Omron R88D-1SN01H-ECT, Руководство пользователя

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9 Details on Servo Parameters
9 - 40 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• Selects the condition to switch between 1st torque filter and 2nd torque filter.
z Description of Set Values
Sets the 1st torque command filter.
• Selects whether to enable or disable the 1st torque command filter.
z Description of Set Values
• Sets the cutoff frequency for the 1st torque command filter.
• Sets the cutoff frequency for the 1st torque command filter.
• This object is intended for PDO assignment. Use this object to change the Cutoff Frequency from a
PDO.
Subindex 01 hex: Mode Selection
Set value Description
0 Always 1st Filter
1 Always 2nd Filter
2 Gain switching command input via EtherCAT communications
9-4-14 3233 hex: 1st Torque Command Filter
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
3233 --- 1st Torque Com-
mand Filter --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- E1 hex --- 1 byte
(U8)
RO --- --- ---
01 Enable 0 to 1 --- 1 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
02 Cutoff Frequency 10 to
50,000
0.1 Hz 1,536 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
E1 Cutoff Fre-
quency Com-
mand 10 to
50,000
0.1 Hz 1,536 A 4 bytes
(INT32)
W RxPDO --- csp, csv,
cst, pp,
pv, hm
Subindex 01 hex: Enable
Set
value
Description
0 Disabled
1 Enable
Subindex 02 hex: Cutoff Frequency
Subindex E1 hex: Cutoff Frequency Command