5.3 C: Tuning
■ C5-01, C5-03, C5-13 / C5-02, C5-04, C5-14: Speed Control Loop Proportional Gain 1, 2, 3 /
Speed Control Loop Integral Time 1, 2, 3
These parameters adjust the responsiveness o f the Speed Control Loop.
No.
Parameter Name
Setting Range
Default
C5-01
Speed Control Loop Proportional Gain 1
0.00 to 300.00
Determined by A 1-02
C5-02
Speed Control Loop Integral Time 1
0.000 to 10.000 s
Determined by A 1-02
C5-03
Speed Control Loop Proportional Gain 2
0.00 to 300.00
Determined by A 1-02
C5-04
Speed Control Loop Integral Time 2
0.000 to 10.000 s
0.500 s
C5-13
Speed Control Loop Proportional Gain 3
0.00 to 300.00
Determined by A 1-02
C5-14
Speed Control Loop Integral Time 3
0.000 to 10.000 s
Determined by A 1-02
Speed Control Loop Gain Tuning (C5-01, C5-03, C5-13)
The higher this setting, the faster the speed response, although a setting that is too high can lead to oscillation.
Speed Control Loop Integral Time Tuning (C5-02, C5-04, C5-14)
Determines how fast a continuous speed deviation problem is eliminated. A setting that is too long reduces the
responsiveness o f the speed control. A setting that is too short can cause oscillation.
■ C5-06: Speed Control Loop Primary Delay Time Constant
Sets the filter time constant for the time from the speed loop to the torque command output. Increase this setting
gradually in increments o f 0.01 for loads with low rigidity or when oscillation is a problem. This parameter rarely needs
to be changed.
No.
Parameter Name
Setting Range
Default
C5-06
Speed Control Loop Primary D elay Time Constant
0.000 to 0.500 s
0.004 s
■ C5-07: Speed Control Settings Switching Speed
Sets the speed where the drive should switch between Speed Control Loop proportional gain 1, 2, and 3 (C5-01, C5-03,
and C5-13) as well as between integral time 1, 2, and 3 (C5-02, C5-04, and C5-14).
No.
Parameter Name
Setting Range
Default
C5-07
Speed Control Settings Switching Speed
0.0 to 100.0%
Determined by A 1-02
Switching Between Speed Loop Settings Accel/Decel
Switching between speed loop settings helps to achieve optimal performance and riding comfort in all sections o f a trip.
If C5-07 is set higher than 0% then the speed loop settings automatically change with the output speed as shown in
Figure 5.11
and
Figure 5.12.
F ig u r e 5.11 S e t t i n g s a t L o w a n d H igh S p e e d d u r in g A c c e le r a tio n
F ig u r e 5 .1 2 S e t t i n g s a t L o w a n d H ig h S p e e d d u r i n g D e c e le r a tio n (L e v e lin g S p e e d is S e le c t e d )
YASKAWA ELECTRIC SIEP C710616 33D YASKAWA AC Drive L1000A Technical Manual
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