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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-2 C
o
mm
on
Con
tro
l Ob
jects
9
9-
2-10
3021 hex:
V
elo
ci
ty
Com
m
and Fi
lter
Sets the velocity command filter.
• Sets the acceleration time during acceleration.
• Sets the time to accelerate from 0 to 1,000 r/min.
• Sets the deceleration time during deceleration.
• Sets the time to decelerate from 1,000 to 0 r/min.
• Selects whether to enable or disable the IIR filter in the velocity command filter.
 Description of Set Values
• Sets the cutoff frequency for the IIR filter.
9-2-10 3021 hex: Velocity Command Filter
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
opera-
tion
3021 --- Velocity Com-
mand Filter --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 04 hex --- 1 byte
(U8)
RO --- --- ---
01 Acceleration
Time 0 to
10,000
ms 0 E 4 bytes
(INT32)
RW --- --- csv, pv
02 Deceleration
Time 0 to
10,000
ms 0 E 4 bytes
(INT32)
RW --- --- csv, pv
03 IIR Filter Enable 0 to 1 --- 0 A 4 bytes
(INT32)
RW --- --- csv, pv
04 Filter Cutoff Fre-
quency 10 to
50,000
0.1 Hz 50,000 E 4 bytes
(INT32)
RW --- --- csv, pv
Subindex 01 hex: Acceleration Time
Subindex 02 hex: Deceleration Time
Subindex 03 hex: IIR Filter Enable
Set
value
Description
0 Disabled
1 Enabled
Subindex 04 hex: Filter Cutoff Frequency