YASKAWA GA800 Programming Manual page 261

Figure 2.54 Speed Control Block Diagrams for CLV, AOLV, CLV/PM, AOLV/PM, and EZOLV
Note:
The detected speed is the speed estimation value when configured such that A1-02 = 4, 6, or 8 [Control Method Selection = AOLV, AOLV/
PM, or EZOLV].
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Before You Adjust ASR Parameters
• Do Auto-Tuning and set up all motor data correctly.
• Always make adjustments with the load connected to the motor.
• Use analog output signals to monitor U1-16 [SFS Output Frequency] and U1-05 [Motor Speed] when you adjust
the ASR.
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ASR Adjustment Procedure for CL-V/f
Do this procedure to adjust ASR parameters:
1. Run the motor at minimum speed and increase C5-03 [ASR Proportional Gain 2] as much as possible without
oscillation.
2. Run the motor at minimum speed and decrease C5-04 [ASR Integral Time 2] as much as possible without
oscillation.
3. Check the output current monitor to make sure that the output current is less than 50% of the drive rated current.
If the setting value is higher than 50%, decrease C5-03 and increase C5-04.
4. Run the motor at maximum speed and increase C5-01 [ASR Proportional Gain 1] as much as possible without
oscillations.
5. Run the motor at maximum speed and decrease C5-02 [ASR Integral Time 1] as much as possible without
oscillations.
6. If higher speed precision and faster response during acceleration or deceleration are necessary, set C5-12 = 1
[Integral Operation @ Accel/Decel = Enabled] to enable integral control during acceleration/decel.
Note:
• If overshooting occurs when acceleration ends, decrease the value set in C5-01 and increase the value set in C5-02.
• If there is undershoot at stop, decrease C5-03 and increase C5-04.
• If you adjust the gain and it does not correct overshooting and undershooting, decrease the value set in C5-05 [ASR Limit] to decrease the
upper limit of the frequency reference compensation.
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ASR Adjustment Procedure for CLV, AOLV, AOLV/PM, CLV/PM, and EZOLV
Do this procedure to adjust ASR parameters:
1. Run the motor at zero speed or low speed and increase C5-01 [ASR Proportional Gain 1] until immediately
before vibration starts to occur.
YASKAWA TOEPYAIGA8002B GA800 Drive Programming
Figure 2.55 ASR Gain and Integral Time Adjustment
2.4 C: Tuning
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