6.2 Motor Performance Fine-TuningYASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual 297Troubleshooting6When using OLV, leave the torque compensation gain (C4-01) at its default setting of 1.00.◆ Fine-Tuning Closed Loop Vector ControlTable 6.3 Parameters for Fine-Tuning the Performance in CLV◆ Fine-Tuning Open Loop Vector Control for PM MotorsTable 6.4 Parameters for Fine-Tuning Performance in OLV/PM• Poor motor torque and speedresponse• Motor hunting and oscillationTorque Compensation PrimaryDelay Time Constant 1 (C4-02)• To improve motor torque speed response, gradually reduce this setting by2 ms and check the performance.• If motor hunting and oscillation occur, gradually increase this setting by10 ms.Note: Ensure that C4-02 ≤ C4-06. When making adjustments to C4-02,increase the AFR time constant (n2-02) proportionally.20 ms <1> 20 to 100 ms <1>Poor speed response and stability Slip Compensation PrimaryDelay Time Constant (C3-02)• If response is slow, gradually decrease the setting by 10 ms.• If speed is unstable, gradually increase the setting by 10 ms. 200 ms <2> 100 to 500 msPoor speed precision Slip Compensation Gain (C3-01) • If speed is too slow, gradually increase the setting by 0.1 ms.• If speed is too fast, gradually decrease the setting by 0.1 ms. 1.0 <2> 0.5 to 1.5Poor speed precision duringregenerative operationSlip Compensation SelectionDuring Regeneration (C3-04)Enable slip compensation during regeneration by setting parameter C3-04= 1. 0 1• Motor noise• Motor hunting and oscillation occurat speeds below 10 HzCarrier Frequency Selection(C6-02)• If there is too much motor noise, the carrier frequency is too low.• If motor hunting and oscillation occur at low speeds, reduce the carrierfrequency.Note: The default setting for the carrier frequency depends on the drivecapacity (o2-04) and Duty Selection (C6-01).1 (2 kHz) 0 to max. setting• Poor motor torque at low speeds• Poor speed response• Motor instability at startMid Output Voltage A (E1-08)Minimum Output Voltage(E1-10)• If motor torque and speed response are too slow, increase the setting.• If the motor exhibits excessive instability at start-up, reduce the setting.Note: The default value is for 200 V class units. Double this value whenusing a 400 V class drive. When working with a relatively light load,increasing this value too much can result in overtorque.E1-08: 11.0 V<2>E1-10: 2.0 V<2>Default setting±2 V<1> Default setting value is dependent on parameter A1-02, Control Method Selection, and o2-04, Drive Model Selection.<2> Default settings change when the Control Method is changed (A1-02) or a different V/f pattern is selected using parameter E1-03.Problem<1> Refer to C5: Automatic Speed Regulator (ASR) on page 171 for details on Automatic Speed Regulator (ASR).Parameter No. Corrective Action Default SuggestedSetting• Poor torque or speed response• Motor hunting and oscillationASR Proportional Gain 1(C5-01)ASR Proportional Gain 2(C5-03)<1>• If motor torque and speed response are too slow, gradually increase theASR gain setting by 5.• If motor hunting and oscillation occur, decrease the setting.• Parameter C5-03 needs to be adjusted only if C5-05 > 0.• Perform ASR Auto-Tuning if possible20.00 10.00 to 50.00• Poor torque or speed response• Motor hunting and oscillationASR Integral Time 1 (C5-02)ASR Integral Time 2 (C5-04)<1>• If motor torque and speed response are too slow, decrease the setting.• If motor hunting and oscillation occur, increase the setting.• Parameter C5-04 needs to be adjusted only if C5-05 > 0.0.500 s 0.300 to 1.000 sTrouble maintaining the ASRproportional gain or the integral time atthe low or high end of the speed rangeASR Gain Switching Frequency(C5-07) <1>Have the drive switch between two different ASR proportional gain andintegral time settings based on the output frequency. 0.0 Hz 0.0 to max outputfrequencyMotor hunting and oscillation ASR Primary Delay TimeConstant (C5-06) <1>• If motor torque and speed response are too slow, gradually decrease thesetting by 0.01.• If the load is less rigid and subject to oscillation, increase this setting.0.004 s 0.004 to 0.020 s• Motor noise• Control motor hunting and oscillationoccur at speeds below 3 Hz.Carrier Frequency Selection(C6-02)• If there is too much motor noise, the carrier frequency is too low.• If motor hunting and oscillation occur at low speeds, reduce the carrierfrequency.Note: The default setting for the carrier frequency depends on the drivecapacity (o2-04) and Drive Duty Selection (C6-01).1 2.0 kHz to the max.settingOvershoot or undershoot when thespeed changes with high inertia load.Feed Forward Control (n5-01)Inertia Tuning (T1-01 = 8)Enable Feed Forward by setting parameter n5-01 = 1 and perform InertiaTuning. If Inertia Tuning is not possible, set parameters C5-17, C5-18, andn5-03 manually.0 1Problem Parameter No. Corrective Action Default SuggestedSettingMotor performance not as desired Motor parameters(E1-, E5-)• Check the settings for base and maximum frequency in the E1-parameters• Check E5- parameters and make sure all motor data has been setcorrectly. Be careful not to enter line to line data where single-phase datais required, and vice versa.• Perform Auto-Tuning.- -Poor motor torque and speed responseLoad Inertia Ratio (n8-55) Adjust parameter n8-55 to meet the load inertia ratio of the machine. 0 Close to the actualload inertia ratioSpeed Feedback Detection Gain(n8-45) Increase the speed feedback detection gain (n8-45). 0.8 Increase inincrements of 0.05Torque Compensation (C4-01) Enable torque compensation. 0 1Problem Parameter No. Corrective Action Default SuggestedSetting
