![background image](http://html1.mh-extra.com/html/omron/r88d-1sn-ect-series/r88d-1sn-ect-series_user-manual_742795591.webp)
9 - 31
9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-
3 Co
ntro
l Meth
od
Ob
jects
9
9-
3-4
3121 hex:
TD
F
Ve
lo
ci
ty Contr
ol
• Sets the following performance for the target position.
• The higher the gain is, the higher the following performance of the internal command is for the target
position.
• The set value is valid when
TDF Position Control
-
Command Following Gain Selection
(3120-10
hex) is set to 0 (use the Command Following Gain).
• Selects the command following gain switching method.
Description of Set Values
• Sets the cutoff frequency to the position command.
• The higher the set value is, the higher the following performance of the internal command is for the
target position.
• The set value is valid when
TDF Position Control
-
Command Following Gain Selection
(3120-10
hex) is set to 1 (use the Command Following Gain 2).
Sets the operation in the two-degree-of-freedom velocity control.
Subindex 01 hex: Command Following Gain
Subindex 10 hex: Command Following Gain Selection
Set
value
Description
0
Use the Command Following Gain.
1
Use the Command Following Gain 2.
Subindex 11 hex: Command Following Gain 2
9-3-4
3121 hex: TDF Velocity Control
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Complete
access
Modes of
operation
3121
---
TDF Velocity
Control
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
01 hex
---
1 byte
(U8)
RO
---
---
---
01
Command Fol-
lowing Gain
10 to
5,000
%
100
A
4 bytes
(INT32)
RW
---
---
csv, pv
10
Command Fol-
lowing Gain
Selection
*1
*1. These objects are available for the unit version 1.1 or later.
0 to 1
---
0
A
4 bytes
(INT32)
RW
---
---
csv, pv
11
Command Fol-
lowing Gain 2
*1
1 to
50,000
0.1 Hz
219/146
*2
*2. 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
---
---
csv, pv
Summary of Contents for R88D-1SN ECT Series
Page 973: ......