12.4 C: Tuning
708 YASKAWA SIEPC71061705H GA700 Series Technical Manual
Note:
• The drive usually sets Motor 1 ASR with C5-01 and C5-02 [ASR Integral Time 1]. You can switch between C5-01 and C5-03 [ASR
Proportional Gain 2] by setting H1-xx = 77 [MFDI Function Selection = ASR Gain (C5-03) Select]. You can also use C5-01 and C5-
02 as alternatives to C5-03 and C5-04, respectively, when the speed is less than or equal to the frequency set in C5-07 [ASR Gain
Switchover Frequency].
• The drive automatically adjusts C5-01 in ASR Tuning.
■ 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.
■ 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.
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