User`s manual

6-69
6
Parameter description
6. Parameter description
Model F17-20 (C17-20)
Maximum payload [kg] 80.0 [kg]
Fd-00 Moment of inertia 1.720 [×10
-4
kg•m
2
]
Fd-01
Speed control cut-off frequency 110.0 [Hz]
Fd-03 Speed control integral gain 100.0 [%]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-09[Hz]
Acceleration [G]
Fd-09[Hz]
Payload [kg]
Acceleration
[G]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.72 11.8
1.0 0.72 11.5
10.0 0.67 9.1
20.0 0.61 7.3
40.0 0.51 5.3
60.0 0.41 4.2
80.0 0.31 3.5
Model F17-20-BK (C17-20-BK)
Maximum payload [kg] 15.0 [kg]
Fd-00 Moment of inertia 2.060 [×10
-4
kg•m
2
]
Fd-01
Speed control cut-off frequency 100.0 [Hz]
Fd-03 Speed control integral gain 85.0 [%]
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-09[Hz]
Acceleration [G]
Fd-09[Hz]
Payload [kg]
Acceleration
[G]
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.81 11.6
5.0 0.68 10.2
10.0 0.55 9.1
15.0 0.44 8.2