Adjusting Asr Proportional Gain 1 (C5-01); Adjusting Asr Integral Time 1 (C5-02); Responsiveness For Proportional Gain; Different Gain Settings For Low-Speed And High-Speed - YASKAWA VARISPEED-616G5 Instruction Manual

Adjusting ASR Proportional Gain 1 (C5-01)

This gain setting adjusts the responsiveness of the speed control (ASR).
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The responsiveness is increased when this setting is increased. Usually this setting is higher for larger
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loads. Oscillation will occur if this setting is increased too much.
The following diagram shows the type of changes that can occur in the response when the ASR propor-
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tional gain is changed.
Motor speed
Fig 6.19

Responsiveness for Proportional Gain

Adjusting ASR Integral Time 1 (C5-02)

This constant sets the speed control (ASR) integral time.
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Lengthening the integral time lowers the responsiveness, and weakens the resistance to external in-
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fluences. Oscillation will occur if this setting is too short.
The following diagram shows the type of changes that can occur in the response when the ASR integral
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time is changed.
Motor speed
Fig 6.20 Responsiveness for Integral Time

Different Gain Settings for Low-speed and High-speed

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Switch between low-speed and high-speed gain when oscillation occurs because of resonance with the me-
chanical system at low speed or high speed.
Setting the Gain Switching Frequency (C5-07)
Set the switching frequency to about 80% of the motor operating frequency or the frequency at which
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oscillation occurs.
Low-speed Gain Adjustments (C5-03, C5-04)
Connect the actual load and adjust these constants at zero-speed. Increase ASR proportional gain 2
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(C5-03) until there is no oscillation.
Decrease ASR integral time 2 (C5-04) until there is no oscillation.
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High-speed Gain Adjustments (C5-01, C5-02)
Adjust these constants at normal operating speed. Increase ASR proportional gain 1 (C5-01) until there
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is no oscillation.
Decrease ASR integral time 1 (C5-02) until there is no oscillation.
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Refer to Fine Adjustments on page 6 - 38 for details on making fine adjustments of high-speed opera-
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tion.
The proportional gain is high.
(Oscillation occurs when the gain is too high.)
The proportional gain is low.
Short integral time
Long integral time
6 - 39
6.4 Flux Vector Control
Time
Time
6