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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-
3 Con
trol
Metho
d
Obj
ect
s
9
9-
3-1
31
12
hex:
O
D
F V
elo
ci
ty
Feed-
for
w
ar
d
9-3
Control Method Objects
This section explains the objects that set the operations in the one-degree-of-freedom and
two-degree-of-freedom controls.
Sets the velocity feed-forward in the one-degree-of-freedom control.
• Sets the one-degree-of-freedom velocity feed-forward gain.
• The velocity feed-forward can reduce a following error and improve the responsiveness during posi-
tion control.
• Although the following ability is improved by the increase in gain, overshooting may occur in some
cases.
• Selects whether to enable or disable the low-pass filter in the velocity feed-forward.
z
Description of Set Values
• Sets the low-pass filter cutoff frequency in the one-degree-of-freedom velocity feed-forward filter.
9-3-1
3112 hex: ODF Velocity Feed-forward
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Complete
access
Modes of
operation
3112
---
ODF Velocity
Feed-forward
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
E2 hex
---
1 byte
(U8)
RO
---
---
---
01
Gain
0 to 1,000
0.1%
300
A
4 bytes
(INT32)
RW
---
---
csp, pp,
hm
02
LPF Enable
0 to 1
---
1
A
4 bytes
(INT32)
RW
---
---
csp, pp,
hm
03
LPF Cutoff Fre-
quency
10 to
50,000
0.1 Hz
50,000
A
4 bytes
(INT32)
RW
---
---
csp, pp,
hm
E1
Gain Command
0 to 1,000
0.1%
300
A
4 bytes
(INT32)
W
RxPDO
---
csp, pp,
hm
E2
LPF Cutoff Fre-
quency Com-
mand
10 to
50,000
0.1 Hz
50,000
A
4 bytes
(INT32)
W
RxPDO
---
csp, pp,
hm
Subindex 01 hex: Gain
Subindex 02 hex: LPF Enable
Set
value
Description
0
Disabled
1
Enabled
Subindex 03 hex: LPF Cutoff Frequency
Содержание R88D-1SN01H-ECT
Страница 17: ...15 CONTENTS AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 266: ...3 Specifications 3 102 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 430: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 568: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 822: ...Appendices A 174 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 823: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...
Страница 826: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...
Страница 827: ......