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Appendices
A - 76
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
3000
81
Function Status
---
---
---
---
4 bytes
(INT32)
TxPDO
82
Motor Stop Cause
---
---
---
---
4 bytes
(INT32)
---
83
Modes of Operation Dis-
play (Mirror object of
6061 hex)
---
---
---
---
1 byte
(INT8)
---
84
Supported Functions
(Mirror object of 60D9
hex)
---
---
00000001 hex
---
4 bytes
(U32)
---
85
Supported Drive Modes
(Mirror object of 6502
hex)
---
---
000003A5 hex
---
4 bytes
(U32)
---
F1
Controlword (Mirror
object of 6040 hex)
0000 to FFFF
hex
---
0000 hex
A
2 bytes
(U16)
---
F2
Modes of Operation (Mir-
ror object of 6060 hex)
0 to 10
---
0
A
1 byte
(INT8)
---
FF
Statusword (Mirror object
of 6041 hex)
---
---
---
---
2 bytes
(U16)
---
3001
---
Machine
---
---
---
---
---
---
01
Inertia Ratio
0 to 30,000
*2
%
250
A
4 bytes
(INT32)
---
02
Backlash Compensation
Selection
0 to 2
---
0
R
4 bytes
(INT32)
---
03
Backlash Compensation
Amount
-262,144 to
262,143
Command unit
0
E
4 bytes
(INT32)
---
04
Backlash Compensation
Time Constant
0 to 6,400
0.01 ms
0
E
4 bytes
(INT32)
---
05
Motor Revolutions (Mir-
ror object of 6091-01
hex)
0 to
1,073,741,824
---
1
R
4 bytes
(U32)
---
06
Shaft Revolutions (Mirror
object of 6091-02 hex)
1 to
1,073,741,824
---
1
R
4 bytes
(U32)
---
81
Inertia Ratio Display
---
%
---
---
4 bytes
(INT32)
---
3002
---
Optimized Parameters
---
---
---
---
---
---
F1
Apply Parameters
---
---
00000000 hex
A
4 bytes
(INT32)
---
F2
Execution Status
---
---
---
---
4 bytes
(INT32)
---
3010
---
Position Command
---
---
---
---
---
---
81
Position Demand Value
(Mirror object of 6062
hex)
---
Command unit
---
---
4 bytes
(INT32)
---
82
Position Demand Inter-
nal Value (Mirror object
of 60FC hex)
---
Encoder unit
---
---
4 bytes
(INT32)
---
83
Velocity
---
Command unit/s
---
---
4 bytes
(INT32)
---
84
Motor Velocity
---
r/min
---
---
4 bytes
(INT32)
---
85
Motor Velocity After
Position Command Fil-
tering
---
r/min
---
---
4 bytes
(INT32)
---
86
Motor Velocity After
Damping Filtering
---
r/min
---
---
4 bytes
(U32)
---
87
Reference Position for
csp
---
Command unit
0
---
4 bytes
(U32)
TxPDO
91
Following Error
---
Command unit
---
---
4 bytes
(U32)
---
92
Following Error After
Interpolation
*3
---
Command unit
---
---
4 bytes
(U32)
TxPDO
Index
(hex)
Sub-
index
(hex)
Object name
Setting range
Unit
Default setting
Data
attri-
bute
Size
PDO map
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: ......