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-
3-3
3120 hex: T
D
F
P
osi
tion Contr
ol
• Selects whether to enable or disable the low-pass filter in the torque feed-forward.
z Description of Set Values
• Sets the low-pass filter cutoff frequency for the one-degree-of-freedom torque feed-forward.
• Sets the one-degree-of-freedom torque feed-forward gain.
• The torque feed-forward can improve the responsiveness of the velocity control system.
• Although the following ability is improved by the increase in gain, overshooting may occur in some
cases.
• This object is intended for PDO assignment. Use this object to change the Gain (subindex 01 hex)
from a PDO.
• Sets the low-pass filter cutoff frequency for the one-degree-of-freedom torque feed-forward.
• This object is intended for PDO assignment. Use this object to change the
LPF Cutoff Frequency
(subindex 03 hex) from a PDO.
Sets the operation in the two-degree-of-freedom position control.
Subindex 02 hex: LPF Enable
Set
value
Description
0 Disabled
1 Enabled
Subindex 03 hex: LPF Cutoff Frequency
Subindex E1 hex: Gain Command
Subindex E2 hex: LPF Cutoff Frequency Command
9-3-3 3120 hex: TDF Position Control
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
operation
3120 --- TDF Position
Control --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 02 hex --- 1 byte
(U8)
RO --- --- ---
01 Command Fol-
lowing Gain 10 to
5,000
% 50 A 4 bytes
(INT32)
RW --- --- csp, pp,
hm
10 Command Fol-
lowing Gain
Selection
*1
*1. These objects are available for the unit version 1.1 or later.
0 to 1 --- 0 A 4 bytes
(INT32)
RW --- --- csp, pp,
hm
11 Command Fol-
lowing Gain 2
*1
1 to
50,000
0.1 Hz 219 A 4 bytes
(INT32)
RW --- --- csp, pp,
hm