Omron R88D-1SN01H-ECT, User Manual

Page: 463 / 828

9 - 33
9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-
4 Con
tro
l Loo
p Obj
ect
s
9
9-
4-2
321
1
hex:
Posi
tion Detecti
on
Gives the position detection value.
• Gives the present position in units of command.
• Mirror object of 6064 hex
• Gives the present position in units of encoder.
• Mirror object of 6063 hex
• Gives the time when the present position is obtained.
Sets the gain switching function in the position control.
9-4-2 3211 hex: Position Detection
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
3211 --- Position Detec-
tion --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 83 hex --- 1 byte
(U8)
RO --- --- ---
81 Position Actual
Value --- Com-
mand
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
82 Position Actual
Internal Value --- Encoder
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
83 Present Position
Time Stamp --- ns --- --- 8 bytes
(U64)
RO TxPDO --- csp, csv,
cst, pp,
pv, hm
Subindex 81 hex: Position Actual Value
Subindex 82 hex: Position Actual Internal Value
Subindex 83 hex: Present Position Time Stamp
9-4-3 3212 hex: Gain Switching in Position Control
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
3212 --- Gain Switching in
Position Control --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 04 hex --- 1 byte
(U8)
RO --- --- ---
01 Mode Selection 0 to 3 --- 0 E 4 bytes
(INT32)
RW --- --- csp, pp,
hm
02 Delay Time 0 to
10,000
0.1 ms 50 E 4 bytes
(INT32)
RW --- --- csp, pp,
hm
03 Speed 0 to
20,000
r/min 50 E 4 bytes
(INT32)
RW --- --- csp, pp,
hm
04 Time 0 to
10,000
0.1 ms 100 E 4 bytes
(INT32)
RW --- --- csp, pp,
hm