C2-02C2-010.20 s<1>0.20 s <1>C2-02C2-010.20 s <1>0.20 s <1>FWD runREV runOutputfrequency<1> S-Curve characteristic at Decel Start/End is fixed to 0.20 s.Figure 1.21 S-Curve Timing Diagram - FWD/REV OperationSetting the S-curve will increase the acceleration and deceleration times.Actual accel time = accel time setting + (C2-01 + C2-02) / 2u C4: Torque CompensationThe torque compensation function compensates for insufficient torque production at start-up or when a load is applied.Note: Set the motor parameters and V/f pattern properly before setting torque compensation parameters.n C4-01: Torque Compensation GainSets the gain for the torque compensation function.No. Parameter Name Setting Range DefaultC4-01 Torque Compensation Gain 0.00 to 2.50 Determined byA1-02Torque Compensation in V/f and OLV/PM:The drive calculates the motor primary voltage loss using the output current and the termination resistor value (E2-05 for IMmotors, E5-05 for PM motors) and adjusts the output voltage to compensate insufficient torque at start or when load is applied.The effects of this voltage compensation can be increased or decreased using parameter C4-01.AdjustmentAlthough this parameter rarely needs to be changed, it may be necessary to adjust the torque compensation gain in small stepsof 0.05 in the following situations:• Increase this setting when using a long motor cable.• Decrease this setting when motor oscillation occurs.Adjust C4-01 so the output current does not exceed the drive rated current.Note: Refrain from adjusting this parameter in OLV/PM. Setting this value too high can cause overcompensation and motor oscillation.n C4-02: Torque Compensation Primary Delay TimeSets the delay time used for applying torque compensation.No. Parameter Name Setting Range DefaultC4-02 Torque Compensation Primary Delay Time 0 to 60000 ms Determined byA1-02 and o2-04AdjustmentAlthough C4-02 rarely needs to be changed, adjustments may be necessary in the following situations:• Increase this setting if the motor vibrates.• Decrease this setting if the motor responds too slowly to changes in the load.1.3 C: TuningYASKAWA SIEP YAIZ1U 03B YASKAWA AC Drive – Z1000 Programming Manual 531 Parameter Details
