11.4 C: Tuning
766 YASKAWA ELECTRIC SIEP C710617 05F YASKAWA AC Drive GA700 Technical Manual
■ 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)
An integral time that is too long will decrease the responsiveness of the speed control and decrease drive response
to dynamic changes in motor load. 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)
The speed response increases as the weight of the load increases. 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)
An integral time that is too long will decrease the responsiveness of the speed control and decrease drive response
to dynamic changes in motor load. 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
Sets 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 could be necessary to increase the setting to provide 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 for the time from the speed loop to the torque
command output. 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, increase this setting in 0.01 unit increments.
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