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9 Details on Servo Parameters
9 - 12
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Sets the mechanical system which is connected to the motor.
• Sets the ratio of load inertia to the motor rotor inertia.
• Inertia ratio = (Load inertia ÷ Rotor inertia) × 100%
• Selects whether to enable or disable backlash compensation in the position control, and the opera-
tion direction for the compensation.
Description of Set Values
• Sets the backlash compensation amount in the position control.
9-2-2
3001 hex: Machine
Index
(hex)
Sub-
index
(hex)
Object name
Setting range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Complete
access
Modes
of oper-
ation
3001
---
Machine
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
81 hex
---
1 byte
(U8)
RO
---
---
---
01
Inertia Ratio
0 to 30,000
*1
*1. The default setting is 30 for the unit version 1.3 or earlier.
%
250
A
4 bytes
(INT32)
RW
---
---
csp, csv,
cst, pp,
pv, hm
02
Backlash Com-
pensation
Selection
0 to 2
---
0
R
4 bytes
(INT32)
RW
---
---
csp, pp,
hm
03
Backlash Com-
pensation
Amount
-262,144 to
262,143
Com-
mand unit
0
E
4 bytes
(INT32)
RW
---
---
csp, pp,
hm
04
Backlash Com-
pensation Time
Constant
0 to 6,400
0.01 ms
0
E
4 bytes
(INT32)
RW
---
---
csp, pp,
hm
05
Motor Revolu-
tions
0 to
1,073,741,824
---
1
R
4 bytes
(U32)
RW
---
---
csp, csv,
cst, pp,
pv, hm
06
Shaft Revolu-
tions
1 to
1,073,741,824
---
1
R
4 bytes
(U32)
RW
---
---
csp, csv,
cst, pp,
pv, hm
81
Inertia Ratio
Display
---
%
---
---
4 bytes
(INT32)
RO
---
---
csp, csv,
cst, pp,
pv, hm
Subindex 01 hex: Inertia Ratio
Subindex 02 hex: Backlash Compensation Selection
Set
value
Description
0
Disabled
1
Compensate at the first positive operation after servo ON
2
Compensate at the first negative operation after servo ON
Subindex 03 hex: Backlash Compensation Amount
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: ......