YASKAWA GA800 Programming Manual page 262

2.4 C: Tuning
2. Run the motor at zero speed or low speed and decrease C5-02 [ASR Integral Time 1] until immediately before
vibration starts to occur.
3. Check for oscillation when you run the motor at maximum speed.
4. If oscillation occurs, increase C5-02 and decrease C5-01.
When there is no oscillation, the adjustment procedure is complete.
5. Set the low-speed gain. Run the motor at zero speed or low speed and increase C5-03 [ASR Proportional Gain 2]
until immediately before vibration starts to occur.
6. Set the low-speed integral time. Run the motor at zero speed or low speed and decrease C5-04 [ASR Integral Time
2] until immediately before vibration starts to occur.
7. Set C5-07 [ASR Gain Switchover Frequency].
8. Check for oscillation when you run the motor at speeds more than the setting in C5-07.
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.
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Use MFDI Switch for Proportional Gain
Note:
If A1-02 = 1 [Control Method Selection = V/f Control with Encoder], you cannot use this function.
You can use the input terminals set for ASR Gain (C5-03) Select [H1-xx = 77] to switch the proportional gains set
with C5-01 and C5-03. When the configured input terminal is deactivated, the proportional gain set for C5-01 is
selected. When the terminal is activated, the proportional gain set for C5-03 is selected. The proportional gain
changes linearly over the time set in C5-02 [ASR Integral Time 1]. The signals from this MFDI are more important
than C5-07 [ASR Gain Switchover Frequency].
Figure 2.57 Proportional Gain through Multi-function Digital Input Switch
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Speed Waveform Monitoring Method
To make small adjustments of ASR parameters, monitor the speed waveforms when you make the adjustments.
2.32 shows example settings of parameters to monitor speed waveforms.
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Figure 2.56 Low-speed/High-speed Gain Settings
YASKAWA TOEPYAIGA8002B GA800 Drive Programming
Table