11.4 C: Tuning
618 YASKAWA SIEPC71061723A YASKAWA AC Drive CR700 Technical Manual
■ C5-23: Motor 2 ASR Proportional Gain 2
No.
(Hex.)
Name Description
Default
(Range)
C5-23
(0358)
RUN
Motor 2 ASR Proportional
Gain 2
Sets the gain to adjust ASR response.
Determined by E3-01
(0.00 - 300.00)
The speed response increases with the weight of the load. Usually, the gain increases with larger loads. Note that
excessive gain causes oscillation.
■ C5-24: Motor 2 ASR Integral Time 2
No.
(Hex.)
Name Description
Default
(Range)
C5-24
(0359)
RUN
Motor 2 ASR Integral Time
2
Sets the ASR integral time.
Determined by E3-01
(0.000 - 60.000 s)
An integral time that is too long decreases the responsiveness of the speed control and weakens repulsion against
external force. An integral time that is too short can cause oscillation.
Note:
CLV control is usually set using C5-21 [Motor 2 ASR Proportional Gain 1] and C5-22 [Motor 2 ASR Integral Time 1]. ParameterC5-24
can also be used instead of C5-22 when the speed is less than or equal to the frequency set in C5-27 [Motor 2 ASR Gain Switchover
Freq].
■ C5-25: Motor 2 ASR Limit
No.
(Hex.)
Name Description
Default
(Range)
C5-25
(035A)
Motor 2 ASR Limit
Set the motor 2 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 C5-25.
• F1-31 [Encoder 2 Pulse Count (PPR)]
• F1-33 [Encoder 2 Gear Teeth 1]
• F1-34 [Encoder 2 Gear Teeth 2]
■ C5-26: Motor 2 ASR Delay Time
No.
(Hex.)
Name Description
Default
(Range)
C5-26
(035B)
Motor 2 ASR Delay Time
Sets the filter time constant of the torque reference output from the ASR. Usually it is not
necessary to change this parameter.
Determined by E3-01
(0.000 - 0.500 s)
Increase this setting gradually in increments of 0.01 for loads with low rigidity or when oscillation is a problem.
■ C5-27: Motor 2 ASR Gain Switchover Freq
No.
(Hex.)
Name Description
Default
(Range)
C5-27
(035C)
Motor 2 ASR Gain
Switchover Freq
Sets the frequency where the drive should switch between C5-21 [Motor 2 ASR Proportional
Gain 1] and C5-23 [Motor 2 ASR Proportional Gain 2]. Sets the frequency where the drive
should switch between C5-22 [Motor 2 ASR Integral Time 1] and C5-24 [Motor 2 ASR Integral
Time 2].
0.0 Hz
(0.0 - 400.0 Hz)
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 the maximum output frequency.
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