YASKAWA G7 Series Technical Manual page 350

Adjusting ASR Integral Time 1 (C5-02)
This parameter 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
Different Gain Settings for Low-speed and High-speed
Switch between low-speed and high-speed gain when oscillation occurs because of resonance with the
mechanical system at low speed or high speed. The proportional gain P and integral time I can be switched
according to the motor speed, as shown below.
Setting the Gain Switching Frequency (C5-07)
Set the switching frequency to about 80% of the motor operating frequency or the frequency at which oscilla-
tion occurs.
Low-speed Gain Adjustments (C5-03, C5-04)
Connect the actual load and adjust these parameters at zero-speed. Increase C5-03 (ASR proportional gain 2)
until there is no oscillation. Decrease C5-04 (ASR integral time 2) until there is no oscillation.
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Long integral time
Fig 6.69 Responsiveness for Integral Time
P, I
0
If C5-07 is set to 0, P = C5-01 and I = C5-02.
Fig 6.70 Low-speed and High-speed Gain Settings
Short integral time
P = C5-01
I = C5-02
P = C5-03
I = C5-04
Motor speed (Hz)
C5-07
Time
(Low speed)