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6
Parameter description
6. Parameter description
Model T9-30
Maximum payload [kg] 15.0 [kg]
Fd-00 Moment of inertia 0.501 [×10
-4
kg•m
2
]
Fd-01
Speed control cut-off frequency
90.0 [Hz]
Fd-03 Speed control integral gain 90.0 [%]
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
1.0
2.0
3.0
4.0
5.0
6.0
7.0
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.81 5.9
3.0 0.81 4.0
6.0 0.68 4.0
9.0 0.50 4.0
12.0 0.40 4.0
15.0 0.34 4.0
Model T9H-5
Maximum payload [kg] 100.0 [kg]
Fd-00 Moment of inertia 0.600 [×10
-4
kg•m
2
]
Fd-01
Speed control cut-off frequency
50.0 [Hz]
Fd-03 Speed control integral gain 100.0 [%]
0.00
0.05
0.10
0.15
0.20
0.25
0.0 20.0 40.0 60.0 80.0 100.0
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
Payload
[kg]
Acceleration
[G]
Fd-09
[Hz]
0.0 0.23 12.0
20.0 0.19 11.4
40.0 0.16 9.9
60.0 0.13 8.8
80.0 0.10 7.9
100.0 0.09 7.1
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