Individual Functions6-139Different Gain Settings for Low-speed and High-speedSwitch between low-speed and high-speed gain when oscillation occurs because of resonance with themechanical system at low speed or high speed. The proportional gain P and integral time I can be switchedaccording to the motor speed, as shown below.Fig 6.72 Low-speed and High-speed Gain SettingsSetting 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 constants 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.High-speed Gain Adjustments (C5-01, C5-02)Adjust these constants at normal operating speed. Increase C5-01 (ASR proportional gain 1) until there is nooscillation. Decrease C5-02 (ASR integral time 1) until there is no oscillation. Refer to Fine Adjustments onpage 6-137 for details on making fine adjustments of high-speed operation.ASR Proportional Gain Switch SettingWhen one of the multi-function inputs (H1-01 to H1-06) is set to 77, the input can be used to switch betweenC5-01 (proportional gain 1) and C5-03 (proportional gain 2). Proportional gain 2 is used when the multi-func-tion input is ON. This input has higher priority than the ASR switching frequency set in C5-07.Fig 6.73 ASR Proportional Gain SwitchP, IMotor speed (Hz)P = C5-01I = C5-02P = C5-03I = C5-04 (Low speed)C5-07If C5-07 is set to 0, P = C5-01 and I = C5-02.ASR Gain Switch signal(a multi-function input)C5-02 C5-02OFFONC5-03 gain settingProportional gain (P) Proportional gaindeterminedby motor speed.The gain is changed linearly in integral time 1 (C5-02).
