User`s manual

6-77
6
Parameter description
6. Parameter description
Model R10
Moment of inertia of maximum allowable load 3.71 [kgf•cm•sec
2
]
Fd-00 Moment of inertia 0.239 [×10
-4
kg•m
2
]
Fd-01
Speed control cut-off frequency 110.0 [Hz]
Fd-03 Speed control integral gain 60.0 [%]
0
500
1000
1500
2000
2500
3000
3500
4000
0.00 0.50 1.00 1.50 2.00 2.50 3.00 3.50 4.00
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-09[Hz]
Fd-09[Hz]
Acceleration[deg/sec
2
]
Moment of Inertia[kgf•cm•sec
2
]
Acceleration[deg/sec
2
]
Moment of
inertia of load
[kgf•cm•sec
2
]
Acceleration
[deg/sec
2
]
Fd-09
[Hz]
0.00 3600 12.0
0.25 3429 10.8
1.24 2707 4.0
2.47 1800 4.0
3.71 898 4.0
Model R20
Moment of inertia of maximum allowable load 18.70 [kgf•cm•sec
2
]
Fd-00 Moment of inertia 0.644 [×10
-4
kg•m
2
]
Fd-01
Speed control cut-off frequency 150.0 [Hz]
Fd-03 Speed control integral gain 30.0 [%]
0
500
1000
1500
2000
2500
0.00 5.00 10.00 15.00
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Fd-09[Hz]
Fd-09[Hz]
2
]
2
]
Acceleration[deg/sec
2
]
Moment of Inertia[kgf•cm•sec
Acceleration[deg/sec
Moment of
inertia of load
[kgf•cm•sec
2
]
Acceleration
[deg/sec
2
]
Fd-09
[Hz]
0.00 2093 12.0
0.93 2022 12.0
6.50 1622 3.0
12.10 1259 3.0
18.70 791 3.0