Special Objects - Omron OMNUC G5 Series User Manual

9-7 Special Objects

Gain 3 Effective Time
3605 hex
Setting
0 to 10,000
range
Size 2 bytes (INT16)
Set effective time of gain 3 of 3-step gain switching.
Refer to 7-9 Gain Switching 3 Function on page 7-30.
Gain 3 Ratio Setting
3606 hex
Setting
50 to 1,000
range
Size 2 bytes (INT16)
Set gain 3 as a multiple of gain 1.
Refer to 7-9 Gain Switching 3 Function on page 7-30.
Torque Command Value Offset
3607 hex
Setting
−100 to 100
range
Size 2 bytes (INT16)
Set the offset torque to add to torque commands.
Refer to 11-9 Friction Torque Compensation Function on page 11-26.
Forward Direction Torque Offset
3608 hex
Setting
−100 to 100
range
Size 2 bytes (INT16)
Set the value to add to a torque command for forward operation.
Refer to 11-9 Friction Torque Compensation Function on page 11-26.
Reverse Direction Torque Offset
3609 hex
Setting
−100 to 100
range
Size 2 bytes (INT16)
Set the value to add to a torque command for reverse operation.
Refer to 11-9 Friction Torque Compensation Function on page 11-26.
Function Expansion Setting
3610 hex
Setting
0 to 127
range
Size 2 bytes (INT16)
Set the functions by bit.
Set the decimal value that has been converted from the bits.
In the default settings, only the command compensation for communications errors for CSP is
enabled. The number 64 decimal is 1000 0000 when represented as bits.
Refer to 11-8 Disturbance Observer Function on page 11-24 and 11-12 Instantaneous Speed
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Unit 0.1 ms
Access
Unit %
Access
Unit %
Access
Unit %
Access
Unit %
Access
−
Unit
Access

9-7 Special Objects

Default
0
setting attribute
RW PDO map Not possible.
Default
100
setting attribute
RW PDO map Not possible.
Default
0
setting attribute
RW PDO map Not possible.
Default Data
0
setting attribute
RW PDO map Not possible.
Default Data
0
setting attribute
RW PDO map Not possible.
Default Data
64
setting attribute
RW PDO map Not possible.
csp
Data
B
csp
Data
B
All
Data
B
All
9
B
All
B
csp semi
B
9-38