5.3 C: Tuning
168 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual
• If the motor at constant speed is faster than the frequency reference, decrease C3-01.
Note: Default setting is 0.0 in V/f Control (A1-02 = 0), and 1.0 in Open Loop Vector Control (A1-02 = 2). In Closed Loop Vector
Control, slip compensation is used correct inaccuracies that can result from temperature fluctuation in the rotor.
■ C3-02: Slip Compensation Primary Delay Time
Adjusts the filter on the output side of the slip compensation function. Although this parameter rarely needs to be
changed, adjustment may help in the following situations:
• Decrease the setting when the slip compensation response is too slow.
• Increase this setting when speed is unstable.
Note: Default for V/f Control (A1-02 = 0) is 2000 ms. Default for Open Loop Vector Control (A1-02 = 2) is 200 ms.
■ C3-03: Slip Compensation Limit
Sets the upper limit for the slip compensation function as a percentage of the motor rated slip (E2-02).
The slip compensation limit is constant throughout the constant torque range (frequency reference ≤ E1-06). In the
constant power range (frequency reference ≥ E1-06), it is increased based on C3-03 and the output frequency as shown in
the following diagram.
Figure 5. 33
Figure 5.33 Slip Compensation Limit
■ C3-04: Slip Compensation Selection during Regeneration
Enables or disables slip compensation during regenerative operation. When slip compensation during regeneration has
been activated and a regenerative load is applied, it might be necessary to use a dynamic braking option (braking resistor,
braking resistor unit, or braking unit).
Even if enabled, this function does not operate when the output frequency is too low.
Setting 0: Disabled
Slip compensation is not provided. Depending on the load and mode of operation, the actual motor speed will be lower or
higher than the frequency reference.
Setting 1: Enabled (6 kHz and above)
Slip compensation is enabled during regenerative operation. It will not be active at output frequencies below 6 Hz.
Setting 2: Enabled (compensation provided wherever possible)
Slip compensation is enabled during regenerative operation, and at frequencies as low as 2 Hz. The drive uses the motor
rated slip set in E2-02 to automatically calculate the frequency range where compensation will be disabled.
No. Parameter Name Setting Range Default
C3-01 Slip Compensation Gain 0.0 to 2.5 Determined by A1-02
No. Parameter Name Setting Range Default
C3-02 Slip Compensation Primary Delay Time 0 to 10000 ms Determined by A1-02
No. Parameter Name Setting Range Default
C3-03 Slip Compensation Limit 0 to 250% 200%
No. Parameter Name Setting Range Default
C3-04 Slip Compensation Selection during Regeneration 0 to 2 0
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