Omron R88D-1SN ECT Series, User Manual, Page: 468 / 974

6 Basic Control Functions
6 - 4 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Use Control Method Selection (3000-03 hex) to switch between TDF control and ODF control.
TDF Control Structure Diagram
ODF Control Structure Diagram
Related Objects
Index (hex)
Subindex
(hex)
Name Description
Refer-
ence
3000 --- Basic Functions Set the basic functions. P. 9-6
03 Control Method Selection Switches the control method between
one-degree-of-freedom control and
two-degree-of-freedom control.
0: ODF control
1: TDF control
P. 9-7
Torque offset
Velocity offset
Target position TDF control section
Position
control
Velocity
control
Torque
control
+
+
+
+
+
-
+
-
+
+
+
Velocity
detection
Motor
En-
coder
Torque offset
Velocity offset
Target position
Position
control
Velocity
control
Torque
control
+
-
+
-
+
+
+
Motor
En-
coder
Velocity
detection