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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-
4 Con
tro
l Loo
p Obj
ect
s
9
9-
4-8
3222 hex: Ga
in
S
w
itchi
ng
in
V
elo
ci
ty
C
ont
rol
Sets the gain switching function in the velocity control.
• Selects the gain switching function in the velocity control.
z
Description of Set Values
Sets the 1st velocity control gain.
• Sets the 1st velocity proportional gain.
• Sets the 1st velocity integral gain.
9-4-8
3222 hex: Gain Switching in Velocity 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
3222
---
Gain Switching in
Velocity Control
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
01 hex
---
1 byte
(U8)
RO
---
---
---
01
Mode Selection
0 to 2
---
0
E
4 bytes
(INT32)
RW
---
---
csv, pv
Subindex 01 hex: Mode Selection
Set
value
Description
0
Always Gain 1
1
Always Gain 2
2
Gain switching command input via EtherCAT communications
9-4-9
3223 hex: 1st Velocity Control Gain
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
3223
---
1st Velocity Con-
trol Gain
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
E2 hex
---
1 byte
(U8)
RO
---
---
---
01
Proportional Gain
0 to
30,000
0.1 Hz
219
A
4 bytes
(INT32)
RW
---
---
csv, pv
02
Integral Gain
0 to
16,000
0.1 Hz
55
A
4 bytes
(INT32)
RW
---
---
csv, pv
E1
Proportional Gain
Command
0 to
30,000
0.1 Hz
219
A
4 bytes
(INT32)
W
RxPDO
---
csv, pv
E2
Integral Gain
Command
0 to
16,000
0.1 Hz
55
A
4 bytes
(INT32)
W
RxPDO
---
csv, pv
Subindex 01 hex: Proportional Gain
Subindex 02 hex: Integral Gain
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: ......