5.3 C: TuningYASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual 171Parameter Details5■ C4-03: Torque Compensation at Forward Start (OLV)Sets the amount of torque at start in the forward direction in order to improve motor performance during start with aheavy load. Compensation is applied using the time constant set in parameter C4-05. Enable this function when the loadpulls the motor in reverse when starting with a Forward run command. Setting of 0.0% disables this feature.■ C4-04: Torque Compensation at Reverse Start (OLV)Sets the amount of torque reference at start in the reverse direction in order to improve motor performance during startwith heavy load. Compensation is applied using the time constant set in parameter C4-05. Enable this function if the loadpulls the motor in the forward direction when starting with a Reverse run command. Setting 0.0% disables this feature.■ C4-05: Torque Compensation Time Constant (OLV)This parameter is the time constant for applying the torque compensation at start that is set to C4-03 and C4-04.■ C4-06: Torque Compensation Primary Delay Time 2 (OLV)This time constant is used during Speed Search or during regenerative operation. Adjust the value if an overvoltage faultoccurs with sudden changes in the load or at the end of acceleration with high inertia load.Note: If C4-06 is set to a relatively large value, be sure to also increase the setting in n2-03 (AFR Time Constant 2) proportionally.■ C4-07: Motor 2 Torque Compensation GainFunctions for motor 2 in the same way that C4-01 functions for motor 1.Refer to C3-01: Slip Compensation Gain on page 167 for details on adjusting this parameter.◆ C5: Automatic Speed Regulator (ASR)The ASR is used for controlling the motor speed in V/f w/PG, CLV, AOLV/PM, and CLV/PM control modes. It adjuststhe output frequency (V/f w/PG) or torque reference (CLV, AOLV/PM, CLV/PM) in order to minimize the differencebetween frequency reference and actual motor speed.The figures below illustrates how ASR works.Figure 5.35Figure 5.35 Speed Control Block Diagram for V/f Control with PGNo. Parameter Name Setting Range DefaultC4-03 Torque Compensation at Forward Start 0.0 to 200.0% 0.0%No. Parameter Name Setting Range DefaultC4-04 Torque Compensation at Reverse Start -200.0 to 0.0% 0.0%No. Parameter Name Setting Range DefaultC4-05 Torque Compensation Time Constant 0 to 200 ms 10 msNo. Parameter Name Setting Range DefaultC4-06 Torque Compensation Primary Delay Time 2 0 to 10000 ms 150 msNo. Parameter Name Setting Range DefaultC4-07 Motor 2 Torque Compensation Gain 0.00 to 2.50 1.00PI+++-++Output frequencyC5-01C5-03 C5-02, C5-04C5-05FrequencyreferenceDetected speed ChangeratelimiterLimitASR limitcommon_TMonly
