YASKAWA FSDrive-MV1000 Parameter Manual page 133

The gain set in C5-03 can also be activated with a contact input programmed to "ASR gain switch" (H1-
When the terminal is open, the drive uses the ASR gain level set by the pattern in the figure above. When the terminal
closes, C5-03 is used. The integral time set to C5-02 is used to change linearly between these settings.
The ASR gain switch command from a multi-function input terminal overrides the switching frequency set to C5-07.
Figure 2.28
ASR Gain Switch signal
(Contact input)
Proportional gain (P)
ASR Gain Tuning (C5-01, C5-03)
The higher this setting, the faster is the speed response. Too high of a setting can lead to oscillation. In general, this
setting should be increased with larger loads in order to minimize the speed deviation.
ASR Integral Time Tuning (C5-02, C5-04)
Determines how fast a continuous speed deviation problem is eliminated. Too long of an integral time makes the speed
control less responsive, while a too short of an integral time can cause oscillation.
■ C5-06: ASR Primary Delay Time Constant
This parameter sets the filter time constant for the time from the speed loop to the torque command output.
Increase this setting gradually in increments of 0.01 for loads with low rigidity, or when oscillation is a problem.
Note: This parameter rarely requires adjustment.
No.
C5-06
<1> For details on the default settings, refer to
C5-07: ASR Gain Switching Frequency
■
Sets the frequency where the drive should switch between ASR proportional gain 1 and 2 (C5-01, C5-03) as well as
between integral time 1 and 2 (C5-02, C5-04).
Switching the proportional gain and integral time in the low or high speed range can help stabilize operation and avoid
resonance problems. A good switching point is about 80% of the frequency where oscillation occurs, or at 80% of the
target speed.
No.
C5-07
<1> For details on the default settings, refer to
Note: A contact input set for the ASR gain switch (H1-
C5-08: ASR Integral Limit
■
Sets the upper limit for ASR as a percentage of the rated load.
No.
C5-08
YASKAWA ELECTRIC EZZ010930 FSDrive-MV1000 Parameter Guide
OFF ON
C5-02
Figure 2.28 ASR Proportional Gain Switch
Name
ASR Primary Delay Time Constant
Control Mode Dependent Parameter Default Values on page
Name
ASR Gain Switching Frequency
Control Mode Dependent Parameter Default Values on page
Name
ASR Integral Limit
C5-02
Setting Range
0.000 to 0.500 s
Setting Range
0.0 to 120.0 Hz
= 77) takes priority over the ASR gain switching frequency.
Setting Range
0 to 400%
2.3 C: Tuning
= 77).
Proportional gain
determined
common_TMonly
by motor speed.
C5-03 gain setting
Default
Determined by A1-02
<1>
79.
Default
Determined by A1-02
<1>
79.
Default
200%
133