Related Parameters - YASKAWA UAK series User Manual

9.2.2 Related Parameters

The following table lists parameters related to this function and their possibility of being changed while
executing 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 for Σ-V-SD (MT) while this function is being exe-
cuted.
No : Parameters cannot be changed using SigmaWin for Σ-V-SD (MT) while this function is being exe-
cuted.
• 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
Pn100 Speed Loop Gain
Pn101 Speed Loop Integral Time Constant
Pn102 Position Loop Gain
Pn103 Moment of Inertia Ratio
Pn104 2nd Speed Loop Gain
Pn105
2nd Speed Loop Integral Time Constant
Pn106
2nd Position Loop Gain
Pn12B
3rd Speed Loop Gain
Pn12C
3rd Speed Loop Integral Time Constant
Pn12D
3rd Position Loop Gain
Pn12E 4th Speed Loop Gain
Pn12F 4th Speed Loop Integral Time Constant
Pn130 4th Position Loop Gain
Pn160 Anti-Resonance Control Related Switch
Pn161 Anti-Resonance Frequency
Pn163 Anti-Resonance Damping Gain
Pn401 1st Step 1st Torque Reference Filter Time Constant
Pn408 Torque Related Function Switch
Pn409 1st Notch Filter Frequency
Pn40A 1st Notch Filter Q Value
Pn40C 2nd Notch Filter Frequency
Pn40D 2nd Notch Filter Q Value
Pn412 1st Step 2nd Torque Reference Filter Time Constant
Pn413 1st Step 3rd Torque Reference Filter Time Constant
Pn414 1st Step 4th Torque Reference Filter Time Constant
Pn531 Program JOG Movement Distance
Pn533 Program JOG Movement Speed
Pn534
Program JOG Acceleration/Deceleration Time
Pn535
Program JOG Waiting Time
Pn536
Number of Times of Program JOG Movement
Name
9.2 Advanced Autotuning
Mid-execution Automatic
Changes Changes
No Yes
No Yes
No Yes
No No
No Yes
No Yes
No Yes
No Yes
No Yes
No Yes
No Yes
No Yes
No Yes
Yes Yes
No Yes
No Yes
No Yes
Yes Yes
No Yes
No Yes
No Yes
No Yes
No Yes
No Yes
No Yes
No No
No No
No No
No No
No No
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