6-140
Different Gain Settings for Low-speed and High-speed
Switch between low-speed and high-speed gain when oscillation occurs because of resonance with the
mechanical system at low speed or high speed. The proportional gain P and integral time I can be switched
according to the motor speed, as shown below.
Fig 6.74 Low-speed and High-speed Gain Settings
Setting the Gain Switching Frequency (C5-07)
Set the switching frequency to about 80% of the motor operating frequency or the frequency at which oscilla-
tion occurs.
Low-speed Gain Adjustments (C5-03, C5-04)
Connect the actual load and adjust these constants at zero-speed. Increase C5-03 (ASR proportional gain 2)
until there is no oscillation. Decrease C5-04 (ASR integral time 2) until there is no oscillation.
High-speed Gain Adjustments (C5-01, C5-02)
Adjust these constants at normal operating speed. Increase C5-01 (ASR proportional gain 1) until there is no
oscillation. Decrease C5-02 (ASR integral time 1) until there is no oscillation. Refer to Fine Adjustments on
page 6-138 for details on making fine adjustments of high-speed operation.
ASR Proportional Gain Switch Setting
When one of the multi-function inputs (H1-01 to H1-10) is set to 77, the input can be used to switch between
C5-01 (proportional gain 1) and C5-03 (proportional gain 2). Proportional gain 2 is used when the multi-func-
tion input is ON. This input has higher priority than the ASR switching frequency set in C5-07.
Fig 6.75 ASR Proportional Gain Switch
P, I
Motor speed (Hz)
P = C5-01
I = C5-02
P = C5-03
I = C5-04 (Low speed)
C5-07
If C5-07 is set to 0, P = C5-01 and I = C5-02.
ASR Gain Switch signal
(a multi-function input)
C5-02
C5-02
OFF
ON
C5-03 gain setting
Proportional gain (P)
Proportional gain
determined
by motor speed.
The gain is changed linearly in integral time 1 (C5-02).
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