Parameter Details
12
12.4 C: Tuning
YASKAWA SIEPC71061705H GA700 Series Technical Manual 711
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 motor 2 filter time constant of the torque reference output from the speed loop. Usually it
is not necessary to change this setting.
Determined by E3-01
(0.000 - 0.500 s)
If you have a load with low rigidity or if oscillation is a problem, decrease C5-21 in 2-unit decrements or decrease
C5-26 in 0.001-unit decrements.
■ 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 will switch between these parameters:
C5-21 and C5-23 [Motor 2 ASR Proportional Gain 1/2]
C5-22 and C5-24 [Motor 2 ASR Integral Time 1/2]
0.0
(0.0 - 400.0)
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.
■ C5-28: Motor 2 ASR Integral Limit
No.
(Hex.)
Name Description
Default
(Range)
C5-28
(035D)
Motor 2 ASR Integral Limit
Set the upper limit of the motor 2 ASR integral amount as a percentage of the rated load.
400%
(0 - 400%)
■ C5-29: Speed Control Response
No.
(Hex.)
Name Description
Default
(Range)
C5-29
(0B18)
Expert
Speed Control Response
Sets the level of speed control responsiveness. Usually it is not necessary to change this setting.
0
(0, 1)
If a high level of speed control responsiveness is necessary, set C5-29 = 1,then adjust the speed control (ASR)
parameter.
0 : Standard
1 : High Performance 1
■ C5-32: Motor 2 Integral Oper at Acc/Dec
No.
(Hex.)
Name Description
Default
(Range)
C5-32
(0361)
Motor 2 Integral Oper at
Acc/Dec
Sets ASR integral operation during acceleration and deceleration for motor 2.
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.
Note:
If you enable integral control, overshoot or undershoot can occur when acceleration or deceleration complete. If there are problems with
overshooting and undershooting, set this parameter to 0.
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