1.6 C: Tuning
36 YASKAWA TOEPYAIGA8002B GA800 Drive Programming
◆ C5: Auto Speed Regulator (ASR)
No.
(Hex.)
Name Description
Default
(Range)
Ref.
C5-01
(021B)
RUN
ASR Proportional Gain 1
Sets the gain to adjust ASR response.
Determined by A1-02
(0.00 - 300.00)
264
C5-02
(021C)
RUN
ASR Integral Time 1
Sets the ASR integral time.
Determined by A1-02
(0.000 - 60.000 s)
264
C5-03
(021D)
RUN
ASR Proportional Gain 2
Sets the gain to adjust ASR response.
Determined by A1-02
(0.00 - 300.00)
264
C5-04
(021E)
RUN
ASR Integral Time 2
Sets the ASR integral time.
Determined by A1-02
(0.000 - 60.000 s)
264
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%)
265
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)
265
C5-07
(0221)
ASR Gain Switchover
Frequency
Sets the frequency where the drive will switch between these parameters:
C5-01 and C5-03 [ASR Proportional Gain 1/2]
C5-02 and C5-04 [ASR Integral Time 1/2]
Determined by A1-02
(Determined by A1-02)
265
C5-08
(0222)
ASR Integral Limit
Set the upper limit of the ASR integral amount as a percentage of the rated load.
400%
(0 - 400%)
265
C5-12
(0386)
Integral Operation @
Accel/Decel
Sets ASR integral operation during acceleration and deceleration.
0 : Disabled
1 : Enabled
0
(0, 1)
265
C5-17
(0276)
Expert
Motor Inertia
Sets the motor inertia.
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
Determined by o2-04,
C6-01, and E5-01
(0.0001 - 600.00 kgm
2
)
266
C5-18
(0277)
Expert
Load Inertia Ratio
Sets the load inertia ratio for the motor inertia.
1.0
(0.0 - 6000.0)
266
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)
266
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)
266
C5-23
(0358)
RUN
Motor 2 ASR
Proportional Gain 2
Sets the gain to adjust ASR response for motor 2.
Determined by E3-01
(0.00 - 300.00)
267
C5-24
(0359)
RUN
Motor 2 ASR Integral
Time 2
Sets the ASR integral time for motor 2.
Determined by E3-01
(0.000 - 60.000 s)
267
C5-25
(035A)
Motor 2 ASR Limit
Set the motor 2 ASR output limit as a percentage of E1-04 [Maximum Output Frequency].
5.0%
(0.0 - 20.0%)
267
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)
267
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