YASKAWA FSDrive-MV1000 Series, Parameter Manual

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2.3 C: Tuning
136 YASKAWA ELECTRIC TOEP C710687 03B FSDrive-MV1000 Parameter Guide
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C4-08: Motor 2 Torque Compensation Primary Delay Time
Sets the torque compensation time for motor 2.
u
C5: Automatic Speed Regulator (ASR)
The ASR controls the motor speed in CLV control mode. It adjusts the torque reference (CLV) to minimize the difference
between frequency reference and actual motor speed.
Figure 2.27 illustrates ASR functionality.
Figure 2.27
Figure 2.27 Speed Control Block Diagram for CLV
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Adjusting the ASR Parameters
Before adjusting ASR parameters make sure all motor data have been set up correctly or Auto-Tuning has been
performed.
Analog output signals should be used to monitor the frequency reference after softstarter (U1-16) and the motor speed
(U1-05) when adjusting the ASR.
Refer to H4: Analog Outputs on page 198 for details on setting up analog output
functions.
Generally when tuning the ASR, first optimize the ASR gain, then adjust the integral time settings. Always make
adjustments with the load connected to the motor.
Adjusting the ASR Parameters in CLV
The drive is pre-set to use ASR settings C5-01/02 over the entire speed range in CLV. If required by the application, a
second set of ASR parameters (C5-03/04) can be automatically activated depending on the motor speed or by using a
contact input.
Refer to C5-01, C5-03 / C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2 on
page 137 .
Perform the following steps for adjusting ASR parameters:
1.
Run the motor at zero speed and increase the ASR gain (C5-01) as much as possible without oscillation.
2.
Run the motor at zero speed and decrease the ASR integral time (C5-02) as much as possible without
oscillation.
3.
Run at the normal operating speed. Check for over/undershoot when changing speed and for any oscillation.
4.
Should problems occur in step 3, increase the integral time and reduce the gain.
5.
Alternatively, use different ASR settings for high and low speed. Set the values from step 1 and 2 to parameters
C5-03 and C5-04, then set an ASR switching frequency in parameter C5-07. Run the motor at a speed higher
than C5-07 and repeat step 3 while adjusting C5-01 and C5-02.
No. Name Setting Range Default
C4-08
<1> Refer to Control Mode Dependent Parameter Default Values on page 84 for details on default settings.
Motor 2 Torque Compensation Primary Delay
Time
0 to 60000 ms
<1>
P
I
+
+
+
–
C5-02, C5-04
C5-06
I
C5-08
C5-01, C5-03
Frequency
reference
Detected speed
Torque limits
Torque reference
limit
Primary
filter
L7-01 to L7-04
common_TMonly
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