YASKAWA SGD7S Product Manual page 258

8.12 Additional Adjustment Functions . . . . . . . 8-66
8.12.1 Automatic Gain Switching . . . . . . . . . . . . . . . . . 8-66
8.12.2 Friction Compensation . . . . . . . . . . . . . . . . . . . 8-69
8.12.3 Gravity Compensation . . . . . . . . . . . . . . . . . . . 8-71
8.12.4 Current Control Mode Selection . . . . . . . . . . . . 8-73
8.12.5 Current Gain Level Setting . . . . . . . . . . . . . . . . 8-73
8.12.6 Speed Detection Method Selection . . . . . . . . . . 8-74
8.12.7 Speed Feedback Filter . . . . . . . . . . . . . . . . . . . 8-74
8.12.8 Backlash Compensation . . . . . . . . . . . . . . . . . . 8-74
8.13 Manual Tuning . . . . . . . . . . . . . . . . . . . . . . 8-79
8.13.1 Tuning the Servo Gains . . . . . . . . . . . . . . . . . . . 8-79
8.13.2 Compatible Adjustment Functions . . . . . . . . . . 8-89
8.14 Diagnostic Tools . . . . . . . . . . . . . . . . . . . . 8-93
8.14.1 Mechanical Analysis . . . . . . . . . . . . . . . . . . . . . 8-93
8.14.2 Easy FFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-95