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6 Adjustments
6.3.4 Related Parameters
6.3.4
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
Pn100
Pn101
Pn102
Pn103
Pn121
Pn123
Pn124
Pn125
Pn401
Pn408
Pn409
Pn40A
Pn40C
Pn40D
Pn140
Pn141
Pn142
Pn143
Pn144
Pn145
Pn146
Pn147
Pn160
Pn161
Pn163
6-24
Name
Speed Loop Gain
Speed Loop Integral Time Constant
Position Loop Gain
Moment of Inertia Ratio
Friction Compensation Gain
Friction Compensation Coefficient
Friction Compensation Frequency Correction
Friction Compensation Gain Correction
Torque Reference Filter Time Constant
Torque Related Function Switch
1st Notch Filter Frequency
1st Notch Filter Q Value
2nd Notch Filter Frequency
2nd Notch Filter Q Value
Model Following Control Related Switch
Model Following Control Gain
Model Following Control Gain Compensation
Model Following Control Bias (Forward Direction)
Model Following Control Bias (Reverse Direction)
Vibration Suppression 1 Frequency A
Vibration Suppression 1 Frequency B
Model Following Control Speed Feedforward Compensation
Anti-Resonance Control Related Switch
Anti-Resonance Frequency
Anti-Resonance Damping Gain
Mid-execution
Automatic
changes
changes
No
Yes
No
Yes
No
Yes
No
No
No
Yes
No
Yes
No
No
No
Yes
No
Yes
Yes
Yes
No
Yes
No
Yes
No
Yes
No
Yes
Yes
Yes
No
Yes
No
Yes
No
Yes
No
Yes
No
No
No
No
No
Yes
Yes
Yes
No
Yes
No
Yes
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Troubleshooting
