11.4 C: Tuning658 YASKAWA ELECTRIC SIEP C710617 01B YASKAWA AC Drive GA700 Technical ManualProblem Possible SolutionsVibration and oscillation occur at constantspeed.• Decrease C5-01/C5-03.• Increase C5-02/C5-04.• Increase C5-06 [ASR Delay Time].Speed accuracy is poor when running motorswith significant rated slip in Closed Loop V/f Control mode.• Check the pulse number set to F1-01 [PG1 Pulses Per Revolution] and the gearratio to F1-12 [PG 1 Gear Teeth 1] andF1-13 [PG 1 Gear Teeth 2].• Make sure the pulse signal from theencoder is set up properly.• Check U6-04 [ASR Output] and determineif the ASR is working at its output limitset to C5-05 [ASR Limit]. If the ASR is atthe output limit, increase C5-05.If C5-12 = 1 or C5-32 = 1 [Enabled] inClosed Loop V/f Control and over/undershoot occurs when changing speed.-• Decrease C5-01/C5-03.• Increase C5-02/C5-04.• Decrease the value set to C5-05.Oscillation at low speed and response is tooslow at high speed. Alternatively, theopposite problem occurs.-• Closed Loop V/f Control Mode:Use C5-03 and C5-04 at maximum speedand C5-01 and C5-02 at minimum speedto set up different ASR settings.• Closed Loop Vector Control, PMAdvanced Open Loop Vector Control, andPM Closed Loop Vector Control:Use C5-01 to C5-04 to define optimalASR settings for high and low speed. UseC5-07 [ASR Gain Switchover Frequency]to switch the ASR proportional gain andASR integral time in accordance with theoutput frequency.■ C5-01: ASR Proportional Gain 1No.(Hex.) Name Description Default(Range)C5-01(021B)RUNASR ProportionalGain 1 Sets the gain to adjust ASR response.Determined by A1-02(0.00 - 300.00)The speed response increases with the weight of the load. Normally, the gain increases with larger loads.Excessive gain causes vibration.Note:• Motor 1 ASR is normally set using C5-01 and C5-02 [ASR Integral Time 1]. C5-03 [ASR Proportional Gain 2] can be used in place ofC5-01 by setting H1-xx = 77 [MFDI Function Select = ASR Gain Switch]. C5-01 can also be used in place of C5-04 [ASR IntegralTime 2] when the speed is less than or equal to the frequency set to C5-07 [ASR Gain Switchover Frequency].• C5-01 is automatically adjusted when the ASR Tuning process is executed.■ C5-02: ASR Integral Time 1No.(Hex.) Name Description Default(Range)C5-02(021C)RUNASR Integral Time 1Sets the ASR integral time.Determined by A1-02(0.000 - 10.000 s)An integral time that is too long reduces the responsiveness of the speed control and weakens repulsion againstexternal force. An integral time that is too short can cause oscillation.V/f CL-V/f OLV CLV AOLV OLV/PMOLV/PM AOLV/PM CLV/PM EZOLVV/f CL-V/f OLV CLV AOLV OLV/PMOLV/PM AOLV/PM CLV/PM EZOLV
