3.12 Controllability Problems and Possible Solutions
240 YASKAWA SIEPC71061723A YASKAWA AC Drive CR700 Technical Manual
Issue Parameter Number Possible Solutions Default Recommended Setting
Speed precision is unsatisfactory. C3-01 [Slip Compensation Gain]
• If speed is too slow, increase
the setting value in 0.1 unit
increments.
• If speed is too fast, decrease
the setting value in 0.1 unit
increments.
1.0
*2
0.5 - 1.5
• The volume of the motor
excitation sound is too high.
• Hunting or oscillation at low
speeds (10 Hz or lower)
C6-02 [Carrier Frequency
Selection]
• If the volume of the motor
excitation sound is too high,
increase the carrier frequency.
• If hunting or oscillation occur
at low speeds, decrease the
carrier frequency.
1 (2 kHz)
*3
0 to upper limit value
• Torque at low speeds is not
sufficient.
• Speed response is slow.
• Large initial vibration at start
up.
• E1-08 [Mid Point A Voltage]
• E1-10 [Minimum Output
Voltage]
• If torque or speed response are
slow, increase the setting
value.
• If there is large initial
vibration at start up, decrease
the setting value
Note:
If you set the value too high,
the drive can output a large
torque reference although the
load is light.
• E1-08: 14.4
*2
• E1-10: 3.0
*2
Default setting +/- 2 V
*4
*1 The default setting changes when the settings for A1-02 [Control Method Selection] and o2-04 [Drive Model (KVA) Selection]
change.
*2 The default setting changes when the settings for A1-02 [Control Method Selection] and E1-03 [V/f Pattern Selection] change.
*3 The default setting changes when the setting for o2-04 [Drive Model Selection] changes.
*4 Recommended settings are for 200 V class drives. Multiply the voltage by 2 for 400 V class drives.
◆ Closed Loop Vector Control
Table 3.31 Parameters for Fine Tuning the Drive (CLV Control)
Problem Parameter Number Solution Default Recommended Value
• Torque, speed response is
slow.
• Hunting, oscillation
• High speed
C5-01 [ASR Proportional Gain
1]
• Low speed
C5-03 [ASR Proportional Gain
2]
*1
• Increase setting value in
increments of 5.00 when
torque, speed response is slow.
• If hunting, oscillation occurs,
decrease the setting value.
20.00 10.00 - 50.00
• High speed
C5-02 [ASR Integral Time 1]
• Low speed
C5-04 [ASR Integral Time 2]
*1
• Decrease setting value when
torque, speed response is slow.
• If hunting, oscillation occurs,
increase the setting value.
0.500 s 0.300 s - 1.000 s
ASR proportional gain or integral
time cannot be established for
low speed or high speed.
C5-07 [ASR Gain Switchover
Frequency]
*1
Change the ASR proportional
gain and ASR integral time in
accordance with the output
frequency.
0.0 Hz
0.0 Hz to maximum output
frequency
Hunting, oscillation C5-06 [ASR Delay Time]
*1
• Decrease setting value in
increments of 0.010 when
torque, speed response is slow.
• Increase setting value when
vibration is likely to occur due
to poor machine rigidity.
0.004 s 0.004 s - 0.020 s
• The motor excitation sound is
significant.
• Hunting, oscillation at low
speeds (3 Hz or lower)
C6-02 [Carrier Frequency
Selection]
• Increase the carrier frequency
if the motor excitation sound is
significant.
• Decrease the carrier frequency
if hunting or oscillation occurs
at low speeds.
1 (2.0 kHz)
*2
2.0 kHz to upper limit value
*1 For more information about speed control (ASR), refer to the section where the C5 parameter is explained.
*2 Differs depending on setting for o2-04 [Drive Model (KVA) Selection], when at default settings.
◆ AOLV Control
Table 3.32 Parameters for Fine Tuning the Drive (AOLV Control)
Problem Parameter Number Solution Default Recommended Value
• oS [Overspeed] occurs.
• Hunting, oscillation occurs.
T1-01 [Auto-Tuning Mode
Selection]
• Confirm that the output of the
drive and the motor are
connected properly.
• Perform Rotational Auto-
Tuning for the motor by itself.
- 0
The motor excitation sound is
significant.
C6-02 [Carrier Frequency
Selection]
Increase the carrier frequency if
the motor excitation sound is
significant.
1 (2 kHz)
*1
1 to upper limit value
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