Omron R88D-1SN ECT Series, Руководство пользователя, Страница: 576 / 974

9 Details on Servo Parameters
9 - 16 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• Gives the command velocity which is generated in the Servo Drive, in units of r/min.
• Gives the command velocity after position command filtering in units of r/min.
• Gives the command velocity after damping filtering, in units of r/min.
• Gives the reference position for when the Cyclic synchronous velocity mode or Cyclic synchronous
torque mode is switched to the Cyclic synchronous position mode.
• Gives the following error between the command position and the present position.
• Gives the following error between the command position after interpolation and the present position.
• Sets the command position in the Cyclic synchronous position mode (csp) and Profile position mode
(pp).
• Mirror object of 607A hex
• Sets the offset for the Target position.
• Mirror object of 60B0 hex
Subindex 84 hex: Motor Velocity
Subindex 85 hex: Motor Velocity After Position Command Filtering
Subindex 86 hex: Motor Velocity After Damping Filtering
Subindex 87 hex: Reference Position for csp
Subindex 91 hex: Following Error
Subindex 92 hex: Following Error After Interpolation
Subindex F1 hex: Target Position
Subindex F2 hex: Position Offset