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9.2 Advanced Autotuning

9-19

Adjustments

9.2.2 Related Parameters

The following table lists parameters related to this function and their possibility of being changed while

executing this function or of being changed automatically after executing this function.

•Parameters related to this function

These are parameters that are used or referenced when executing this function.

•Allowed changes during execution of this function

Yes : Pa ra mete rs ca n be c hang ed usi ng Si gmaWin fo r Σ-V-SD (MT) while this function is being exe-

cuted.

No : Parameters cannot be changed using SigmaWin for Σ-V-SD (MT) while this function is being exe-

cuted.

•Automatic changes after execution of this function

Yes : Pa ra mete r se t va lu es are a utomat ic all y s et or adjusted after execution of this function.

No : Parameter set values are not automatically set or adjusted after execution of this function.

Parameter Name

Mid-execution

Changes

Automatic

Changes

Pn100 Speed Loop Gain No Yes

Pn101 Speed Loop Integral Time Constant No Yes

Pn102 Position Loop Gain No Ye s

Pn103 Moment of Inertia Ratio No No

Pn104 2nd Speed Loop Gain No Yes

Pn105 2nd Speed Loop Integral Time Constant No Yes

Pn106 2nd Position Loop Gain No Yes

Pn12B 3rd Speed Loop Gain No Yes

Pn12C 3rd Speed Loop Integral Time Constant No Yes

Pn12D 3rd Position Loop Gain No Yes

Pn12E 4th Speed Loop Gain No Yes

Pn12F 4th Speed Loop Integral Time Constant No Yes

Pn130 4th Position Loop Gain No Yes

Pn160 Anti-Resonance Control Related Switch Yes Yes

Pn161 Anti-Resonance Frequency No Yes

Pn163 Anti-Resonance Damping Gain No Yes

Pn401 1st Step 1st Torque Reference Filter Time Constant No Ye s

Pn408 Torque Related Function Switch Ye s Yes

Pn409 1st Notch Filter Frequency No Yes

Pn40A 1st Notch Filter Q Value No Yes

Pn40C 2nd Notch Filter Frequency No Yes

Pn40D 2nd Notch Filter Q Value No Yes

Pn412 1st Step 2nd Torque Reference Filter Time Constant No Yes

Pn413 1st Step 3rd Torque Reference Filter Time Constant No Yes

Pn414 1st Step 4th Torque Reference Filter Time Constant No Yes

Pn531 Program JOG Movement Distance No No

Pn533 Program JOG Movement Speed No No

Pn534 Program JOG Acceleration/Deceleration Time No No

Pn535 Program JOG Waiting Time No No

Pn536 Number of Times of Program JOG Movement No No

Brand	YASKAWA
Model	CACR-JU series
Category	Servo Drives
Language	English

YASKAWA CACR-JU series User Manual

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YASKAWA CACR-JU series Specifications

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