YASKAWA TM.iQp.02 iQpump Drive Programming Manual 33
◆ C4 Torque Comp
■ C4-01 Torque Compensation Gain
Setting Range: 0.00 to 2.50
Factory Default: 1.00
■ C4-02 Torque Compensation Primary Delay Time
Setting Range: 0 to 10000 ms
Factory Default: 200 ms
The Torque Compensation function compensates for insufficient torque production at start-up and during low speed operation. The
iQpump drive will detect increases in the motor load by monitoring the output current and compensate by increasing the output voltage.
The increased output voltage leads to an increase in usable torque.
Parameter C4-01 sets the aggressiveness of the compensation for IR (resistive) and IL (inductive) losses in the motor windings, which are
more pronounced at lower speeds. Normally C4-01 does not need to be changed but may require adjustment in the following cases:
• If the iQpump drive to motor cable is long, increase C4-01
• If the motor capacity is smaller than the iQpump drive capacity, increase C4-01
• If the low speed motor performance is unstable, decrease C4-01.
• If the output current level exceeds the Drive’s rated current while operating at low speeds, increase C4-01
Parameter C4-02 determines how quickly the Torque Compensation function will react to situations of insufficient torque. Again, C4-02
will not normally require adjustment except for the following situations:
• If the motor vibrates, increase C4-02
• If the motor response is sluggish (and possibly stalls), decrease C4-02
Important: Performing Auto-tuning can enhance low speed performance.
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