1.3 C: Tuning
86 YASKAWA ELECTRIC SIEP C710606 10A YASKAWA AC Drive - V1000 PRELIM. Programming Manual
Note: 1. If C4-06 is set to a relatively large value, be sure to also increase the setting in n2-03 (AFR Time
Constant 2) proportionally.
2. C4-06 will not be active if L3-04 is 0, 3 or 4, the output frequency is below 5 Hz, or Speed Search after
momentary power loss is active.
◆ C5: Automatic Speed Regulator (ASR)
The ASR is a PI controller that adjusts the output frequency in order to compensate the
motor slip when load is applied. It is active only when V/f Control is used in combination
with a speed feedback signal connected to the drive pulse input RP (V/f Control with Simple
Speed Feedback).
The pulse input provides one track only and can not detect the direction of motor rotation. A
separate motor speed direction signal must therefore be input to the ASR by:
1. Using a Digital Input
This method is automatically enabled when a digital input is programmed for “Forward/
Reverse direction” (H1- = 7E). If the input is closed, the drive assumes reverse
rotation. If open, then the drive assumes that the motor is rotating forwards.
When a 2 track encoder is used, an external unit that converts the 2 tracks into 1 track and
a digital direction signal can be used.
2. Using the Frequency Reference Direction
When no digital input is set for “Forward/Reverse direction” (H1- = 7E), ASR uses the
direction of the frequency reference.
The figure below illustrates how ASR works when using V/f with Simple Speed Feedback.
No. Parameter Name Setting Range Default
C4-06 Torque Compensation Primary Delay Time 2 0 to 10000 ms 150 ms
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