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9 - 15
9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-2 C
o
mm
on
Con
tro
l Ob
jects
9
9-
2-4
3010 hex: Posi
tion
C
om
m
and
Sets the position command and gives the command value.
• Gives the command position which is generated in the Servo Drive, in units of command.
• Mirror object of 6062 hex
• Gives the command position which is generated in the Servo Drive, in units of encoder.
• Mirror object of 60FC hex
• Gives the command velocity which is generated in the Servo Drive, in units of command/s.
9-2-4
3010 hex: Position Command
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
3010
---
Position Com-
mand
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
F2 hex
---
1 byte
(U8)
RO
---
---
---
81
Position
Demand Value
---
Command
unit
---
---
4 bytes
(INT32)
RO
---
---
csp, pp,
hm
82
Position
Demand Inter-
nal Value
---
Encoder
unit
---
---
4 bytes
(INT32)
RO
---
---
csp, pp,
hm
83
Velocity
---
Command
unit/s
---
---
4 bytes
(INT32)
RO
---
---
csp, pp,
hm
84
Motor Velocity
---
r/min
---
---
4 bytes
(INT32)
RO
---
---
csp, pp,
hm
85
Motor Velocity
After Position
Command Fil-
tering
---
r/min
---
---
4 bytes
(INT32)
RO
---
---
csp, pp,
hm
86
Motor Velocity
After Damping
Filtering
---
r/min
---
---
4 bytes
(INT32)
RO
---
---
csp, pp,
hm
87
Reference
Position for csp
---
Command
unit
0
---
4 bytes
(INT32)
RO
TxPDO
---
csp, csv,
cst, pp,
pv, hm
91
Following Error
---
Command
unit
---
---
4 bytes
(INT32)
RO
---
---
csp, pp,
hm
92
Following Error
After Interpola-
tion
*1
*1. This object is available for the unit version 1.4 or later.
---
Command
unit
---
---
4 bytes
(INT32)
RO
TxPDO
---
csp, pp,
hm
F1
Target Position
-2,147,483,
648 to
2,147,483,
647
Command
unit
0
A
4 bytes
(INT32)
W
---
---
csp, pp
F2
Position Offset
-2,147,483,
648 to
2,147,483,
647
Command
unit
0
A
4 bytes
(INT32)
W
---
---
csp
Subindex 81 hex: Position Demand Value
Subindex 82 hex: Position Demand Internal Value
Subindex 83 hex: Velocity
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: ......