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-
4 Con
tro
l Loo
p Obj
ect
s
9
9-
4-5
3214 hex: 2nd
P
osi
tion
C
ont
rol
G
ain
Sets the 2nd position control gain.
• Sets the 2nd position proportional gain.
• Sets the 2nd position proportional gain.
• This object is intended for PDO assignment. Use this object to change the
Proportional Gain
(subindex 01 hex) from a PDO.
Gives the velocity command value in the Servo Drive.
• Gives the command velocity which is generated in the Servo Drive, in units of command/s.
• The displayed value may have an error due to the unit conversion from [r/min] to [command unit/s].
• Mirror object of 606B hex
9-4-5 3214 hex: 2nd Position 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
3214 --- 2nd Position
Control Gain --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 01 hex --- 1 byte
(U8)
RO --- --- ---
01 Proportional Gain 0 to 5,000 0.1 Hz 44 A 4 bytes
(INT32)
RW --- --- csp, pp,
hm
E1 Proportional Gain
Command 0 to 5,000 0.1 Hz 44 A 4 bytes
(INT32)
W RxPDO --- csp, pp,
hm
Subindex 01 hex: Proportional Gain
Subindex E1 hex: Proportional Gain Command
9-4-6 3220 hex: Internal Velocity Command
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes
of oper-
ation
3220 --- Internal Velocity
Command --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 92 hex --- 1 byte
(U8)
RO --- --- ---
81 Velocity Demand
Value --- Command
unit/s
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
82 Motor Velocity --- r/min --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
hm, pp,
pv
83 Control Effort --- Command
unit/s
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
92 Motor Velocity
Deviation --- r/min --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
hm, pp,
pv
Subindex 81 hex: Velocity Demand Value