11.4 C: Tuning
616 YASKAWA SIEPC71061723A YASKAWA AC Drive CR700 Technical Manual
■ C5-04: ASR Integral Time 2
No.
(Hex.)
Name Description
Default
(Range)
C5-04
(021E)
RUN
ASR Integral Time 2
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.
■ C5-05: ASR Limit
No.
(Hex.)
Name Description
Default
(Range)
C5-05
(021F)
ASR Limit
Set the ASR output limit as a percentage of E1-04 [Maximum Output Frequency].
5.0%
(0.0 - 20.0%)
If the motor rated slip is high, it is necessary to increase the setting for correct motor speed control. Use U6-04
[ASR Output] to make sure that ASR is operating at the limit set in this parameter. When ASR is operating at the
limit, correctly set the PG signal and these parameters before you make changes to C5-05.
• F1-01 [Encoder 1 Pulse Count (PPR)]
• F1-12 [Encoder 1 Gear Teeth 1]
• F1-13 [Encoder 1 Gear Teeth 2]
■ C5-06: ASR Delay Time
No.
(Hex.)
Name Description
Default
(Range)
C5-06
(0220)
ASR Delay Time
Sets the filter time constant of the torque reference output from the speed loop. Usually it is not
necessary to change this setting.
Determined by A1-02
(0.000 - 0.500 s)
If you have a load with low rigidity or if oscillation is a problem, decrease C5-01 in 2-unit decrements or decrease
C5-06 in 0.001-unit decrements.
■ C5-07: ASR Gain Switchover Frequency
No.
(Hex.)
Name Description
Default
(Range)
C5-07
(0221)
ASR Gain Switchover
Frequency
Sets the frequency where the drive should switch between C5-01 [ASR Proportional Gain 1] and
C5-03 [ASR Proportional Gain 2] as well as between integral time 1 and 2 (C5-02, C5-04). Sets
the frequency where the drive should switch between C5-02 [ASR Integral Time 1] and C5-04
[ASR Integral Time 2].
Determined by A1-02
(Determined by A1-02)
Switching the proportional gain and integral time in the low or high speed range can help stabilize operation. A
good switching point is 80% of the frequency where oscillation occurs or at 80% of the maximum output
frequency.
■ C5-08: ASR Integral Limit
No.
(Hex.)
Name Description
Default
(Range)
C5-08
(0222)
ASR Integral Limit
Set the upper limit of the ASR integral amount as a percentage of the rated load.
400%
(0 - 400%)
■ C5-12: Integral Operation @ Accel/Decel
No.
(Hex.)
Name Description
Default
(Range)
C5-12
(0386)
Integral Operation @
Accel/Decel
Sets ASR integral operation during acceleration and deceleration.
0
(0, 1)
When it is necessary for the motor speed to be as near the frequency reference as possible during acceleration or
deceleration, set this parameter to 1.
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