Omron R88D-1SN01H-ECT, Руководство пользователя

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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