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Omron trajexia CJ1W-MCH72 Operation Manual page 284

Sysmac cj-series programmable controller
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How-to's
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
Section 5-1
273
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