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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-5 T
o
rq
ue Out
p
u
t Sett
ing
Ob
jects
9
9-
5-1
3310 hex:
To
rq
ue
Com
pensat
io
n
9-5
Torque Output Setting Objects
These objects are used for the torque output setting.
Sets the torque compensation.
• Adjusts the amount of viscous friction compensation torque.
• Sets the amount of torque at 10,000 r/min.
• Sets the amount of unbalanced load torque compensation.
• Sets the amount of dynamic friction compensation in the positive direction.
9-5-1
3310 hex: Torque Compensation
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
3310
---
Torque Compen-
sation
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
84 hex
---
1 byte
(U8)
RO
---
---
---
01
Viscous Friction
Coefficient
0 to
10,000
0.1%
0
A
4 bytes
(INT32)
RW
---
---
csp, csv,
cst, pp,
pv, hm
02
Unbalanced
Load Compensa-
tion
-1,000 to
1,000
0.1%
0
A
4 bytes
(INT32)
RW
---
---
csp, csv,
cst, pp,
pv, hm
03
Positive Dynamic
Friction Compen-
sation
0 to 1,000
0.1%
0
A
4 bytes
(INT32)
RW
---
---
csp, csv,
cst, pp,
pv, hm
04
Negative
Dynamic Friction
Compensation
0 to 1,000
0.1%
0
A
4 bytes
(INT32)
RW
---
---
csp, csv,
cst, pp,
pv, hm
81
Viscous Friction
Coefficient Dis-
play
---
0.1%
---
---
4 bytes
(INT32)
RO
---
---
csp, csv,
cst, pp,
pv, hm
82
Unbalanced
Load Compensa-
tion Display
---
0.1%
---
---
4 bytes
(INT32)
RO
---
---
csp, csv,
cst, pp,
pv, hm
83
Positive Dynamic
Friction Compen-
sation Display
---
0.1%
---
---
4 bytes
(INT32)
RO
---
---
csp, csv,
cst, pp,
pv, hm
84
Negative
Dynamic Friction
Compensation
Display
---
0.1%
---
---
4 bytes
(INT32)
RO
---
---
csp, csv,
cst, pp,
pv, hm
Subindex 01 hex: Viscous Friction Coefficient
Subindex 02 hex: Unbalanced Load Compensation
Subindex 03 hex: Positive Dynamic Friction Compensation
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: ......