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Omron trajexia CJ1W-MCH72 Operation Manual page 295

Sysmac cj-series programmable controller
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How-to's
284
Example 4
The effect of the Feedforward gain is that the Following Error is reduced and
the effect is proportional to the acceleration.
The parameter values for the example are:
/i
Motion Parameter values
Fn001=6
Pn109=95
Section 5-1
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