YASKAWA CIMR-F7A Instruction Manual page 336

Adjusting ASR Proportional Gain 1 (C5-01)
This gain setting adjusts the responsiveness of the speed control (ASR). The responsiveness is increased when
this setting is increased. Usually this setting is higher for larger 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 proportional
gain is changed.
Motor speed
Adjusting ASR Integral Time 1 (C5-02)
This constant sets the speed control (ASR) integral time.
Lengthening the integral time lowers the responsiveness, and weakens the resistance to external influences.
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 time is changed.
Motor speed
The proportional gain is high.
(Oscillation occurs when the gain is too high.)
The proportional gain is low.
Fig 6.70 Responsiveness for Proportional Gain
Short integral time
Long integral time
Fig 6.71 Responsiveness for Integral Time
Individual Functions
Time
Time
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