User`s manual

Functions
5
5-28
5. Functions
5.9.2 Setting the mechanical rigidity and response
Set the response of the servo system according to the rigidity and strength of the machine
connected to the robot. Setting the speed/position control cut-off frequency (Fd-09,
Fd-01) to a high value shortens the response and settling time to a command, but if set
too high, vibration may occur if the rigidity of the mechanical system is low. So set the
speed/position control cut-off frequency (Fd-09, Fd-01) to operate within a stable range.
A general guide for setting response according to the rigidity of the mechanical system is
given in the following table.
Please note that the values are for a general guide only. Oscillation might occur even in
these ranges, so use caution.
Rigidity of
mechanical
system
Applicable machines
Recommended control cut-off frequency
[Hz]
Position (Fd-09) Speed (Fd-01)
Low
Belt-driven or chain-driven machines
• Conveyors or carrier machines
1 to 5 6 to 30
Medium
Machines driven by ball screw
through gear
• General machine tools
• Robots
5 to 10 30 to 60
High
Machines directly connected to ball
screw
• Pick & place machines
• Bonding machines
10 or more 60 or more
Specific steps for adjusting the speed/position control loop are described next.