5.3 C: Tuning
226 YASKAWA ELECTRIC SIEP C710636 02B YASKAWA U1000 Technical Manual
Setting 0: Disabled
Integral operation occurs only during constant speed and not during acceleration or deceleration.
Setting 1: Enabled
Integral operation is always enabled.
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C5-17, C5-18: Motor Inertia, Load Inertia Ratio
C5-17 and C5-18 determine the ratio of the machine inertia to the inertia of the motor being used.
Example: Setting C5-18 to 2.0 reflects a load inertia that is twice the motor inertia.
These parameters are set automatically when Inertia Tuning and ASR Tuning are performed in CLV and CLV/PM control
modes. Refer to Auto-Tuning on page 154 for details on Auto-Tuning or enter the data manually.
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C5-21, C5-23 / C5-22, C5-24: Motor 2 ASR Proportional Gain 1, 2 / Integral Time 1, 2
These parameters function for motor 2 in the same way that C5-01 through C5-04 function for motor 1. For more details,
see C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2 on page 224.
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C5-25: Motor 2 ASR Limit
Functions for motor 2 in the same way that C5-05 functions for motor 1. Sets the ASR output limit for motor 2 as a
percentage of the maximum output frequency (E1-04). For more details, see C5-05: ASR Limit on page 225.
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C5-26: Motor 2 ASR Primary Delay Time Constant
This parameter rarely requires adjustment. Functions for motor 2 in the same way that C5-06 functions for motor 1.
Sets the filter time constant for the time from the speed loop to the torque command output. For more details, see C5-06:
ASR Primary Delay Time Constant on page 225.
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C5-27: Motor 2 ASR Gain Switching Frequency
Functions for motor 2 in the same way that C5-07 functions for motor 1.
Sets the frequency for motor 2 to change motor 2 ASR proportional gain 1 and 2 (C5-21, C5-23) as well as the motor 2
ASR integral time 1 and 2 (C5-22, C5-24). For more details, see C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1,
2 / ASR Integral Time 1, 2 on page 224.
Note: A multi-function input set for the ASR gain switch (H1- = 77) takes priority over the ASR gain switching frequency.
No. Parameter Name Setting Range Default
C5-12 Integral Operation during Accel/Decel 0, 1 0
No. Parameter Name Setting Range Default
C5-17
Motor Inertia
0.0001 to 600.00 kgm
2
Determined by C6-01, E5-01 and
o2-04
C5-18
Load Inertia Ratio
0.0 to 6000.0 1.0
No. Parameter Name Setting Range Default
C5-21
Motor 2 ASR Proportional Gain 1
0.00 to 300.00 Determined by E3-01
C5-22
Motor 2 ASR Integral Time 1
0.000 to 10.000 s Determined by E3-01
C5-23 Motor 2 ASR Proportional Gain 2 0.00 to 300.00 Determined by E3-01
C5-24 Motor 2 ASR Integral Time 2 0.000 to 10.000 s Determined by E3-01
No. Parameter Name Setting Range Default
C5-25 Motor 2 ASR Limit 0.0 to 20.0% 5.0%
No. Parameter Name Setting Range Default
C5-26 Motor 2 ASR Primary Delay Time Constant 0.000 to 0.500 s Determined by E3-01
No. Parameter Name Setting Range Default
C5-27 Motor 2 ASR Gain Switching Frequency 0.0 to 400.0 Hz 0.0 Hz
SIEP_C710636_02B_1_0.book 226 ページ ２０１５年１１月２５日 水曜日 午後４時５６分
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