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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
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: ......