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A - 77
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-
3 Object
List
A
3020
92
Motor Velocity Deviation
---
r/min
---
---
4 bytes
(INT32)
---
F1
Target Velocity (Mirror
object of 60FF hex)
-2,147,483,648
to
2,147,483,647
Command unit/s
0
A
4 bytes
(INT32)
---
F2
Velocity Offset (Mirror
object of 60B1 hex)
-2,147,483,648
to
2,147,483,647
Command unit/s
0
A
4 bytes
(INT32)
---
3021
---
Velocity Command Filter
---
---
---
---
---
---
01
Acceleration Time
0 to 10,000
ms
0
E
4 bytes
(INT32)
---
02
Deceleration Time
0 to 10,000
ms
0
E
4 bytes
(INT32)
---
03
IIR Filter Enable
0 to 1
---
0
A
4 bytes
(INT32)
---
04
Filter Cutoff Frequency
10 to 50,000
0.1 Hz
50,000
E
4 bytes
(INT32)
---
3030
---
Torque Command
---
---
---
---
---
---
81
Torque
---
0.1%
---
---
4 bytes
(INT32)
---
F1
Target Torque (Mirror
object of 6071 hex)
-5,000 to 5,000
0.1%
0
A
2 bytes
(INT16)
---
F2
Torque Offset (Mirror
object of 60B2 hex)
-5,000 to 5,000
0.1%
0
A
2 bytes
(INT16)
---
3031
---
Velocity Limit in Torque
Control
---
---
---
---
---
---
01
Velocity Limit Value
0 to 20,000
r/min
20,000
A
4 bytes
(INT32)
---
82
Status
---
---
0
---
4 bytes
(INT32)
---
3040
---
Profile Command
---
---
---
---
---
---
F1
Max Profile Velocity (Mir-
ror object of 607F hex)
0 to
2,147,483,647
Command unit/s
2,147,483,647
A
4 bytes
(U32)
---
F2
Profile Velocity (Mirror
object of 6081 hex)
0 to
2,147,483,647
Command unit/s
0
A
4 bytes
(U32)
---
F3
Profile Acceleration (Mir-
ror object of 6083 hex)
1 to
2,147,483,647
Command
unit/s
2
1,000,000
A
4 bytes
(U32)
---
F4
Profile Deceleration (Mir-
ror object of 6084 hex)
1 to
2,147,483,647
Command
unit/s
2
1,000,000
A
4 bytes
(U32)
---
3041
---
Command Dividing
Function
---
---
---
---
---
---
01
Operation Selection in
csv
0 to 1
---
0
R
4 bytes
(U32)
---
02
Interpolation Time
Period Value (Mirror
object of 60C2-01 hex)
0 to 255
---
1
E
1 byte
(U8)
---
03
Interpolation Time Index
(Mirror object of 60C2-02
hex)
-128 to 63
---
-3
E
1 byte
(INT8)
---
3112
---
ODF Velocity
Feed-forward
---
---
---
---
---
---
01
Gain
0 to 1,000
0.1%
300
A
4 bytes
(INT32)
---
02
LPF Enable
0 to 1
---
0
A
4 bytes
(INT32)
---
03
LPF Cutoff Frequency
10 to 50,000
0.1 Hz
50,000
A
4 bytes
(INT32)
---
E1
Gain Command
0 to 1,000
0.1%
300
A
4 bytes
(INT32)
RxPDO
Index
(hex)
Sub-
index
(hex)
Object name
Setting range
Unit
Default setting
Data
attri-
bute
Size
PDO map
Summary of Contents for R88D-1SN01H-ECT
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