9 Details on Servo Parameters
9 - 24
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Sets the torque command and gives the command value.
• Gives the torque command value which is generated in the Servo Drive.
• Sets the torque command in the Cyclic synchronous torque mode.
• Mirror object of 6071 hex
• Sets the offset for the Target torque.
• Mirror object of 60B2 hex
Sets the velocity limit in the torque control.
• Sets the velocity limit in the torque control.
9-2-11 3030 hex: Torque Command
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Complete
access
Modes of
operation
3030
---
Torque Com-
mand
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
F2 hex
---
1 byte
(U8)
RO
---
---
---
81
Torque
---
0.1%
---
---
4 bytes
(INT32)
RO
---
---
cst
F1
Target Torque
-5,000 to
5,000
0.1%
0
A
2 bytes
(INT16)
W
---
---
cst
F2
Torque Offset
-5,000 to
5,000
0.1%
0
A
2 bytes
(INT16)
W
---
---
csp, csv,
cst, pp, pv
Subindex 81 hex: Torque
Subindex F1 hex: Target Torque
Subindex F2 hex: Torque Offset
9-2-12 3031 hex: Velocity Limit in Torque Control
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
3031
---
Velocity Limit in
Torque Control
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
81 hex
---
1 byte
(U8)
RO
---
---
---
01
Velocity Limit
Value
0 to
20,000
r/min
20,000
A
4 bytes
(INT32)
RW
---
---
cst
81
Status
---
---
---
---
4 bytes
(INT32)
RO
---
---
cst
Subindex 01 hex: Velocity Limit Value
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: ......