2.4 C: Tuning
214 YASKAWA TOEPYAIGA5002A GA500 DRIVE PROGRAMMING
■ C4-01: Torque Compensation Gain
No.
(Hex.)
Name Description
Default
(Range)
C4-01
(0215)
RUN
Torque Compensation Gain
Sets the gain for the torque compensation function. Use this parameter value for motor 1 when
operating multiple motors.
Determined by A1-02
(0.00 - 2.50)
For these control methods and states, adjust the setting value.
A1-02 [Control Method Selection] Status Adjustment
0 [V/f Control]
8 [EZ Vector Control]
Torque is not sufficient during low-speed operation of 10 Hz or less.
Increase the setting in 0.05-unit increments.
There is vibration in the motor or the motor hunts when operating the
drive with a light load.
Decrease the setting in 0.05-unit decrements.
The cable length between the drive and motor is too long.
Increase the setting in 0.05-unit increments.
Note:
• Adjust C4-01 to make sure that output current is not more than the drive rated current while the drive operates at low speed.
• When A1-02 = 2 [Open Loop Vector], do not change this parameter under normal conditions. Torque accuracy will decrease.
• When A1-02 = 5 [PM Open Loop Vector], do not change this parameter under normal conditions. Setting this value too high can cause
overcompensation and motor oscillation.
• When A1-02 = 8 [EZ Vector Control], you cannot change this parameter during drive run.
■ C4-02: Torque Compensation Delay Time
No.
(Hex.)
Name Description
Default
(Range)
C4-02
(0216)
RUN
Torque Compensation Delay
Time
Sets the torque compensation delay time. Usually it is not necessary to change this setting.
Determined by A1-02
(0 - 60000 ms)
Note:
When A1-02 = 5, 8 [Control Method Selection = OLV/PM，EZOLV], you cannot change the setting while the drive is running.
Set this parameter in these conditions:
• If there is vibration in the motor, increase the setting.
• If the motor speed or motor torque response is too slow, decrease the setting.
■ C4-03: Torque Compensation @ FWD Start
No.
(Hex.)
Name Description
Default
(Range)
C4-03
(0217)
Torque Compensation @
FWD Start
Set the amount of torque reference for forward start as a percentage of the motor rated torque.
0.0%
(0.0 - 200.0%)
The torque compensation function is performed using the time constant set in C4-05 [Torque Compensation Time].
This is available only when you start the motor with the forward command. Set this parameter to 0.0 to disable this
function.
■ C4-04: Torque Compensation @ REV Start
No.
(Hex.)
Name Description
Default
(Range)
C4-04
(0218)
Torque Compensation @
REV Start
Sets the amount of torque reference for reverse start as a percentage of the motor rated torque.
0.0%
(-200.0 - 0.0%)
The drive uses the time constant set in C4-05 [Torque Compensation Time] to do the torque compensation function.
This is available only when you start the motor with the reverse Run command.
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