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YASKAWA A1000 Series Technical Manual

YASKAWA A1000 Series
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5.9 n: Special Adjustments
YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual 279
Parameter Details
5
n5: Feed Forward Control
Enabling Feed Forward can improve the drives responsiveness to speed reference changes in applications where a high
speed control proportional gain setting (ASR gain, C5-01, C5-03) would lead to problems with overshoot, undershoot, or
oscillation. Figure 5.105 gives an example of overshoot reduction by Feed Forward. Parameters related to this function
and the function principle are illustrated in Figure 5.106. Feed Forward can only be used in Closed Loop Vector Control
for induction or PM motors (A1-02 = 4 or 7), or in Advanced Open Loop Vector Control for PM motors (A1-02 = 6).
Figure 5.1 05
Figure 5.105 Overshoot Suppression by Feed Forward Control
Figure 5.1 06
Figure 5.106 Feed Forward Control
Note: 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 to
set 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 Forward
parameters. If Inertia Auto Tuning cannot be performed, parameters related to Feed Forward should be set manually.
n5-01: Feed Forward Control Selection
Enables to disables the Feed Forward function.
Setting 0: Disabled
Setting 1: Enabled
n5-02: Motor Acceleration Time
Sets 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 the
methods below to determine the setting value for this parameter.
No. Name Setting Range Default
n5-01 Feed Forward Control Selection 0 or 1 0
No. Parameter Name Setting Range Default
n5-02 Motor Acceleration Time 0.001 to 10.000 s
Determined by C6-01,
E5-01 and o2-04
1050
Overshoot
Conventional Speed Control Feed Forward Control
Time (s)
Motor Speed (r/min)
Motor Speed (r/min)
Time (s)
900
750
0
1050
900
750
0
0 0.5 1 0 0.5 1
Suppresses
overshoot at the
end of acceleration
common_TMonly
ASR P and I
C5-01/02/03/04
Feed Forward
Control
n5-02/03
Frequency
reference after
Soft Starter
ASR Delay and
Torque Limits
C5-06, L7-
+
+
+
-
Speed
Feedback
U6-26
U6-25
U1-20
Feed Forward Output
ASR Output
U1-09
Frequency
Reference
Feed Forward Torque
Compensation Value
Torque reference
common_TMonly

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YASKAWA A1000 Series Specifications

General IconGeneral
SeriesA1000
TypeAC Drive
AltitudeUp to 1000m without derating
Output Frequency0-400 Hz
Control MethodV/f Control
Overload Capacity150% for 60 seconds
Communication OptionsModbus, DeviceNet, Profibus, Ethernet/IP
Ambient Temperature-10 to 50°C
Storage Temperature-20 to 60°C
Humidity5% to 95% (non-condensing)
Enclosure RatingIP20
Horsepower0.5 to 1000 HP
Power Range0.4 - 630 kW (varies by voltage and model)
Protection FeaturesOvercurrent, Overvoltage, Undervoltage, Overheat
Cooling MethodFan Cooled
SafetySafe Torque Off (STO)

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