YASKAWA SGD7C-***AMAA*** Product Manual page 426

8.12 Additional Adjustment Function . . . . . . . . 8-64
8.12.1 Gain Switching . . . . . . . . . . . . . . . . . . . . . . . . . 8-64
8.12.2 Friction Compensation . . . . . . . . . . . . . . . . . . . 8-68
8.12.3 Gravity Compensation . . . . . . . . . . . . . . . . . . . 8-70
8.12.4 Current Control Mode Selection . . . . . . . . . . . . 8-71
8.12.5 Current Gain Level Setting . . . . . . . . . . . . . . . . 8-71
8.12.6 Speed Detection Method Selection . . . . . . . . . . 8-72
8.12.7 Speed Feedback Filter . . . . . . . . . . . . . . . . . . . 8-72
8.13 Manual Tuning . . . . . . . . . . . . . . . . . . . . . . 8-73
8.13.1 Tuning the Servo Gains . . . . . . . . . . . . . . . . . . . 8-73
8.13.2 Compatible Adjustment Functions . . . . . . . . . . 8-84
8.14 Diagnostic Tools . . . . . . . . . . . . . . . . . . . . 8-88
8.14.1 Mechanical Analysis . . . . . . . . . . . . . . . . . . . . . 8-88
8.14.2 Easy FFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-90