6.2 Motor Performance Fine-Tuning298 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual◆ Fine-Tuning Advanced Open Loop Vector Control for PM MotorsTable 6.5 Parameters for Fine-Tuning Performance in AOLV/PM◆ Fine-Tuning Closed Loop Vector Control for PM MotorsTable 6.6 Parameters for Fine-Tuning Performance in CLV/PMOscillation at start or the motor stallsPull-In Current during Accel/Decel (n8-51) Increase the pull-in current set in n8-51 50% Increase in stepsof 5%DC Injection Braking Current(b2-02), DC Injection Time atStart (b2-03)Use DC Injection Braking at start to align the rotor. Be aware that thisoperation can cause a short reverse rotation at start.b2-02 = 50%b2-03 = 0.0 sb2-03 = 0.5 sIncrease b2-02 ifneededLoad Inertia Ratio (n8-55) Increase the load inertia ratio. 0 Close to the actualload inertia ratioStalling or oscillation occur when loadis applied during constant speedPull-In Current CompensationTime Constant (n8-47) Decrease n8-47 if hunting occurs during constant speed 5.0 s Reduce inincrements of 0.2 sPull-In Current (n8-48) Increase the pull-in current in n8-48. 30% Increase inincrements of 5%Load Inertia Ratio (n8-55) Increase the load inertia ratio. 0 Close to the actualload inertia ratioHunting or oscillation occur Speed feedback Detection Gain(n8-45) Decrease the speed feedback detection gain in n8-45. 0.8 Increase inincrements 0.05STO fault trips even if the load is nottoo highInduced Voltage Constant (E5-09or E5-24)• Check and adjust the induced voltage constant.• Check the motor name plate, the data sheet or contact the motormanufacturer for getting data.dep. on drivecapacity andmotor codeRefer to the motordata sheet or thenameplate.Stalling or STO occurs at high speed asthe output voltage becomes saturated. Output Voltage Limit (n8-62) Set the value of the input voltage to parameter n8-62 200 Vac or 400VacSet equal to inputvoltageProblem 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)• If motor torque and speed response are too slow, gradually increase thesetting by 5.• If motor hunting and oscillation occur, decrease the setting.• Parameter C5-03 needs to be adjusted only if C5-05 > 0.10.00 5.00 to 30.00 <1><1> Optimal settings will differ between no-load and loaded operation.• Poor torque or speed response• Motor hunting and oscillationASR Integral Time 1 (C5-02)ASR Integral Time 2 (C5-04)• If motor torque and speed response are too slow, decrease the setting.• If motor hunting and oscillation occur, increase the setting.• Parameter C5-03 needs to be adjusted only if C5-05 > 00.500 s 0.300 to1.000 s <1>Trouble maintaining the ASRproportional gain or the integral time atthe low or high end of the speed rangeASR Gain Switching Frequency(C5-07)Have the drive switch between two different ASR proportional gain andintegral time settings based on the output frequency. 0.0% 0.0 to Max r/minMotor hunting and oscillation ASR Primary Delay TimeConstant (C5-06) If the load is less rigid and subject to oscillation, increase this setting. 0.010 s 0.016 to0.035 s <1>Motor stalling makes normal operationimpossibleMotor parameters(E1-, E5-) Check the motor parameter settings. - -Problem 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)• If motor torque and speed response are too slow, gradually increase thesetting by 5.• If motor hunting and oscillation occur, decrease the setting.• Perform ASR Gain Auto-Tuning if possible20.00 10.00 to 50.00 <1><1> Optimal settings will differ between no-load and loaded operation.• Poor torque or speed response• Motor hunting and oscillationASR Integral Time 1 (C5-02)ASR Integral Time 2 (C5-04)• If motor torque and speed response are too slow, decrease the setting.• If motor hunting and oscillation occur, increase the setting. 0.500 s 0.300 to1.000 s <1>ASR proportional gain or the integraltime at the low or high end of the speedrangeASR Gain Switching Frequency(C5-07)Have the drive switch between two different ASR proportional gain andintegral time settings based on the output frequency. 0.0% 0.0 to Max r/minMotor hunting and oscillation ASR Primary Delay TimeConstant (C5-06) If the load is less rigid and subject to oscillation, increase this setting. 0.016 s 0.004 to0.020 s <1>Motor stall makes normal operationimpossibleMotor parameters(E1-, E5-) Check the motor parameter settings. - -Overshoot or undershoot at speedchanges with high inertia load.Feed Forward Control (n5-01)Inertia Auto-Tuning (T2-01 = 8)Enable Feed Forward Control by setting parameter n5-01 = 1 and performInertia Auto-Tuning. If Auto-Tuning cannot be performed set parametersC5-17, C5-18 and n5-03 manually.0 1Problem Parameter No. Corrective Action Default SuggestedSetting
