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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9
-4 Co
nt
ro
l Lo
op
Ob
jects
9
9-
4-10
3224 hex:
2nd
Ve
lo
ci
ty Contr
ol G
ain
• Sets the 1st velocity proportional gain.
• This object is intended for PDO assignment. Use this object to change the propotional gain from a
PDO.
• Sets the 1st velocity integral gain.
• This object is intended for PDO assignment. Use this object to change the integral gain from a PDO.
Sets the 2nd velocity control gain.
• Sets the 2nd velocity proportional gain.
• Sets the 2nd velocity integral gain.
• Sets the 2nd velocity proportional gain.
• This object is intended for PDO assignment. Use this object to change the propotional gain from a
PDO.
• Sets the 2nd velocity integral gain.
• This object is intended for PDO assignment. Use this object to change the integral gain from a PDO.
Subindex E1 hex: Proportional Gain Command
Subindex E2 hex: Integral Gain Command
9-4-10 3224 hex: 2nd Velocity Control Gain
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
3224
---
2nd Velocity Con-
trol Gain
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
02 hex
---
1 byte
(U8)
RO
---
---
---
01
Proportional Gain
0 to
30,000
0.1 Hz
219
A
4 bytes
(INT32)
RW
---
---
csv, pv
02
Integral Gain
0 to
16,000
0.1 Hz
55
A
4 bytes
(INT32)
RW
---
---
csv, pv
E1
Proportional Gain
Command
0 to
30,000
0.1 Hz
219
A
4 bytes
(INT32)
W
RxPDO
---
csv, pv
E2
Integral Gain
Command
0 to
16,000
0.1 Hz
55
A
4 bytes
(INT32)
W
RxPDO
---
csv, pv
Subindex 01 hex: Proportional Gain
Subindex 02 hex: Integral Gain
Subindex E1 hex: Proportional Gain Command
Subindex E2 hex: Integral Gain Command
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: ......