3001 Hex: Machine - Omron 1 S Series User Manual

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3001 hex: Machine

Sets the mechanical system which is connected to the motor.
Sub-
Index
index Object name
(hex)
(hex)
3001 --- Machine
00 Number of
entries
01 Inertia Ratio
02 Backlash Com-
pensation
Selection
03 Backlash Com-
pensation
Amount
04 Backlash Com-
pensation Time
Constant
05 Motor Revolu-
tions
06 Shaft Revolu-
tions
81 Inertia Ratio
Display
Subindex 01 hex: Inertia Ratio
• Sets the ratio of load inertia to the motor rotor inertia.
• Inertia ratio = (Load inertia ÷ Rotor inertia) × 100%
Subindex 02 hex: Backlash Compensation Selection
• Selects whether to enable or disable backlash compensation in the position control, and the opera-
tion direction for the compensation.
 Description of Set Values
Set
value
0 Disabled
1 Compensate at the first positive operation after servo ON
2 Compensate at the first negative operation after servo ON
Subindex 03 hex: Backlash Compensation Amount
• Sets the backlash compensation amount in the position control.
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Default
Setting range Unit
setting
--- ---
--- --- 81 hex
0 to 30,000 % 250
0 to 2 ---
-262,144 to Com-
262,143 mand unit
0 to 6,400 0.01 ms
0 to ---
1,073,741,824
1 to ---
1,073,741,824
--- %
9 Details on Servo Parameters
Data
attri- Size Access
bute
--- --- --- ---
--- 1 byte RO
(U8)
A 4 bytes RW
(INT32)
0 R 4 bytes RW
(INT32)
0 E 4 bytes RW
(INT32)
0 E 4 bytes RW
(INT32)
1 R 4 bytes RW
(U32)
1 R 4 bytes RW
(U32)
--- --- 4 bytes RO
(INT32)
Description
Modes
PDO Complete
of oper-
map access
ation
--- Possible ---
--- --- ---
--- --- csp, csv,
cst, pp,
pv, hm
--- --- csp, pp,
hm
--- --- csp, pp,
hm
--- --- csp, pp,
hm
--- --- csp, csv,
cst, pp,
pv, hm
--- --- csp, csv,
cst, pp,
pv, hm
--- --- csp, csv,
cst, pp,
pv, hm
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