C5: Automatic Speed Regulator (ASR: Automatic Speed Regulator)

The ASR adjusts the output frequency or torque reference to decrease the difference between frequency reference and motor speed. The control method sets the parameter that you must adjust.


A1-02 [Control Method Selection]	Targets of Adjustment
1: Closed Loop V/f Control (CL-V/f)	Output frequency
3: Closed Loop Vector Control (CLV) 4: Advanced Open Loop Vector Control (AOLV) 6: PM Advanced Open Loop Vector (AOLV/PM) 7: Closed Loop Vector Control for PM (CLV/PM) 8: EZ Vector Control (EZOLV)	Torque Reference

Figure 1 and Figure 2 are speed control block diagrams of each control method.

Figure 1. Speed Control Block Diagram for CL-V/f

Figure 2. Speed Control Block Diagram for CLV, AOLV, CLV/PM, AOLV/PM, and EZOLV

Note:

The detected speed is the speed estimation value when configured such that A1-02 = 4, 6, or 8 [Control Method Selection = AOLV, AOLV/PM, or EZOLV].

Before You Adjust ASR Parameters

Do Auto-Tuning and set up all motor data correctly before you adjust the ASR parameters.
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 CL-V/f

Do this procedure to adjust ASR parameters:

Run the motor at minimum speed and increase C5-03 [ASR Proportional Gain 2] as much as possible without oscillation.

Figure 3. ASR Gain and Integral Time Adjustment
Run the motor at minimum speed and decrease C5-04 [ASR Integral Time 2] as much as possible without oscillation.
Check the output current monitor to make sure that the output current is less than 50% of the drive rated current. If the setting value is higher than 50%, decrease C5-03 and increase C5-04.
Run the motor at maximum speed and increase C5-01 [ASR Proportional Gain 1] as much as possible without oscillations.
Run the motor at maximum speed and decrease C5-02 [ASR Integral Time 1] as much as possible without oscillations.
If higher speed precision and faster response during acceleration or deceleration are necessary, set C5-12 = 1 [Integral Operation @ Accel/Decel = Enabled] to enable integral control during acceleration/decel.

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.
If you adjust the gain and it does not correct overshooting and undershooting, decrease the value set in C5-05 [ASR Limit] to decrease the upper limit of the frequency reference compensation.

ASR Adjustment Procedure for CLV, AOLV, AOLV/PM, CLV/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 4. 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

Note:

If A1-02 = 1 [Control Method Selection = V/f Control with Encoder], you cannot use this function.

You can use the input terminals set for H1-xx = 77 [ASR Gain (C5-03) Select] to switch the proportional gains set with C5-01 [ASR Proportional Gain 1] and C5-03 [ASR Proportional Gain 2]. When the configured input terminal deactivates, it selects the proportional gain set for C5-01. 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 5. 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 FM Analog Output Select	116	Lets you use terminal FM to monitor U1-16 [SFS Output Frequency].
H4-02	Terminal FM Analog Output Gain	100.0%
H4-03	Terminal FM Analog Output Bias	0.0%
H4-04	Terminal AM Analog Output Select	105	Lets you use terminal AM to monitor U1-05 [Motor Speed].
H4-05	Terminal AM Analog Output Gain	50.0%
H4-06	Terminal AM Analog Output Bias	0.0%
H4-07	Terminal FM Signal Level Select	1	Lets you monitor in a -10 V to +10 V range.
H4-08	Terminal AM Signal Level Select	1	Lets you monitor in a -10 V to +10 V range.

These settings cause this MFAO configuration. The MFAO common is terminal AC:

Terminal FM: Outputs the output frequency after SFS in a -10 V to +10 V (-100% to +100%) range.
Terminal AM: Outputs the motor speed in a -10 V to +10 V (-200% to +200%) range.

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].
Speed accuracy is unsatisfactory when you operate a motor that has a large quantity of rated slip in Closed Loop V/f Control.		Examine the pulse number set to F1-01 [Encoder 1 Pulse Count (PPR)] and the gear ratio to F1-12 [Encoder 1 Gear Teeth 1] and F1-13 [Encoder 1 Gear Teeth 2]. Make sure that you correctly set the pulse signal from the encoder. Examine U6-04 [ASR Output] to make sure that the ASR operates at its output limit set to C5-05 [ASR Limit]. If the ASR is at the output limit, increase C5-05.
When C5-12 = 1 or C5-32 = 1 [Enabled] in Closed Loop V/f Control, over/undershoot occurs if you change speeds.	-	Decrease C5-01/C5-03. Increase C5-02/C5-04. Decrease the value set to C5-05.
Oscillation at low speed and response is too slow at high speed. Oscillation at high speed and response is too slow at low speed.	-	Closed Loop V/f Control Mode: Use C5-03 and C5-04 at maximum speed and C5-01 and C5-02 at minimum speed to set different ASR settings. Closed Loop Vector Control, PM Advanced Open Loop Vector Control, and PM Closed Loop Vector Control: 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.