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A - 79
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-
3 Object
List
A
3112 --- ODF Velocity
Feed-forward --- --- --- --- --- ---
01 Gain 0 to 1,000 0.1% 300 A 4 bytes
(INT32)
---
02 LPF Enable 0 to 1 --- 0 A 4 bytes
(INT32)
---
03 LPF Cutoff Frequency 10 to 50,000 0.1 Hz 50,000 A 4 bytes
(INT32)
---
E1 Gain Command 0 to 1,000 0.1% 300 A 4 bytes
(INT32)
RxPDO
E2 LPF Cutoff Frequency
Command 10 to 50,000 0.1 Hz 50,000 A 4 bytes
(INT32)
RxPDO
3113 --- ODF Torque
Feed-forward --- --- --- --- --- ---
01 Gain 0 to 1,000 0.1% 0 A 4 bytes
(INT32)
---
02 LPF Enable 0 to 1 --- 0 A 4 bytes
(INT32)
---
03 LPF Cutoff Frequency 10 to 50,000 0.1 Hz 50,000 A 4 bytes
(INT32)
---
E1 Gain Command 0 to 1,000 0.1% 0 A 4 bytes
(INT32)
RxPDO
E2 LPF Cutoff Frequency
Command 10 to 50,000 0.1 Hz 50,000 A 4 bytes
(INT32)
RxPDO
3120 --- TDF Position Control --- --- --- --- --- ---
01 Command Following
Gain 10 to 5000 % 50 A 4 bytes
(INT32)
---
10 Command Following
Gain Selection
*6
0 to 1 --- 0 A 4 bytes
(INT32)
---
11 Command Following
Gain 2
*6
1 to 50,000 0.1 Hz
219/146
*4
A 4 bytes
(INT32)
---
3121 --- TDF Velocity Control --- --- --- --- --- ---
01 Command Following
Gain 10 to 5000 % 100 A 4 bytes
(INT32)
---
10 Command Following
Gain Selection
*6
0 to 1 --- 0 A 4 bytes
(INT32)
---
11 Command Following
Gain 2
*6
1 to 50,000 0.1 Hz
219/146
*4
A 4 bytes
(INT32)
---
3210 --- Internal Position Com-
mand --- --- --- --- --- ---
81 Position --- Command unit --- --- 4 bytes
(INT32)
---
84 Motor Velocity --- r/min --- --- 4 bytes
(INT32)
---
91 Following Error Actual
Value (Mirror object of
60F4 hex) --- Command unit --- --- 4 bytes
(INT32)
---
92 Following Error Actual
Internal Value --- Encoder unit --- --- 4 bytes
(INT32)
---
3211 --- Position Detection --- --- --- --- --- ---
81 Position Actual Value
(Mirror object of 6064
hex) --- Command unit --- --- 4 bytes
(INT32)
---
82 Position Actual Internal
Value (Mirror object of
6063 hex) --- Encoder unit --- --- 4 bytes
(INT32)
---
83 Present Position Time
Stamp --- ns --- --- 8 bytes
(U64)
TxPDO
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit Default setting
Data
attri-
bute
Size PDO map