5 Adjustments5.4.3 Related Parameters5-345.4.3 Related ParametersThe 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 functionThese are parameters that are used or referenced when executing this function.• Allowed changes during execution of this functionYes: 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 functionYes: 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-executionchangesAutomaticchangesPn100 Speed Loop Gain No YesPn101 Speed Loop Integral Time Constant No YesPn102 Position Loop Gain No YesPn103 Moment of Inertia Ratio No NoPn121 Friction Compensation Gain No YesPn123 Friction Compensation Coefficient No YesPn124 Friction Compensation Frequency Correction No NoPn125 Friction Compensation Gain Correction No YesPn401 Torque Reference Filter Time Constant No YesPn408 Torque Related Function Switch Yes YesPn409 1st Notch Filter Frequency No YesPn40A 1st Notch Filter Q Value No YesPn40C 2nd Notch Filter Frequency No YesPn40D 2nd Notch Filter Q Value No YesPn140 Model Following Control Related Switch Yes YesPn141 Model Following Control Gain No YesPn142 Model Following Control Gain Compensation No YesPn143 Model Following Control Bias (Forward Direction) No YesPn144 Model Following Control Bias (Reverse Direction) No YesPn145 Vibration Suppression 1 Frequency A No YesPn146 Vibration Suppression 1 Frequency B No YesPn147 Model Following Control Speed Feedforward Compensation No YesPn160 Anti-Resonance Control Related Switch Yes YesPn161 Anti-Resonance Frequency No YesPn163 Anti-Resonance Damping Gain No Yes
