Servo Driver Parameter Object (0X66) - Omron OMNUC W Series Manual

10 Appendix

10.2.8 Servo Driver Parameter Object (0x66)

10.2.8 Servo Driver Parameter Object (0x66)
No. Access
10
Get/Set
11
Get/Set
12
Get/Set
13
Get/Set
14
Get/Set
15
Get/Set
50
Get/Set
51
Get/Set
52
Get/Set
53
Get/Set
54
Get/Set
10
55
Get/Set
56
Get/Set
57
Get/Set
58
Get/Set
59
Get/Set
Class and instances of the Servo Driver Parameter Object (0x66) are shown below.
Class
• Attributes: None supported
• Services: None supported
Instances
Attributes (Instance #1: Explicit Message)
Name Data Type
Function Selection UINT
Basic Switch
Function Selection UINT
Application
Switch 1
Function Selection UINT
Application
Switch 2
Function Selection UINT
Application
Switch 3
Not Used UINT
Not Used UINT
Speed Loop UINT
Gain
Speed Loop Integra- UINT
tion Constant
Position Loop UINT
Gain
Inertia Ratio UINT
Speed Loop Gain 2 UINT
Speed Loop UINT
Integration
Constant 2
Position Loop UINT
Gain 2
Bias Rotational UINT
Speed
Bias Addition Band UINT
Feed-forward UINT
Amount
Description
Sets function selection basic switches.
Sets function selection application
switches 1.
Sets function selection application
switches 2.
Sets function selection application
switches 3.
Do not change the setting.
Not used
Sets the speed loop gain.
Unit: Hz
Sets the speed loop integration time
constant.
Unit: 0.01ms
Sets the position loop gain.
Unit: 1/s
Sets the inertia ratio.
Unit: %
Sets the speed loop gain 2.
Unit: Hz
Sets the speed loop integration constant
2.
Unit: 0.01ms
Sets the position loop gain 2.
Unit: 1/s
Sets the bias rotational speed.
Unit: r/min
Sets the bias addition band.
Unit: command unit
Sets the feed-forward amount.
Unit: %
10-20
Setting Default
Range Setting
−
0010
−
1002
−
0000
−
0002
−
0000
−
0000
1 to 2000 80
15 to 51200 2000
1 to 2000 40
0 to 10000 300
1 to 2000 80
15 to 51200 2000
1 to 2000 40
0 to 450 0
0 to 250 7
0 to 100 0