5.9 n: Special AdjustmentsYASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual 279Parameter Details5◆ n5: Feed Forward ControlEnabling Feed Forward can improve the drives responsiveness to speed reference changes in applications where a highspeed control proportional gain setting (ASR gain, C5-01, C5-03) would lead to problems with overshoot, undershoot, oroscillation. Figure 5.105 gives an example of overshoot reduction by Feed Forward. Parameters related to this functionand the function principle are illustrated in Figure 5.106. Feed Forward can only be used in Closed Loop Vector Controlfor induction or PM motors (A1-02 = 4 or 7), or in Advanced Open Loop Vector Control for PM motors (A1-02 = 6).Figure 5.105Figure 5.105 Overshoot Suppression by Feed Forward ControlFigure 5.106Figure 5.106 Feed Forward ControlNote: 1. Feed Forward can only be used in CLV, AOLV/PM, and CLV/PM control modes.2. Prior to using Feed Forward, always perform Auto-Tuning or set the correct motor data manually. Also perform ASR Auto-Tuning toset the speed loop gain (C5-01), or adjust it manually. Fine-tune the other speed control loop parameters (C5-) if required.3. If not restricted by the application, use Inertia Auto Tuning (T1-01 = 8) to have the drive automatically optimize Feed Forwardparameters. If Inertia Auto Tuning cannot be performed, parameters related to Feed Forward should be set manually.■ n5-01: Feed Forward Control SelectionEnables to disables the Feed Forward function.Setting 0: DisabledSetting 1: Enabled■ n5-02: Motor Acceleration TimeSets the time required to accelerate the motor from a full stop up to the rated speed at the rated torque.This value can be set automatically by Inertia Auto-Tuning. If Inertia Auto-Tuning cannot be performed, use one of themethods below to determine the setting value for this parameter.No. Name Setting Range Defaultn5-01 Feed Forward Control Selection 0 or 1 0No. Parameter Name Setting Range Defaultn5-02 Motor Acceleration Time 0.001 to 10.000 s Determined by C6-01,E5-01 and o2-041050OvershootConventional Speed Control Feed Forward ControlTime (s)Motor Speed (r/min)Motor Speed (r/min)Time (s)9007500105090075000 0.5 1 0 0.5 1Suppressesovershoot at theend of accelerationcommon_TMonlyASR P and IC5-01/02/03/04Feed ForwardControln5-02/03Frequencyreference afterSoft StarterASR Delay andTorque LimitsC5-06, L7-+ + +-SpeedFeedbackU6-26U6-25U1-20Feed Forward OutputASR OutputU1-09FrequencyReferenceFeed Forward TorqueCompensation ValueTorque referencecommon_TMonly
