3 related parameters – Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference User Manual

Page 187

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5 Adjustments

5.4.3 Related Parameters

5-34

5.4.3 Related Parameters

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

cuting 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 : Parameters can be changed using SigmaWin+ while this function is being executed.

No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set 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

Yes

Pn103

Moment of Inertia Ratio

No

No

Pn121

Friction Compensation Gain

No

Yes

Pn123

Friction Compensation Coefficient

No

Yes

Pn124

Friction Compensation Frequency Correction

No

No

Pn125

Friction Compensation Gain Correction

No

Yes

Pn401

Torque Reference Filter Time Constant

No

Yes

Pn408

Torque Related Function Switch

Yes

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

Pn140

Model Following Control Related Switch

Yes

Yes

Pn141

Model Following Control Gain

No

Yes

Pn142

Model Following Control Gain Compensation

No

Yes

Pn143

Model Following Control Bias (Forward Direction)

No

Yes

Pn144

Model Following Control Bias (Reverse Direction)

No

Yes

Pn145

Vibration Suppression 1 Frequency A

No

Yes

Pn146

Vibration Suppression 1 Frequency B

No

Yes

Pn147

Model Following Control Speed Feedforward Compensation

No

Yes

Pn160

Anti-Resonance Control Related Switch

Yes

Yes

Pn161

Anti-Resonance Frequency

No

Yes

Pn163

Anti-Resonance Damping Gain

No

Yes

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