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Appendices
A - 22
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• You can map the following objects to the receive PDO mapping.
Index (hex)
Subindex
(hex)
Bit length
(hex)
Object name
3112
E1
20
ODF Velocity Feed-forward - Gain
E2
20
ODF Velocity Feed-forward - LPF Cutoff Frequency
3113
E1
20
ODF Torque Feed-forward - Gain
E2
20
ODF Torque Feed-forward - LPF Cutoff Frequency
3213
E1
20
1st Position Control Gain - Proportional Gain
3214
E1
20
2nd Position Control Gain - Proportional Gain
3223
E1
20
1st Velocity Control Gain - Proportional Gain
E2
20
1st Velocity Control Gain - Integral Gain
3224
E1
20
2nd Velocity Control Gain - Proportional Gain
E2
20
2nd Velocity Control Gain - Integral Gain
3233
E1
20
1st Torque Command Filter - Cutoff Frequency
3234
E1
20
2nd Torque Command Filter - Cutoff Frequency
6040
00
10
Controlword
6060
00
08
Modes of operation
6071
00
10
Target torque
6072
00
10
Max torque
607A
00
20
Target position
607F
00
20
Max profile velocity
6081
00
20
Profile velocity
6083
00
20
Profile acceleration
6084
00
20
Profile deceleration
60B0
00
20
Position offset
60B1
00
20
Velocity offset
60B2
00
10
Torque offset
60B8
00
10
Touch probe function
60E0
00
10
Positive torque limit value
60E1
00
10
Negative torque limit value
60FE
01
20
Physical outputs
60FF
00
20
Target 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: ......