9 Details on Servo Parameters
9 - 36
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Sets the 2nd position control gain.
• Sets the 2nd position proportional gain.
• Sets the 2nd position proportional gain.
• This object is intended for PDO assignment. Use this object to change the
Proportional Gain
(subindex 01 hex) from a PDO.
Gives the velocity command value in the Servo Drive.
• Gives the command velocity which is generated in the Servo Drive, in units of command/s.
• The displayed value may have an error due to the unit conversion from [r/min] to [command unit/s].
• Mirror object of 606B hex
9-4-5
3214 hex: 2nd Position Control Gain
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Complete
access
Modes of
opera-
tion
3214
---
2nd Position
Control Gain
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
01 hex
---
1 byte
(U8)
RO
---
---
---
01
Proportional Gain
0 to 5,000
0.1 Hz
44/29
*1
*1. The first value is for the Servo Drive with its capacity 3kw or less. The second value is for the Servo Drive with its capacity
5kw or more.
A
4 bytes
(INT32)
RW
---
---
csp, pp,
hm
E1
Proportional Gain
Command
0 to 5,000
0.1 Hz
44/29
*1
A
4 bytes
(INT32)
W
RxPDO
---
csp, pp,
hm
Subindex 01 hex: Proportional Gain
Subindex E1 hex: Proportional Gain Command
9-4-6
3220 hex: Internal Velocity Command
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Complete
access
Modes
of oper-
ation
3220
---
Internal Velocity
Command
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
92 hex
---
1 byte
(U8)
RO
---
---
---
81
Velocity Demand
Value
---
Command
unit/s
---
---
4 bytes
(INT32)
RO
---
---
csp, pp,
hm
82
Motor Velocity
---
r/min
---
---
4 bytes
(INT32)
RO
---
---
csp, csv,
hm, pp,
pv
83
Control Effort
---
Command
unit/s
---
---
4 bytes
(INT32)
RO
---
---
csp, pp,
hm
92
Motor Velocity
Deviation
---
r/min
---
---
4 bytes
(INT32)
RO
---
---
csp, csv,
hm, pp,
pv
Subindex 81 hex: Velocity Demand Value
Summary of Contents for R88D-1SN ECT Series
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