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Appendices
A - 78
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
3112
E2
LPF Cutoff Frequency
Command
10 to 50,000
0.1 Hz
50,000
A
4 bytes
(INT32)
RxPDO
3113
---
ODF Torque
Feed-forward
---
---
---
---
---
---
01
Gain
0 to 1,000
0.1%
0
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%
0
A
4 bytes
(INT32)
RxPDO
E2
LPF Cutoff Frequency
Command
10 to 50,000
0.1 Hz
50,000
A
4 bytes
(INT32)
RxPDO
3120
---
TDF Position Control
---
---
---
---
---
---
01
Command Following
Gain
10 to 5000
%
50
A
4 bytes
(INT32)
---
10
Command Following
Gain Selection
*2
0 to 1
---
0
A
4 bytes
(INT32)
---
11
Command Following
Gain 2
*2
1 to 50,000
0.1 Hz
219
A
4 bytes
(INT32)
---
3121
---
TDF Velocity Control
---
---
---
---
---
---
01
Command Following
Gain
10 to 5000
%
100
A
4 bytes
(INT32)
---
10
Command Following
Gain Selection
*2
0 to 1
---
0
A
4 bytes
(INT32)
---
11
Command Following
Gain 2
*2
1 to 50,000
0.1 Hz
219
A
4 bytes
(INT32)
---
3210
---
Internal Position Com-
mand
---
---
---
---
---
---
81
Position
---
Command unit
---
---
4 bytes
(INT32)
---
84
Motor Velocity
---
r/min
---
---
4 bytes
(INT32)
---
91
Following Error Actual
Value (Mirror object of
60F4 hex)
---
Command unit
---
---
4 bytes
(INT32)
---
92
Following Error Actual
Internal Value
---
Encoder unit
---
---
4 bytes
(INT32)
---
3211
---
Position Detection
---
---
---
---
---
---
81
Position Actual Value
(Mirror object of 6064
hex)
---
Command unit
---
---
4 bytes
(INT32)
---
82
Position Actual Internal
Value (Mirror object of
6063 hex)
---
Encoder unit
---
---
4 bytes
(INT32)
---
83
Present Position Time
Stamp
---
ns
---
---
8 bytes
(U64)
TxPDO
3212
---
Gain Switching in Posi-
tion Control
---
---
---
---
---
---
01
Mode Selection
0 to 3
---
0
E
4 bytes
(INT32)
---
02
Delay Time
0 to 10,000
0.1 ms
50
E
4 bytes
(INT32)
---
03
Speed
0 to 20,000
r/min
50
E
4 bytes
(INT32)
---
04
Time
0 to 10,000
0.1 ms
100
E
4 bytes
(INT32)
---
Index
(hex)
Sub-
index
(hex)
Object name
Setting range
Unit
Default setting
Data
attri-
bute
Size
PDO map
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