User`s manual

Parameter description
6
6-38
6. Parameter description
Model T5H-20
Maximum payload [kg] 3.0 [kg]
Fd-00 Moment of inertia 0.100 [×10
-4
kg•m
2
]
Fd-01
Speed control cut-off frequency 70.0 [Hz]
Fd-03 Speed control integral gain 60.0 [%]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.0 0.5 1.0 1.5 2.0 2.5 3.0
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Fd-09[Hz]
Payload [kg]
Acceleration
[G]
Acceleration [G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.32 6.0
1.0 0.32 6.0
2.0 0.24 6.0
3.0 0.19 6.0
Model T6-6 (C6-6)
Maximum payload [kg] 30.0 [kg]
Fd-00 Moment of inertia 0.092 [×10
-4
kg•m
2
]
Fd-01
Speed control cut-off frequency 120.0 [Hz]
Fd-03 Speed control integral gain 65.0 [%]
0.00
0.05
0.10
0.15
0.20
0.25
0.0 5.0 10.0 15.0 20.0 25.0 30.0
0.0
2.0
4.0
6.0
8.0
10.0
12.0
Fd-09[Hz]
Payload [kg]
Acceleration
[G]
Acceleration [G]
Fd-09[Hz]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.23 10.0
5.0 0.20 8.3
10.0 0.17 7.1
15.0 0.14 6.2
20.0 0.13 6.0
25.0 0.11 6.0
30.0 0.10 6.0