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6 Basic Control Functions
6 - 8
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
ODF Velocity Control
E
Gain Switching in Velocity Control
Mode Selection
+
Notch Filter
Depth
Q-value
1st
2nd
3rd
4th
Frequency
Velocity Control
Proportional
Gain
Integral
Gain
Inertia Ratio
1st
2nd
60FF hex
Target velocity
(Command unit/s)
60B1 hex
Velocity offset
(Command unit/s)
3020-82 hex
Velocity Command
Motor Velocity
(r/min)
3222-01
606C hex
Velocity actual value
(Command unit/s)
3221-82 hex
Present Motor Velocity
(r/min)
6064 hex
Position actual value
(Command unit)
6063 hex
Position actual
internal value
(Encoder pulse)
3223-01 3223-02
3224-01 3224-02
3001-01
M
-
Torque Compensation
Unbalanced Load Compensation
Positive Dynamic Friction
Compensation
Negative Dynamic Friction
Compensation
3310-02
3310-03
3310-04
3321-02
3322-02
3323-02
3324-02
3321-03
3322-03
3323-03
3324-03
3321-04
3322-04
3323-04
3324-04
Adaptive Notch Filter 3320-01
Torque Command
Filter
3233-02
3234-02
Cutoff Frequency
1st
2nd
6077 hex
Torque actual value
(0.1%)
6074 hex
Torque demand
(0.1%)
Current
control
606B hex
Velocity demand value
(Command unit/s)
3220-82 hex
Internal Velocity Command
Motor Velocity
(r/min)
Velocity Command Filter
Acceleration Time
Deceleration Time
Velocity Command Filter
IIR Filter
Cutoff Frequency
3021-04
3021-01
3021-02
3020-83 hex
Motor Velocity After Velocity
Command Filtering
(r/min)
3020-92 hex
Velocity Command
Motor Velocity Deviation
(r/min)
60B2 hex
Torque offset
(0.1%)
3220-92 hex
Internal Velocity Command
Motor Velocity Deviation
(r/min)
Velocity
Detection
60BA hex or 60BC hex
Touch probe 1/2 positive edge
(Command unit)
+
+
+
+
+
+
ODF Torque Feed-forward
Gain
3113-01
LPF Cutoff Frequency 3113-03
-
+
+
+
Torque Limit
Switching Selection
Positive torque
limit value
3330-01
60E0
60E1
Positive Torque
Limit Value 2
Negative torque
limit value
Negative Torque
Limit Value 2
Max torque
3330-05
3330-06
6072
Содержание R88D-1SN ECT Series
Страница 544: ...7 Applied Functions 7 52 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 560: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 700: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 969: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...
Страница 972: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...
Страница 973: ......