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
-2 Co
mm
on
Con
trol Obj
ect
s
9
9-
2-5
301
1
hex:
Posi
tion Com
m
and
Fi
lter
Sets the position command filter.
The position command filter can be used when the communications cycle is 250 µs or more. When the
communications cycle is 125 µs, the position command filter is disabled.
• Selects whether to enable or disable the FIR filter in the position command filter.
z Description of Set Values
• Sets the moving average time for the FIR filter.
• Selects whether to enable or disable the IIR filter in the position command filter.
z Description of Set Values
• Sets the cutoff frequency for the IIR filter.
9-2-5 3011 hex: Position 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
operation
3011 --- Position Com-
mand Filter --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 04 hex --- 1 byte
(U8)
RO --- --- ---
01 FIR Filter Enable 0 to 1 --- 0 A 4 bytes
(INT32)
RW --- --- csp, pp,
hm
02 FIR Filter Moving
Average Time 1 to
10,000
0.1 ms 1 A 4 bytes
(INT32)
RW --- --- csp, pp,
hm
03 IIR Filter Enable 0 to 1 --- 1 A 4 bytes
(INT32)
RW --- --- csp, pp,
hm
04 IIR Filter Cutoff
Frequency 10 to
50,000
0.1 Hz 219 A 4 bytes
(INT32)
RW --- --- csp, pp,
hm
Subindex 01 hex: FIR Filter Enable
Set
value
Description
0 Disabled
1 Enabled
Subindex 02 hex: FIR Filter Moving Average Time
Subindex 03 hex: IIR Filter Enable
Set
value
Description
0 Disabled
1 Enabled
Subindex 04 hex: IIR Filter Cutoff Frequency