Omron trajexia CJ1W-MCH72 - Page 284

How-to’s Section 5-1
273
Example 2
The value for rigidity is increased. The error magnitude remains the same but
the ripple, the speed stability and overshoot are better.
The parameter values for the example are:
/i
Motion Parameter values
P_Gain=131072
VFF_GAIN=0
Fn001=6