZOLV OLV/PM
YASKAWA SIEPC71061705H GA700 Series Technical Manual
Default
(Range)
0
(0, 1)
Default
(Range)
Determined by A1-02
(0.00 - 2.50)
Adjustment
Default
(Range)
Determined by A1-02
(0 - 60000 ms)