User`s manual

Parameter description
6
6-40
6. Parameter description
Model T6-12-BK (C6-12-BK)
Maximum payload [kg] 4.0 [kg]
Fd-00 Moment of inertia 0.110 [×10
-4
kg•m
2
]
Fd-01
Speed control cut-off frequency 100.0 [Hz]
Fd-03 Speed control integral gain 65.0 [%]
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
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 0.40 6.6
1.0 0.40 5.8
2.0 0.37 5.2
3.0 0.34 5.0
4.0 0.31 5.0
Model T6-20
Maximum payload [kg] 10.0 [kg]
Fd-00 Moment of inertia 0.110 [×10
-4
kg•m
2
]
Fd-01
Speed control cut-off frequency 120.0 [Hz]
Fd-03 Speed control integral gain 45.0 [%]
0.00
0.20
0.40
0.60
0.80
1.00
1.20
0.0 2.0 4.0 6.0 8.0 10.0
4.4
4.5
4.6
4.7
4.8
4.9
5.0
5.1
5.2
5.3
Fd-09[Hz]
Acceleration [G]
Fd-09[Hz]
Payload [kg]
Acceleration
[G]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 1.05 5.2
3.0 0.94 4.5
5.0 0.84 4.5
7.0 0.79 4.5
10.0 0.68 4.5