Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 167)

5 Adjustments
5.4.3 Related Parameters
5-30
5.4.3 Related Parameters
The following parameters are set automatically by using advanced autotuning by reference. Manual adjust-
ments are not required.
Parameter Name
Pn100 Speed Loop Gain
Pn101 Speed Loop Integral Time Constant
Pn102 Position Loop Gain
Pn121 Friction Compensation Gain
Pn123 Friction Compensation Coefficient
Pn124 Friction Compensation Frequency Correction
Pn125 Friction Compensation Gain Correction
Pn141 Model Following Control Gain
Pn143 Model Following Control Bias (Forward Direction)
Pn144 Model Following Control Bias (Reverse Direction)
Pn145 Vibration Suppression 1 Frequency A
Pn146 Vibration Suppression 1 Frequency B
Pn147 Model Following Control Speed Feedforward Compensation
Pn161 Anti-Resonance Frequency
Pn163 Anti-Resonance Damping Gain
Pn401 1st Step 1st Torque Reference Filter Time Constant
Pn408 Notch Filter Selection/Friction Compensation Selection
Pn409 1st Notch Filter Frequency
Pn40A 1st Notch Filter Q Value
Pn40C 2nd Notch Filter Frequency
Pn40D 2nd Notch Filter Q Value