YASKAWA A1000 Series Technical Manual page 173

Slow response to speed changes or speed
deviation lasts for too long
Overshoot or undershoot at the end of
acceleration or deceleration
Vibration and oscillation occur at constant
speed
The motor slip is not fully compensated
when running in V/f Control with PG
Integral operation is enabled in V/f
Control with PG (C5-15 = 1) and over/
undershoot occurs when changing speed.
Oscillation at low speed and response is
too slow at high speed (or vice versa)
■ 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).
No.
C5-01
C5-02
C5-03
C5-04
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 5.37
YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual
Table 5.14 ASR Setup Problems and Corrective Actions
Problem
Speed reference
Motor Speed
Time
Motor Speed
Speed reference
Time
Speed reference
Motor Speed
Time
Speed reference
Motor Speed
Time
-
-
Parameter Name
ASR Proportional Gain 1
ASR Integral Time 1
ASR Proportional Gain 2
ASR Integral Time 2
P and I setting
0
E1-09
Min. output frequency
Figure 5.37 ASR Gain and Integral Time in V/fw/PG
Possible Solutions
• Increase the ASR gain.
• Decrease the integral time.
• Decrease the ASR gain.
• Increase the integral time.
• Decrease the ASR gain.
• Increase the integral time.
• Increase the ASR delay time (C5-06).
• 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.
• Decrease the ASR gain.
• Increase the integral time.
• If the problem persists, reduce the ASR output limit set in C5-05.
• 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.
Setting Range
0.00 to 300.00
0.000 to 10.000 s
0.00 to 300.00
0.000 to 10.000 s
P = C5-01
I = C5-02
common_TMonly
P = C5-03
I = C5-04
Motor speed
E1-04
Max. output frequency
5.3 C: Tuning
Default
Determined by A1-02
Determined by A1-02
Determined by A1-02
Determined by A1-02
5
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