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Appendices
A - 78 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
3020 92 Motor Velocity Deviation --- r/min --- --- 4 bytes
(INT32)
---
F1 Target Velocity (Mirror
object of 60FF hex) -2,147,483,648
to
2,147,483,647
Command unit/s 0 A 4 bytes
(INT32)
---
F2 Velocity Offset (Mirror
object of 60B1 hex) -2,147,483,648
to
2,147,483,647
Command unit/s 0 A 4 bytes
(INT32)
---
3021 --- Velocity Command Filter --- --- --- --- --- ---
01 Acceleration Time 0 to 10,000 ms 0 E 4 bytes
(INT32)
---
02 Deceleration Time 0 to 10,000 ms 0 E 4 bytes
(INT32)
---
03 IIR Filter Enable 0 to 1 --- 0 A 4 bytes
(INT32)
---
04 Filter Cutoff Frequency 10 to 50,000 0.1 Hz 50,000 E 4 bytes
(INT32)
---
3030 --- Torque Command --- --- --- --- --- ---
81 Torque --- 0.1% --- --- 4 bytes
(INT32)
---
F1 Target Torque (Mirror
object of 6071 hex) -5,000 to 5,000 0.1% 0 A 2 bytes
(INT16)
---
F2 Torque Offset (Mirror
object of 60B2 hex) -5,000 to 5,000 0.1% 0 A 2 bytes
(INT16)
---
3031 --- Velocity Limit in Torque
Control --- --- --- --- --- ---
01 Velocity Limit Value 0 to 20,000 r/min 20,000 A 4 bytes
(INT32)
---
82 Status --- --- 0 --- 4 bytes
(INT32)
---
3040 --- Profile Command --- --- --- --- --- ---
F1 Max Profile Velocity (Mir-
ror object of 607F hex) 0 to
2,147,483,647
Command unit/s 2,147,483,647 A 4 bytes
(U32)
---
F2 Profile Velocity (Mirror
object of 6081 hex) 0 to
2,147,483,647
Command unit/s 0 A 4 bytes
(U32)
---
F3 Profile Acceleration (Mir-
ror object of 6083 hex) 1 to
2,147,483,647
Command
unit/s
2
1,000,000 A 4 bytes
(U32)
---
F4 Profile Deceleration (Mir-
ror object of 6084 hex) 1 to
2,147,483,647
Command
unit/s
2
1,000,000 A 4 bytes
(U32)
---
3041 --- Command Dividing
Function --- --- --- --- --- ---
01 Operation Selection in
csv 0 to 1 --- 0 R 4 bytes
(INT32)
---
02 Interpolation Time Period
Value (Mirror object of
60C2-01 hex) 0 to 255 --- 1 E 1 byte
(U8)
---
03 Interpolation Time Index
(Mirror object of 60C2-02
hex) -128 to 63 --- -3 E 1 byte
(INT8)
---
10 Interpolation Method
Selection in csp
*5
0 to 1 --- 0 A 1 bytes
(INT32)
---
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit Default setting
Data
attri-
bute
Size PDO map