8.7 Autotuning with a Host Reference
8.7.7 Related Parameters
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8.7.7
Related Parameters
The following parameters are automatically adjusted or used as reference when you execute
autotuning with a host reference.
Do not change the settings while autotuning with a host reference is being executed.
Yes: The parameter is automatically set.
No: The parameter is not automatically set, but the setting is read during execution.
Parameter Name Automatic Changes
Pn100 Speed Loop Gain Yes
Pn101 Speed Loop Integral Time Constant Yes
Pn102 Position Loop Gain Yes
Pn103 Moment of Inertia Ratio No
Pn121 Friction Compensation Gain Yes
Pn123 Friction Compensation Coefficient Yes
Pn124 Friction Compensation Frequency Correction No
Pn125 Friction Compensation Gain Correction Yes
Pn401 First Stage First Torque Reference Filter Time Constant Yes
Pn408 Torque-Related Function Selections Yes
Pn409 First Stage Notch Filter Frequency Yes
Pn40A First Stage Notch Filter Q Value Yes
Pn40C Second Stage Notch Filter Frequency Yes
Pn40D Second Stage Notch Filter Q Value Yes
Pn140 Model Following Control-Related Selections Yes
Pn141 Model Following Control Gain Yes
Pn142 Model Following Control Gain Correction Yes
Pn143 Model Following Control Bias in the Forward Direction Yes
Pn144 Model Following Control Bias in the Reverse Direction Yes
Pn145 Vibration Suppression 1 Frequency A Yes
Pn146 Vibration Suppression 1 Frequency B Yes
Pn147 Model Following Control Speed Feedforward Compensation Yes
Pn160 Anti-Resonance Control-Related Selections Yes
Pn161 Anti-Resonance Frequency Yes
Pn163 Anti-Resonance Damping Gain Yes
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