Parameter Details
11
11.4 C: Tuning
YASKAWA SIEPC71061723A YASKAWA AC Drive CR700 Technical Manual 615
Problem Solution
Vibration and oscillation occur at constant speed.
• Decrease C5-01/C5-03.
• Increase C5-02/C5-04.
• Increase C5-06 [ASR Delay Time].
Speed accuracy is poor when running motors with
significant rated slip in CL-V/f Control mode.
• Check the pulse number set to F1-01 [Encoder 1 Pulse
Count (PPR)] and the gear ratio to F1-12 [Encoder 1
Gear Teeth 1] and F1-13 [Encoder 1 Gear Teeth 2].
• Make sure the pulse signal from the encoder is set up
properly.
• Check U6-04 [ASR Output] and determine if the ASR
is working at its output limit set to C5-05 [ASR Limit].
If the ASR is at the output limit, increase C5-05.
If C5-12 = 1 or C5-32 = 1 [Enabled] in Closed Loop V/f
Control and over/undershoot occurs when changing
speed.
-
• Decrease C5-01/C5-03.
• Increase C5-02/C5-04.
• Decrease the value set to C5-05.
Oscillation at low speed and response is too slow at high
speed. Alternatively, the opposite problem occurs.
-
• CL-V/f Control Mode:
Use C5-03 and C5-04 at maximum speed and C5-01
and C5-02 at minimum speed to set up different ASR
settings.
• CLV Control Mode:
Use C5-01 to C5-04 to define optimal ASR settings for
high and low speed. Use C5-07 [ASR Gain Switchover
Frequency] to switch the ASR proportional gain and
ASR integral time in accordance with the output
frequency.
■ C5-01: ASR Proportional Gain 1
No.
(Hex.)
Name Description
Default
(Range)
C5-01
(021B)
RUN
ASR Proportional Gain 1
Sets the gain to adjust ASR response.
Determined by A1-02
(0.00 - 300.00)
The speed response increases with the weight of the load. Usually, the gain increases with larger loads. Excessive
gain causes vibration.
Note:
• Motor 1 ASR is usually set using C5-01 and C5-02 [ASR Integral Time 1]. Parameter C5-03 can be used in place of C5-01 and
parameter C5-04 can be used in place C5-02 when the speed is the same or less than that set with C5-07 [ASR Gain Switchover
Frequency].
• C5-01 is automatically adjusted when the ASR Tuning process is executed.
■ C5-02: ASR Integral Time 1
No.
(Hex.)
Name Description
Default
(Range)
C5-02
(021C)
RUN
ASR Integral Time 1
Sets the ASR integral time.
Determined by A1-02
(0.000 - 60.000 s)
When you increase the integral time, the responsiveness will decrease. An integral time that is too short can cause
oscillation.
■ C5-03: ASR Proportional Gain 2
No.
(Hex.)
Name Description
Default
(Range)
C5-03
(021D)
RUN
ASR Proportional Gain 2
Sets the gain to adjust ASR response.
Determined by A1-02
(0.00 - 300.00)
A higher gain provides a higher speed response. Usually, the gain increases with larger loads. Too much gain will
cause vibration.
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