Perform the following steps for adjusting ASR parameters:
1.
Run the motor at minimum speed and increase ASR gain 2 (C5-03) as much as possible without oscillation.
2.
Run the motor at minimum speed and decrease ASR integral time 2 (C5-04) as much as possible without oscillation.
3.
Check the output current monitor to make sure that the output current is less than 50% of the drive rated current. If
the value is higher than 50%, decrease C5-03 and increase C5-04.
4.
Run the motor at maximum speed and increase ASR gain 1 (C5-01) as much as possible without oscillations.
5.
Run the motor at maximum speed and decrease ASR integral time 1 (C5-02) as much as possible without oscillations.
6.
If higher speed precision and faster response during acceleration or deceleration are required, enable integral control
during accel/decel by setting parameter C5-12 to 1. Change the speed and make sure no over/undershoot occurs.
Adjusting the ASR Parameters in CLV, AOLV/PM, and CLV/PM
The drive is preset to use ASR settings C5-01/02 over the entire speed range in CLV, AOLV/PM, and CLV/PM. If required
by the application, a second set of ASR parameters (C5-03/04) can be automatically activated depending on the motor speed.
Use a digital input to activate the second ASR Gain (C5-03).
Refer to C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain
1, 2/ASR Integral Time 1, 2 on page 230
for details.
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.
If problems occur in step 3, increase the integral time and reduce the gain.
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.
Solving Problems During ASR Setup
when making adjustments to ASR. Though the parameters listed below are for motor 1, the same changes can
be made to the corresponding motor 2 parameters when running a second motor.
Table 5.15 ASR Setup Problems and Corrective Actions
Problem
Possible Solutions
Slow response to speed changes or
speed deviation lasts for too long
Time
Speed reference
Motor Speed
• Increase the ASR gain.
• Decrease the integral time.
Overshoot or undershoot at the end
of acceleration or deceleration
Time
Speed reference
Motor Speed
• Decrease the ASR gain.
• Increase the integral time.
Vibration and oscillation occur at
constant speed
Time
Speed reference
Motor Speed
• Decrease the ASR gain.
• Increase the integral time.
• Increase the ASR delay time (C5-06).
The motor slip is not fully
compensated when running in V/f
Control with PG
Time
Speed reference
Motor Speed
• Check the pulse number set to F1-01 and the gear ratio in F1-12
and F1-13.
• Make sure the pulse signal from the encoder is set up properly.
• Check monitor U6-04 and determine if the ASR is working at
its output limit (setting of C5-05). If the ASR is at the output
limit, increase C5-05.
Integral operation is enabled in
V/f Control with PG (C5-12 = 1)
and over/undershoot occurs when
changing speed.
-
• Decrease the ASR gain.
• Increase the integral time.
• Reduce the ASR output limit set in C5-05.
5.3 C: Tuning
YASKAWA ELECTRIC SIEP C710636 04D U1000 Industrial MATRIX Drive Technical Manual
229
5
Parameter Details
Summary of Contents for U1000 iQpump Drive
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