5.3 C: Tuning
224 YASKAWA ELECTRIC SIEP C710636 02B YASKAWA U1000 Technical Manual
■ C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2
These parameters can be used to adjust the responsiveness of the ASR.
Note: C5-01 is automatically set when ASR Tuning is performed (T1-01 = 9 or T2-01 = 9).
These parameter settings will function differently depending on the control mode.
V/f Control with PG
Parameters C5-01 and C5-02 determine the ASR characteristics at maximum speed, whereas C5-03 and C5-04 determine
the characteristics at minimum speed.
Figure 5. 38
Figure 5.38 ASR Gain and Integral Time in V/fw/PG
CLV, AOLV/PM, and CLV/PM
In these control modes, parameters C5-03 and C5-04 define the ASR gain an integral time at zero speed. The settings in
C5-01 and C5-02 are used at speeds above the setting in C5-07. C5-07 is set to 0 as the default so that C5-01 and C5-02
are used over the entire speed range. Also refer to C5-07: ASR Gain Switching Frequency on page 225.
Figure 5. 39
Figure 5.39 Low-speed and High-speed Gain Settings
The gain set in C5-03 can also be activated with a digital input programmed to “ASR gain switch” (H1- = 77). When
the terminal is open, the drive uses the ASR gain level set by the pattern in the figure above. When the terminal closes,
C5-03 is used. The integral time set to C5-02 is used to change linearly between these settings.
The ASR gain switch command from a multi-function input terminal overrides the switching frequency set to C5-07.
The motor slip is not fully compensated when
running in V/f Control with PG
• Check the pulse number set to F1-01 and the gear ratio in F1-12 and F1-13.
• Make sure the pulse signal from the encoder is set up properly.
• Check monitor U6-04 and check if the ASR is working at its output limit (setting of
C5-05). If so, increase C5-05.
Integral operation is enabled in V/f Control with
PG (C5-15 = 1) and over/undershoot occurs
when changing speed.
–
• Decrease the ASR proportional gain.
• Increase the integral time.
• If the problem persists, reduce the ASR output limit set in C5-05.
Oscillation at low speed and response is too
slow at high speed (or vice versa)
–
• V/f control: Use C5-01/02 and C5-03/04 to set up different ASR settings at minimum
and maximum speed.
• CLV, AOLV/PM, CLV/PM: Use C5-01, C5-02 and C5-03, C5-04 to define optimal
ASR settings for high and low speed. Use C5-07 to define a switching frequency.
No. Parameter Name Setting Range Default
C5-01 ASR Proportional Gain 1 0.00 to 300.00 Determined by A1-02
C5-02 ASR Integral Time 1 0.000 to 10.000 s Determined by A1-02
C5-03 ASR Proportional Gain 2 0.00 to 300.00 Determined by A1-02
C5-04 ASR Integral Time 2 0.000 to 10.000 s Determined by A1-02
Problem Possible Solutions
Time
Speed reference
Motor Speed
E1-04
0
P = C5-03
I = C5-04
P = C5-01
I = C5-02
E1-09
P and I setting
Motor speed
Max. output frequency
Min. output frequency
P, I
P = C5-01
I = C5-02
P = C5-03
I = C5-04
C5-07
㧜
Ramp
Motor speed (Hz)
(Low speed)
SIEP_C710636_02B_1_0.book 224 ページ ２０１５年１１月２５日 水曜日 午後４時５６分
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