Appendices
A - 80
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
3212
---
Gain Switching in Posi-
tion Control
---
---
---
---
---
---
01
Mode Selection
0 to 3
---
0
E
4 bytes
(INT32)
---
02
Delay Time
0 to 10,000
0.1 ms
50
E
4 bytes
(INT32)
---
03
Speed
0 to 20,000
r/min
50
E
4 bytes
(INT32)
---
04
Time
0 to 10,000
0.1 ms
100
E
4 bytes
(INT32)
---
3213
---
1st Position Control Gain
---
---
---
---
---
---
01
Proportional Gain
0 to 5,000
0.1 Hz
44/29
*4
A
4 bytes
(INT32)
---
E1
Proportional Gain Com-
mand
0 to 5,000
0.1 Hz
44/29
*4
A
4 bytes
(INT32)
RxPDO
3214
---
2nd Position Control
Gain
---
---
---
---
---
---
01
Proportional Gain
0 to 5,000
0.1 Hz
44/29
*4
A
4 bytes
(INT32)
---
E1
Proportional Gain Com-
mand
0 to 5,000
0.1 Hz
44/29
*4
A
4 bytes
(INT32)
RxPDO
3220
---
Internal Velocity Com-
mand
---
---
---
---
---
---
81
Velocity Demand Value
(Mirror object of 606B
hex)
---
Command unit/s
---
---
4 bytes
(INT32)
---
82
Motor Velocity
---
r/min
---
---
4 bytes
(INT32)
---
83
Control Effort (Mirror
object of 60FA hex)
---
Command unit/s
---
---
4 bytes
(INT32)
---
92
Motor Velocity Deviation
---
r/min
---
---
4 bytes
(INT32)
---
3221
---
Velocity Detection
---
---
---
---
---
---
81
Velocity Actual Value
(Mirror object of 606C
hex)
---
Command unit/s
---
---
4 bytes
(INT32)
---
82
Present Motor Velocity
---
r/min
---
---
4 bytes
(INT32)
TxPDO
83
Acceleration
---
rad/s
2
---
---
4 bytes
(INT32)
---
3222
---
Gain Switching in Veloc-
ity Control
---
---
---
---
---
---
01
Mode Selection
0 to 2
---
0
E
4 bytes
(INT32)
---
3223
---
1st Velocity Control Gain
---
---
---
---
---
---
01
Proportional Gain
0 to 30,000
0.1 Hz
219/146
*4
A
4 bytes
(INT32)
---
02
Integral Gain
0 to 16,000
0.1 Hz
55/37
*4
A
4 bytes
(INT32)
---
E1
Proportional Gain Com-
mand
0 to 30,000
0.1 Hz
219/146
*4
A
4 bytes
(INT32)
RxPDO
E2
Integral Gain Command
0 to 16,000
0.1 Hz
55/37
*4
A
4 bytes
(INT32)
RxPDO
Index
(hex)
Sub-
index
(hex)
Object name
Setting range
Unit
Default setting
Data
attri-
bute
Size
PDO map
Summary of Contents for R88D-1SN ECT Series
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