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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9
-2 Co
mm
on
Con
trol Obj
ect
s
9
9-
2-1
3000 hex: Basi
c
Funct
ions
• Selects the motor rotation direction for the command position.
z
Description of Set Values
• Regarding the rotation direction of the Servomotor, a clockwise rotation is defined as CW and a coun-
terclockwise rotation is defined as CCW, when viewed from the load-side shaft.
• Selects the semi-closed control or the fully-closed control. For 1S-series Servo Drives, this object is
fixed to
0
(fixed to semi-closed control).
• Switches the control method between TDF (two-degree-of-freedom) control and ODF
(one-degree-of-freedom) control.
z
Description of Set Values
• Selects whether to enable or disable the extended functions which are supported by the Servo Drive.
• Mirror object of 60DA hex
z
Description of Set Values
Subindex 01 hex: Motor Rotation Direction Selection
Set
value
Description
0
A positive direction command sets the motor rotation to clockwise direction.
1
A positive direction command sets the motor rotation to counterclockwise direction.
Subindex 02 hex: Control Mode Selection
Subindex 03 hex: Control Method Selection
Set
value
Description
0
ODF control
1
TDF control
Subindex 04 hex: Function Settings
Set value
Description
Bit 0
Status Toggle
0: Disabled
1: Enabled
Bits 1 to 31
Reserved
Always set to 0.
CW
CCW
Summary of Contents for R88D-1SN01H-ECT
Page 827: ......
