11.4 C: Tuning
760 YASKAWA ELECTRIC SIEP C710617 05F YASKAWA AC Drive GA700 Technical Manual
■ 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)
In V/f Control or CL-V/f Control, adjust the value in 0.05 unit increments for these conditions:
• When torque is not sufficient during low-speed operation of 10 Hz or less, increase the setting value
• When there is vibration in the motor or when the motor hunts when operating the drive with a light load,
decrease the setting value
• When you use a long motor cable, increase the setting value.
Note:
• Adjust C4-01 to make sure that the output current is not more than the drive rated current during low-speed operation.
• In usual conditions, do not change this parameter in Open Loop Vector Control. It can have a negative effect on torque precision.
• In usual conditions, do not change this parameter in PM Open Loop Vector Control. Setting this value too high can cause
overcompensation and motor oscillation.
■ 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)
It can be necessary to adjust 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
Sets the amount of torque reference for forward start as a percentage of the
motor rated torque.
0.0%
(0.0 - 200.0%)
The drive uses the time constant set in C4-05 [Torque Compensation Time] to apply compensation.
When you start the motor with a forward Run command, enable this parameter. 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 apply compensation.
When you start the motor with a reverse Run command, enable this parameter. Set this parameter to 0.0 to disable
this function.
■ C4-05: Torque Compensation Time
No.
(Hex.)
Name Description
Default
(Range)
C4-05
(0219)
Torque
Compensation Time
Sets the starting torque constant to use with C4-03 and C4-04 [Torque
Compensation @ FWD/REV Start].
10 ms
(0 - 200 ms)
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