Parameter Details
2
2.4 C: Tuning
YASKAWA TOEPYAIGA5002A GA500 DRIVE PROGRAMMING 219
■ 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.
Note:
When A1-02 = 0 [Control Method Selection = V/f], set H6-01 = 3 [Terminal RP Pulse Train Function = Speed Feedback (V/F Control)] to
enable this parameter.
■ C5-05: ASR Limit
No.
(Hex.)
Name Description
Default
(Range)
C5-05
(021F)
ASR Limit
Sets the ASR output limit where E1-04 [Maximum Output Frequency] is 100%.
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 encoder (PG) signal before you make changes to C5-05.
Note:
When A1-02 = 0 [Control Method Selection = V/f], set H6-01 = 3 [Terminal RP Pulse Train Function = Speed Feedback (V/F Control)] to
enable this parameter.
■ 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 will switch between these parameters:
C5-01 and C5-03 [ASR Proportional Gain 1/2]
C5-02 and C5-04 [ASR Integral Time 1/2]
Determined by A1-02
(Determined by A1-02)
Switching the proportional gain and integral time in the low or high speed range can help operation become stable. A
good switching point is 80% of the frequency where oscillation occurs or at 80% of the maximum output frequency.
Note:
An MFDI set for H1-xx = 77 [MFDI Function Selection = ASR Gain (C5-03) Select] will have priority over the ASR gain switching
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%)
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