Omron R88D-1SN01H-ECT, User Manual

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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-
4 Con
tro
l Loo
p Obj
ect
s
9
9-
4-8
3222 hex: Ga
in
S
w
itchi
ng
in
V
elo
ci
ty
C
ont
rol
Sets the gain switching function in the velocity control.
• Selects the gain switching function in the velocity control.
z Description of Set Values
Sets the 1st velocity control gain.
• Sets the 1st velocity proportional gain.
• Sets the 1st velocity integral gain.
9-4-8 3222 hex: Gain Switching in 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
3222 --- Gain Switching in
Velocity Control --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 01 hex --- 1 byte
(U8)
RO --- --- ---
01 Mode Selection 0 to 2 --- 0 E 4 bytes
(INT32)
RW --- --- csv, pv
Subindex 01 hex: Mode Selection
Set
value
Description
0 Always Gain 1
1 Always Gain 2
2 Gain switching command input via EtherCAT communications
9-4-9 3223 hex: 1st Velocity Control Gain
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
3223 --- 1st Velocity Con-
trol Gain --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- E2 hex --- 1 byte
(U8)
RO --- --- ---
01 Proportional Gain 0 to
30,000
0.1 Hz 219 A 4 bytes
(INT32)
RW --- --- csv, pv
02 Integral Gain 0 to
16,000
0.1 Hz 55 A 4 bytes
(INT32)
RW --- --- csv, pv
E1 Proportional Gain
Command 0 to
30,000
0.1 Hz 219 A 4 bytes
(INT32)
W RxPDO --- csv, pv
E2 Integral Gain
Command 0 to
16,000
0.1 Hz 55 A 4 bytes
(INT32)
W RxPDO --- csv, pv
Subindex 01 hex: Proportional Gain
Subindex 02 hex: Integral Gain