2.4 C: Tuning
266 YASKAWA TOEPYAIGA8002B GA800 Drive Programming
Integral operation is always enabled during constant speed. The drive will not enable integral operation during
acceleration or deceleration.
1 : Enabled
Integral operation is always enabled.
■ C5-17: Motor Inertia
No.
(Hex.)
Name Description
Default
(Range)
C5-17
(0276)
Expert
Motor Inertia
Sets the motor inertia.
Determined by o2-04, C6-
01, and E5-01
(0.0001 - 600.00 kgm
2
)
Note:
The default settings and the display units for setting ranges are different for different drive 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 4720
When A1-02 = 3 or 7 [Control Method Selection = CLV or CLV/PM], the drive automatically sets C5-17 to the value
of [Motor Inertia] when you do Inertia Tuning or ASR Tuning.
■ C5-18: Load Inertia Ratio
No.
(Hex.)
Name Description
Default
(Range)
C5-18
(0277)
Expert
Load Inertia Ratio
Sets the load inertia ratio for the motor inertia.
1.0
(0.0 - 6000.0)
When A1-02 = 3 or 7 [Control Method Selection = CLV or CLV/PM], the drive automatically sets C5-18 to the load
inertia ratio when you do Inertia Tuning or ASR Tuning.
■ C5-21: Motor 2 ASR Proportional Gain 1
No.
(Hex.)
Name Description
Default
(Range)
C5-21
(0356)
RUN
Motor 2 ASR Proportional
Gain 1
Sets the gain to adjust ASR response for motor 2.
Determined by E3-01
(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.
Note:
• The drive usually sets Motor 2 ASR with C5-21 and C5-22 [Motor 2 ASR Integral Time 1]. You can also use C5-23 [Motor 2 ASR
Proportional Gain 2] instead of C5-21 when the speed is less than or equal to the frequency set in C5-27 [Motor 2 ASR Gain Switchover
Freq]. You can switch between C5-21 and C5-23 by setting H1-xx = 77 [MFDI Function Selection = ASR Gain (C5-03) Select].
• The drive automatically adjusts C5-21 in ASR Tuning.
■ C5-22: Motor 2 ASR Integral Time 1
No.
(Hex.)
Name Description
Default
(Range)
C5-22
(0357)
RUN
Motor 2 ASR Integral Time
1
Sets the ASR integral time for motor 2.
Determined by E3-01
(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:
The drive usually sets Motor 2 ASR with C5-21 [Motor 2 ASR Proportional Gain 1] and C5-22. You can also use C5-24 [Motor 2 ASR
Integral Time 2] instead of C5-22 when the speed is less than or equal to the frequency set in C5-27 [Motor 2 ASR Gain Switchover Freq].
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