![background image](http://html1.mh-extra.com/html/omron/r88d-1sn01h-ect/r88d-1sn01h-ect_user-manual_742796463.webp)
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
Summary of Contents for R88D-1SN01H-ECT
Page 827: ......