C5: Auto Speed Regulator (ASR)

The ASR adjusts the torque reference to decrease the difference between frequency reference and motor speed.


A1-02 [Control Method Selection]	Targets of Adjustment
6: PM Advanced Open Loop Vector (AOLV/PM) 8: EZ Vector Control (EZOLV)	Torque Reference

Figure 1 is a speed control block diagram of each control method.

Figure 1. Speed Control Block Diagram for AOLV/PM and EZOLV

Note:

The detected speed is the speed estimation value when configured such that A1-02 = 6 or 8 [Control Method Selection = AOLV/PM or EZOLV].

Before You Adjust ASR Parameters

Do Auto-Tuning and set up all motor data correctly.
Always make adjustments with the load connected to the motor.
Use analog output signals to monitor U1-16 [SFS Output Frequency] and U1-05 [Motor Speed] when you adjust the ASR.

ASR Adjustment Procedure for AOLV/PM and EZOLV

Do this procedure to adjust ASR parameters:

Run the motor at zero speed or low speed and increase C5-01 [ASR Proportional Gain 1] until immediately before vibration starts to occur.
Run the motor at zero speed or low speed and decrease C5-02 [ASR Integral Time 1] until immediately before vibration starts to occur.
Check for oscillation when you run the motor at maximum speed.
If oscillation occurs, increase C5-02 and decrease C5-01.

When there is no oscillation, the adjustment procedure is complete.
Set the low-speed gain. Run the motor at zero speed or low speed and increase C5-03 [ASR Proportional Gain 2] until immediately before vibration starts to occur.

Figure 2. Low-speed/High-speed Gain Settings
Set the low-speed integral time. Run the motor at zero speed or low speed and decrease C5-04 [ASR Integral Time 2] until immediately before vibration starts to occur.
Set C5-07 [ASR Gain Switchover Frequency].
Check for oscillation when you run the motor at speeds more than the setting in C5-07.

Note:

If overshooting occurs when acceleration ends, decrease the value set in C5-01 and increase the value set in C5-02.
If undershoot occurs at stop, decrease C5-03 and increase C5-04.

Use MFDI Switch for Proportional Gain

You can use the input terminals set for ASR Gain (C5-03) Select [H1-xx = 77] to switch the proportional gains set with C5-01 and C5-03. When the configured input terminal is deactivated, the proportional gain set for C5-01 is selected. When the terminal is activated, the proportional gain set for C5-03 is selected. The proportional gain changes linearly over the time set in C5-02 [ASR Integral Time 1]. The signals from this MFDI are more important than C5-07 [ASR Gain Switchover Frequency].

Figure 3. Proportional Gain through Multi-function Digital Input Switch

Speed Waveform Monitoring Method

To make small adjustments of ASR parameters, monitor the speed waveforms when you make the adjustments. Table 1 shows example settings of parameters to monitor speed waveforms.

Table 1. Example Settings of MFAO Terminals to Monitor Speed Waveforms
No.	Name	Setting Value	Description
H4-01	Terminal AM Analog Output Select	116	Lets you use terminal AM to monitor U1-16 [SFS Output Frequency].
H4-02	Terminal AM Analog Output Gain	100.0%
H4-03	Terminal AM Analog Output Bias	0.0%
H4-07	Terminal AM Signal Level Select	0	Lets you monitor in a 0 V to 10 V range.

Based on this setting, MFAO terminal AM outputs the output frequency after SFS in a 0 V to 10 V (0% to 100%) range. The MFAO common is terminal AC:

Yaskawa recommends that you monitor the output frequency after SFS and the motor speed for delays in response and differences in reference values.

Adjust ASR Parameters

Use Table 2 to adjust ASR. The table lists parameters for motor 1. You can make the same changes to motor 2 parameters when you run a second motor.

Note:

When adjusting the proportional gain and integral time, adjust the proportional gain first.

Table 2. ASR Response and Possible Solutions
Problem		Possible Solutions
Speed response is slow.		Increase C5-01/C5-03 [ASR Proportional Gain]. Decrease C5-02/C5-04 [ASR Integral Time].
Overshoot or undershoot occurs at the end of acceleration or deceleration.		Decrease C5-01/C5-03. Increase C5-02/C5-04.
Vibration and oscillation occur at constant speed.		Decrease C5-01/C5-03. Increase C5-02/C5-04. Increase C5-06 [ASR Delay Time].
Oscillation at low speed and response is too slow at high speed. Oscillation at high speed and response is too slow at low speed.	-	When A1-02 = 6 [Control Method Selection = AOLV/PM], use C5-01 to C5-04 to set the best ASR settings for high and low speed. Use C5-07 [ASR Gain Switchover Frequency] to switch the ASR proportional gain and ASR integral time as specified by the output frequency.