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8 Adjustments

8.3.3 Related Parameters

8-36

8.3.3 Related Parameters

The following parameters are either referenced or automatically changed during execution of advanced auto-

tuning.

Do not change the settings of these parameters from the SigmaWin+ during execution of advanced autotuning.

Parameter Name Automatic changes

PnAC2 Speed Loop Gain Yes

PnAC4 Speed Loop Integral Time Constant Yes

PnAC6 Position Loop Gain Yes

Pn103 Moment of Inertia Ratio Yes

Pn121 Friction Compensation Gain Yes

Pn123 Friction Compensation Coefficient Yes

Pn124 Friction Compensation Frequency Correction No

Pn125 Friction Compensation Gain Correction Yes

Pn401 Torque Reference Filter Time Constant Yes

Pn408 Torque Related Function Switch Yes

Pn409 1st Notch Filter Frequency Yes

Pn40A 1st Notch Filter Q Value Yes

Pn40C 2nd Notch Filter Frequency Yes

Pn40D 2nd Notch Filter Q Value Yes

Pn140 Model Following Control Related Switch Yes

Pn141 Model Following Control Gain Yes

Pn142 Model Following Control Gain Compensation Yes

Pn143 Model Following Control Bias (Forward Direction) Yes

Pn144 Model Following Control Bias (Reverse Direction) Yes

Pn145 Vibration Suppression 1 Frequency A Yes

Pn146 Vibration Suppression 1 Frequency B Yes

Pn147

Model Following Control Speed Feedforward Compensa-

tion

Yes

Pn160 Anti-Resonance Control Related Switch Yes

Pn161 Anti-Resonance Frequency Yes

Pn163 Anti-Resonance Damping Gain Yes

Pn531 Program JOG Movement Distance No

Pn533 Program JOG Movement Speed No

Pn534 Program JOG Acceleration/Deceleration Time No

Pn535 Program JOG Waiting Time No

Pn536 Number of Times of Program JOG Movement No

YASKAWA E-V-MD Series User Manual

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