No. Parameter Name Setting Range Default
C5-12 Integral Operation during Accel/Decel 0, 1 0
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 157 for details on Auto-Tuning or enter the data manually.
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
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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 the same way that C5-01 through C5-04 function for motor 1. Refer to C5-01, C5-03/
C5-02, C5-04: ASR Proportional Gain 1, 2/ASR Integral Time 1, 2 on page 230 for details.
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
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C5-25: Motor 2 ASR Limit
Functions for motor 2 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 (E4-04). Refer to C5-05: ASR Limit on page 231 for details.
No. Parameter Name Setting Range Default
C5-25 Motor 2 ASR Limit 0.0 to 20.0% 5.0%
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C5-26: Motor 2 ASR Primary Delay Time Constant
Functions for motor 2 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. Refer to C5-06: ASR Primary Delay Time Constant on page 231 for details. This
parameter rarely needs to be changed.
No. Parameter Name Setting Range Default
C5-26 Motor 2 ASR Primary Delay Time Constant 0.000 to 0.500 s 0.004 s
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C5-27: Motor 2 ASR Gain Switching Frequency
Functions for motor 2 the same way that C5-07 functions for motor 1. Sets the frequency for motor 2 to change ASR proportional
gain 1 and 2 (C5-21, C5-23) as well as the integral time 1 and 2 (C5-22, C5-24). Refer to C5-01, C5-03/C5-02, C5-04: ASR
Proportional Gain 1, 2/ASR Integral Time 1, 2 on page 230 for details.
No. Parameter Name Setting Range Default
C5-27 Motor 2 ASR Gain Switching Frequency 0.0 to 400.0 Hz 0.0 Hz
Note:
A multi-function input set for the ASR gain switch (H1-oo = 77) takes priority over the ASR gain switching frequency.
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C5-28: Motor 2 ASR Integral Limit
Functions for motor 2 the same way that C5-08 functions for motor 1. Sets the upper limit for ASR as a percentage of the rated
load. Refer to C5-08: ASR Integral Limit on page 231 for details.
5.3 C: Tuning
232
YASKAWA ELECTRIC SIEP C710636 04D U1000 Industrial MATRIX Drive Technical Manual
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