9 Details on Servo Parameters
9 - 32
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-4
Control Loop Objects
This section explains the objects related to the control loop.
Gives the position command value which is calculated in the Servo Drive.
• Gives the command position to the feedback control in units of command.
• Gives the command velocity to the feedback control in units of r/min.
• Gives the following error between the command position to the feedback control and the present
position in units of command.
• Mirror object of 60F4 hex
• Gives the following error between the command position to the feedback control and the present
position in units of encoder.
9-4-1
3210 hex: Internal Position Command
Index
(hex)
Sub-
index
(hex)
Object name
Set-
ting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Complete
access
Modes of
operation
3210
---
Internal Position
Command
---
---
---
---
---
---
---
Possible
---
00
Number of entries
---
---
92 hex
---
1 byte
(U8)
RO
---
---
---
81
Position
---
Command
unit
---
---
4 bytes
(INT32)
RO
---
---
csp, pp,
hm
84
Motor Velocity
---
r/min
---
---
4 bytes
(INT32)
RO
---
---
csp, pp,
hm
91
Following Error
Actual Value
---
Command
unit
---
---
4 bytes
(INT32)
RO
---
---
csp, pp,
hm
92
Following Error
Actual Internal
Value
---
Encoder
unit
---
---
4 bytes
(INT32)
RO
---
---
csp, pp,
hm
Subindex 81 hex: Position
Subindex 84 hex: Motor Velocity
Subindex 91 hex: Following Error Actual Value
Subindex 92 hex: Following Error Actual Internal Value
Summary of Contents for R88D-1SN01H-ECT
Page 827: ......
