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1. 6. Control Functions and Parameter Settings
6-6-2 Explanation of Block-A parameter functions
A00-0 Local frequency setting
A00-2 Local speed setting
This is the frequency (V/f control mode) and speed (other control modes) set with the
operation panel.
(Note 1) The operation panel speed change operation is set to "change at real time" (C11-
2=1) as the factory setting, so the frequency and speed will change in real time
when the keys (LED panel) are pressed or knob (LCD panel) are
turned even without pressing the LCL
SET
key. If the LCL
SET
key is pressed, the setting
value at that point will be saved.
(Note 2) This frequency and speed setting is validated when the speed setting input point is
set in the panel. Refer to section 5-9-1 for details on the speed setting input point.
A00-1 Jogging frequency
A00-3 Jogging speed
This is the frequency (V/f control mode) and speed (other control modes) for carrying out
jogging with the sequence command F.JOG and R.JOG.
A01-0, 1 Acceleration/deceleration time - 1
A03-0~2 DC brake setting
C01-0, 1 Start/stop frequency
• For V/f control mode (C30-0 f0=1)
A03-1: DC braking time
A03-0:
DC braking voltage
C01-1: Stop frequency
A01-1 :
Deceleration time
A01-0 :
Acceleration time
C01-0: Start frequency
B00-4: Max. frequency
A01-1 sets the acceleration time from stop to the maximum frequency, and A01-1 sets the
deceleration time from the maximum frequency to stopping. This is the
acceleration/deceleration ramp time which is valid when the sequence command CSEL is
OFF (factory setting). If the time is too short, the operation could trip with an overcurrent or
overvoltage, so set an appropriate value which matches the motor and load inertia.
(Note) The acceleration/deceleration time for jogging (F.JOG, R.JOG) is set with the B10-2,
3 setting value.
For A03-0: DC brake voltage setting, set the output voltage for DC braking at stopping as a
percentage in respect to the motor rated voltage.
This parameter is automatically adjusted with automatic tuning (mode 1 and
mode 2).
When adjusting this parameter, monitor the output current and adjust in
increments of 1% or less. An excessive setting could result in tripping.
* Refer to section 3-4-1 for details on automatic tuning in the V/f control mode.
6 – 87

2. 6. Control Functions and Parameter Settings
For A03-1: DC brake time setting, set the time for carrying out DC braking during operation
stop. If this parameter is 0.0, the motor will stop without DC braking.
C01-0: Start frequency setting is the output frequency setting value for starting
operation. The output frequency is increased from this setting value.
When the output frequency reaches the C01-1:
Stop frequency setting when decelerating after the operation stop command
(RUN=OFF), DC braking operation will start. When not using DC braking (A03-1
= 0.0), the motor will stop when this setting value is reached.
• For IM sensor-less vector control, IM vector control with sensor, PM motor control
mode (C03-0 f0 = 2 to 4)
C15-4: Zero speed detection level
A03-1: DC braking time
A03-2 :
DC braking current
A01-1 :
Deceleration time
A01-0 :
Acceleration time
B01-4: Max. speed
A01-1 sets the acceleration time from stop to the maximum frequency, and A01-1 sets the
deceleration time from the maximum frequency to stopping. This is the
acceleration/deceleration ramp time which is valid when the sequence command CSEL is
OFF (factory setting). If the time is too short, the operation could trip with an overcurrent or
overvoltage, so set an appropriate value which matches the motor and load inertia.
(Note) The acceleration/deceleration time for jogging (F.JOG, R.JOG) is set with the B10-2,
3 setting value.
For A03-1: DC brake time setting, set the time for carrying out DC braking during operation
stop.
When the speed reaches the zero speed detection level (C15-4) setting value or
less while decelerating after the operation stop command (RUN=OFF), DC
braking will start. If this parameter is set to 0.0, the motor will stop without DC
braking.
For A03-2: DC brake current setting sets the current value output during DC braking.
A02-0 Manual torque boost selection
This parameter selects the manual torque boost function.
This function is valid when A02-0 is set to 2, and is invalid when A02-0 is set to 1.
When manual torque boost is selected, the manual torque boost setting will be valid
regardless of the automatic torque boost selection state.
A02-1 Automatic torque boost selection
This parameter selects the automatic torque boost function.
This function is valid when A02-1 is set to 2, and is invalid when A02-1 is set to 1.
When automatic torque boost is selected, the R1 drop compensation, slip compensation and
maximum torque boost functions will be valid.
(Note 1) To validate only the slip compensation function when manual torque boost is
selected, set all settings other than the slip compensation function (A02-5) to 0
(set A02-3, 4, 6 to 0).
(Note 2) The square reduction torque setting is always valid regardless of the torque boost
selection state.
To invalidate the square reduction torque setting, set (A02-3) to 0.
6 – 88

3. 6. Control Functions and Parameter Settings
Slip compensation gain
(A02-5)
Maximum torque boost
gain (A02-6)
Overload limit
function
Set frequency
Manual torque boost
selection (A02-0)
2:ON
1:OFF
2:ON
1:OFF
Automatic torque
boost selection
(A02-1)
Manual torque boost
setting (A02-2)
Square reduction
torque setting (A02-3)
R1 drop compensation
gain (A02-4) +
+
+
-
+
+
+
+
V/f
+
+
2:ON
1:OFF
Automatic torque boost
selection (A02-1)
Voltage
command
Frequency
command
Torque boost selection block diagram
• Automatic torque boost function
The automatic torque boost function carries out voltage boosting and slip compensation
using the current detection value. This allows the torque to be improved when starting and
at low speed regions. By carrying out automatic turning, the gain, etc., for the automatic
torque boost function will be automatically adjusted. Using this function, a 200% starting
torque can be output with a standard 3-phase induction motor during a 150% output current.
Even with a motor that cannot output a 200% torque due to design, the maximum torque of
the motor can be output. The main characteristics with the standard 3-phase induction motor
are shown below.
Output torque - motor speed characteristics
<Standard 3-phase induction motor 30kW-4P>
- 2 0 0
- 1 5 0
- 1 0 0
- 5 0
0
5 0
1 0 0
1 5 0
2 0 0
0 2 5 5 0 7 5 1 0 0
Motor speed [%]
Outputtorque[%]
6 – 89

4. 6. Control Functions and Parameter Settings
CAUTION
• When using only manual torque boost, carry out automatic tuning (B19-0 = 1).
• When using automatic torque boost, always carry out automatic tuning (B19-0 = 2).
• The maximum torque is not output instantly. It takes approx. 3 seconds for the maximum torque to
be reached.
• If the motor vibrates abnormally, etc., the automatic torque boost cannot be used.
• If the parameters automatically set with automatic tuning are set manually, the motor rotation could
become unstable.
• With a motor with which the base frequency greatly exceeds the commercial frequency, or with a
motor with a large constant output range, the rotation may be unstable and a sufficient torque may
not be output.
• When outputting the maximum torque continuously, consider the heat generated on the motor side,
etc.
A02-2 Manual torque boost setting [%]
This parameter is automatically adjusted with automatic tuning (mode 1 and mode 2).
When adjusting this parameter, set the boost voltage at 0Hz as a percentage in respect to
the rated output voltage (B00-3).
* Refer to section 3-4-1 for details on automatic tuning in the V/f control mode.
A02-3 Square reduction torque setting [%]
Set the reduction torque at the
base frequency (B00-5)/2 as a
percentage in respect to the
rated output voltage (B00-3).
When both A02-2 and A02-3 are set, the voltage will be added as shown below.
A02-4 R1 drop compensation gain [%]
Set how much to compensate the voltage drop caused by R1 (B02-0, 1: Motor primary
resistance value) measured with automatic tuning. Normally set 100% of the default value.
(Note 1) If the setting is too high, the rotation may become unstable, and the
inverter may trip.
(Note 2) Sufficient torque might not be attained if the setting is too small.
6 – 90
Base frequency
(B00-5)
Base frequency/2
Voltage
Frequency
A02-2
A02-3
Voltage with no torque boost
Voltage with manual torque boost
Voltage at square reduction torque
Added voltage

5. 6. Control Functions and Parameter Settings
6 – 91

6. 6. Control Functions and Parameter Settings
A02-5 Slip compensation gain [%]
This parameter is automatically adjusted with automatic tuning (mode 2).
When setting manually, set the slip frequency for the motor rated load as a percentage in
respect to the base frequency (B00-5).
The output frequency changes according to the motor rated torque as shown below.
(Note 1) The output frequency will respond with a time constant of approx. 500ms in
respect to the changes in the load torque.
(Note 2) When set too high, the motor rotation could become instable.
* Refer to section 3-4-1 for details on automatic tuning in the V/f control mode.
A02-6 Maximum torque boost gain [%]
This parameter is automatically adjusted with automatic tuning (mode 2).
Set the optimum boost amount for the maximum torque output as a percentage in respect to
the rated output voltage (B00-3).
Normally, a value of 10 to 30% is set by automatic tuning.
(Note 1) When adjusted manually, the sufficient torque may not be attained.
(Note 2) If set too high, the rotation may become unstable and may trip.
* Refer to section 3-4-1 for details on automatic tuning in the V/f control mode.
A04-0~7 Custom parameters
C10-0~7: The parameters selected with the custom parameter selection can be displayed.
This parameter does not appear if this setting is not made.
Refer to section 4-4 for details.
A05-0~2 Parameter B and C indicatory skip
The parameter display is skipped for each function in the extended functions, software
option functions and hardware option functions.
Unnecessary displays can be reduced with this parameter, allowing operation to be
simplified.
All displays are set to skip as the default.
A10-0 ASR response
This is used to calculate the gain of the ASR.
The computing expression for the ASR gain and integral time constant is shown below.
ASR gain :
Kp = ASR response (A10-0) [rad/s] ×
ASR integral time constant :
Ti = ×
6 – 92
Time
Load torque
Output frequency
Machine time constant Tm (A10-1 or B15-0) [ms]
1000
4
ASR response (A10-0) [rad/s]
Compensation coefficient (A10-2)[%]
100

7. 6. Control Functions and Parameter Settings
6 – 93

8. 6. Control Functions and Parameter Settings
A10-1 Machine constant − 1
This is used to calculate the ASR gain.
This parameter is valid when the sequence command MCH is OFF. The B15-0 setting value
is valid when MCH is ON.
Tm [msec] =
A10-2 ASR integral time constant compensation coefficient
Set the compensation coefficient for the ASR integral time constant calculated with ASR
response (A10-0). Refer to the computing expression for the ASR integral time constant and
set.
A10-3 ASR drive torque limiter
A10-4 ASR regenerative torque limiter
A10-5 ASR emergency stop regenerative torque limiter
A11-2 ACR drive torque limiter
A11-3 ACR regenerative torque limiter
Set the limit value for each torque limiter in ASR control.
If the sequence command ACR is OFF, the A10-3 and A10-4 setting values are the torque
limit value, and if ACR is ON, the A11-2 and A11-3 setting values are the torque limit value.
If the emergency stop method is set to deceleration stop (C00-4=3) and the sequence
command EMS turns ON, the A10-5 setting value will be the torque limit value.
The acceleration/deceleration time may be longer than the set value depending on these
torque limiter values.
(Note) The inverter output current is limited by the overcurrent limit value (B18-0), so the
torque may not be generated until the value set in this parameter is reached.
A11-0 ACR response
(vector control with IM sensor, sensor-less vector control)
Set the response angle frequency for the current regulator (ACR) with a [rad/s] unit.
If this setting value is too high or too low, the current will become unstable, and the
overcurrent protection will function.
A11-1 ACR time constant
(vector control with IM sensor, sensor-less vector control)
Set the time constant for the current regulator (ACR).
If the time constant is too long or too short, the current will become unstable, and the
overcurrent protection will function.
6 – 94
10.97ｘJ [kgm2
]ｘ(Nbase[min−1
])2
Power [W]
Tm : Machine time constant
J : Total inertia (=1/4ＸGD2
[kgfm2
])
Nbase : Base speed
Power : Motor rated output

9. 6. Control Functions and Parameter Settings
A20-0 ACR response (PM motor control)
Set the response angle frequency for the current regulator (ACR).
If the ACR response is too high, hunting will occur at a cycle of several ms.
If it is too low, the gain for the speed control system cannot be high.
Normally, this should be set between 500 and 1500rad/s.
A20-1 ACR time constant (PM motor control)
Set the time constant for the current regulator (ACR).
If the time constant is too long or too short, the current will become unstable, and the
overcurrent protection will function.
Normally, this should be set between 5 and 20ms.
A20-2 d axis current command cushion time in ms/I1 (PM motor control)
A20-3 q axis current command cushion time in ms/I1 (PM motor control)
This is the cushion setting to prevent instability caused by overshooting, etc., when the
current command changes suddenly. Set at how many ms to change the current command
value equivalent to the motor rated current. Normally, a value 5ms or more is set.
6 – 95

10. 6. Control Functions and Parameter Settings
A20-0 ACR response (PM motor control)
Set the response angle frequency for the current regulator (ACR).
If the ACR response is too high, hunting will occur at a cycle of several ms.
If it is too low, the gain for the speed control system cannot be high.
Normally, this should be set between 500 and 1500rad/s.
A20-1 ACR time constant (PM motor control)
Set the time constant for the current regulator (ACR).
If the time constant is too long or too short, the current will become unstable, and the
overcurrent protection will function.
Normally, this should be set between 5 and 20ms.
A20-2 d axis current command cushion time in ms/I1 (PM motor control)
A20-3 q axis current command cushion time in ms/I1 (PM motor control)
This is the cushion setting to prevent instability caused by overshooting, etc., when the
current command changes suddenly. Set at how many ms to change the current command
value equivalent to the motor rated current. Normally, a value 5ms or more is set.
6 – 95