HarmonicDrive H A - 800A, Manual

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7-6 Details of tune mode
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AJ23: Spring constant compensation factor
Variation in the actuator spring constant used in feed-forward control is compensated for.
Feed-forward control is performed based on the value set here. (Refer to [Applied servo gain
adjustment function] (P3-18).)
Set value Function Unit Default
1 to 200
Set the spring constant compensation factor
for the actuator.
% 100
Relational items
AJ03 , AJ20, AJ21, AJ22, SP69

When using the feed-forward control function, be sure to reference [Applied
servo gain adjustment function] (P3-18) and understand the notices.
AJ24: Positioning Automatic Gain
Can adjust set gain when "SP60: Positioning Automatic Gain Setting Enabled/Disabled" is enabled.
* Can be used with HA-800 software version 2.04 or later.
Set value Function Unit Default
-50 to 100
Allows setting of positioning automatic gain
increase/decrease.
% 0
Relational item SP60