12.4 C: Tuning
712 YASKAWA SIEPC71061705H GA700 Series Technical Manual
0 : Disabled
Integral operation is not enabled during acceleration or deceleration. Integral operation is always enabled during
constant speed.
1 : Enabled
Integral operation is always enabled.
■ C5-37: Motor 2 Inertia
No.
(Hex.)
Name Description
Default
(Range)
C5-37
(0278)
Expert
Motor 2 Inertia
Sets the motor inertia for motor 2.
Determined by o2-04, C6-
01
(0.0001 - 600.00 kgm
2
)
Note:
The display units for the default setting and setting range are different for different models:
• 0.0001 kgm
2
units (setting range: 0.0001 kgm
2
to 6.0000 kgm
2
): 2004 to 2021, 4002 to 4012
• 0.001 kgm
2
units (setting range: 0.001 kgm
2
to 60.000 kgm
2
): 2030 to 2211, 4018 to 4103
• 0.01 kgm
2
units (setting range: 0.01 kgm
2
to 600.00 kgm
2
): 2257 to 2415, 4140 to 4675
The drive automatically sets C5-37 to the value of [Motor Inertia] when you do Inertia Tuning or ASR Tuning.
■ C5-38: Motor 2 Load Inertia Ratio
No.
(Hex.)
Name Description
Default
(Range)
C5-38
(0279)
Expert
Motor 2 Load Inertia Ratio
Sets the load inertia ratio for the motor 2 inertia.
1.0
(0.0 - 6000.0)
The drive automatically sets C5-38 to the value of [Load Inertia Ratio] when you do Inertia Tuning or ASR
Tuning.
■ C5-39: ASR Primary Delay Time Const 2
No.
(Hex.)
Name Description
Default
(Range)
C5-39
(030D)
ASR Primary Delay Time
Const 2
Sets the filter time constant used when the torque reference is output from ASR. Usually it is not
necessary to change this parameter.
0.000 s
(0.000 - 0.500 s)
If you have a load with low rigidity or if oscillation is a problem, increase this setting in 0.01 unit increments.
■ C5-50: Notch Filter Frequency
No.
(Hex.)
Name Description
Default
(Range)
C5-50
(0B14)
Expert
Notch Filter Frequency
Sets the machine resonance frequency.
0 Hz
(0, or 2 to 100 Hz)
Machine resonance can cause high-frequency noise and vibration during operation. A notch filter can help prevent
the noise and vibration. Notch filters set the resonant frequency of the machine to remove specific vibrational
frequency components caused by machine resonance.
Note:
• Correctly set the value for the notch filter frequency. If the frequency value is too low for the speed loop response frequency, the speed
control function will not function correctly. Set the frequency to be a minimum of 4 times the speed loop response frequency.
• Set C5-50 = 0 [0 Hz] to disable the notch filter.
■ C5-51: Notch Filter Bandwidth
No.
(Hex.)
Name Description
Default
(Range)
C5-51
(0B15)
Expert
Notch Filter Bandwidth
Sets the notch width of the notch filter.
1.0
(0.5 - 5.0)
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