A - 81
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-
3 Object
List
A
3224
---
2nd 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
3230
---
Internal Torque Com-
mand
---
---
---
---
---
---
81
Torque Demand (Mirror
object of 6074 hex)
---
0.1%
---
---
2 bytes
(INT16)
---
3231
---
Torque Detection
---
---
---
---
---
---
81
Torque Actual Value
(Mirror object of 6077
hex)
---
0.1%
---
---
2 bytes
(INT16)
---
3232
---
Filter Switching in Torque
Control
---
---
---
---
---
---
01
Mode Selection
0 to 2
---
0
E
4 bytes
(INT32)
---
3233
---
1st Torque Command
Filter
---
---
---
---
---
---
01
Enable
0 to 1
---
1
A
4 bytes
(INT32)
---
02
Cutoff Frequency
10 to 50,000
0.1 Hz
1,536/1,024
*4
A
4 bytes
(INT32)
---
E1
Cutoff Frequency Com-
mand
10 to 50,000
0.1 Hz
1,536/1,024
*4
A
4 bytes
(INT32)
RxPDO
3234
---
2nd Torque Command
Filter
---
---
---
---
---
---
01
Enable
0 to 1
---
0
A
4 bytes
(INT32)
---
02
Cutoff Frequency
10 to 50,000
0.1 Hz
1,536/1,024
*4
A
4 bytes
(INT32)
---
E1
Cutoff Frequency Com-
mand
10 to 50,000
0.1 Hz
1,536/1,024
*4
A
4 bytes
(INT32)
RxPDO
3310
---
Torque Compensation
---
---
---
---
---
---
01
Viscous Friction Coeffi-
cient
0 to 1,000
0.1%
0
A
4 bytes
(INT32)
---
02
Unbalanced Load Com-
pensation
-1,000 to 1,000
0.1%
0
A
4 bytes
(INT32)
---
03
Positive Dynamic Fric-
tion Compensation
0 to 1,000
0.1%
0
A
4 bytes
(INT32)
---
04
Negative Dynamic Fric-
tion Compensation
0 to 1,000
0.1%
0
A
4 bytes
(INT32)
---
81
Viscous Friction Coeffi-
cient Display
---
0.1%
---
---
4 bytes
(INT32)
---
82
Unbalanced Load Com-
pensation Display
---
0.1%
---
---
4 bytes
(INT32)
---
83
Positive Dynamic Fric-
tion Compensation Dis-
play
---
0.1%
---
---
4 bytes
(INT32)
---
84
Negative Dynamic Fric-
tion Compensation Dis-
play
---
0.1%
---
---
4 bytes
(INT32)
---
3320
---
Adaptive Notch Filter
---
---
---
---
---
---
01
Adaptive Notch Selec-
tion
0 to 4
---
0
A
4 bytes
(INT32)
---
03
Resonance Detection
Threshold
0 to 500
%
4
A
4 bytes
(INT32)
---
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
Page 973: ......