User`s manual

Parameter description
6
6-42
6. Parameter description
Model T9-5
Maximum payload [kg] 80.0 [kg]
Fd-00 Moment of inertia 0.282 [×10
-4
kg•m
2
]
Fd-01
Speed control cut-off frequency 100.0 [Hz]
Fd-03 Speed control integral gain 60.0 [%]
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14
0.16
0.18
0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
Fd-09[Hz]
Acceleration [G]
Fd-09[Hz]
Payload [kg]
Acceleration
[G]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.17 8.4
20.0 0.14 7.1
40.0 0.12 6.1
60.0 0.09 6.0
80.0 0.08 6.0
Model T9-5-BK
Maximum payload [kg] 20.0 [kg]
Fd-00 Moment of inertia 0.282 [×10
-4
kg•m
2
]
Fd-01
Speed control cut-off frequency 100.0 [Hz]
Fd-03 Speed control integral gain 60.0 [%]
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14
0.16
0.18
0.0 5.0 10.0 15.0 20.0
5.9
6.0
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
Fd-09[Hz]
Acceleration [G]
Fd-09[Hz]
Payload [kg]
Acceleration
[G]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.17 6.8
5.0 0.15 6.5
10.0 0.14 6.3
15.0 0.13 6.0
20.0 0.11 6.0