3211 Hex: Position Detection; 3212 Hex: Gain Switching In Position Control - Omron 1 S Series User Manual

9-4-2

3211 hex: Position Detection

Gives the position detection value.
Sub-
Index
index Object name
(hex)
(hex)
3211 --- Position Detec-
tion
00 Number of
entries
81 Position Actual
Value
82 Position Actual
Internal Value
83 Present Position
Time Stamp
Subindex 81 hex: Position Actual Value
• Gives the present position in units of command.
• Mirror object of 6064 hex
Subindex 82 hex: Position Actual Internal Value
• Gives the present position in units of encoder.
• Mirror object of 6063 hex
Subindex 83 hex: Present Position Time Stamp
• Gives the time when the present position is obtained.
9-4-3

3212 hex: Gain Switching in Position Control

Sets the gain switching function in the position control.
Sub-
Index
index Object name
(hex)
(hex)
3212 --- Gain Switching in
Position Control
00 Number of
entries
01 Mode Selection
02 Delay Time
03 Speed
04 Time
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Setting Default
Unit
range setting
--- --- ---
--- --- 83 hex
--- Com- ---
mand
unit
--- Encoder ---
unit
--- ns ---
Setting Default
Unit
range setting
--- --- ---
--- --- 04 hex
0 to 3 --- 0
0 to 0.1 ms 50
10,000
0 to r/min 50
20,000
0 to 0.1 ms 100
10,000
9 Details on Servo Parameters
Data
attri- Size Access
bute
--- --- ---
--- 1 byte RO
(U8)
--- 4 bytes RO
(INT32)
--- 4 bytes RO
(INT32)
--- 8 bytes RO TxPDO
(U64)
Data
attri- Size Access
bute
--- --- ---
--- 1 byte RO
(U8)
E 4 bytes RW
(INT32)
E 4 bytes RW
(INT32)
E 4 bytes RW
(INT32)
E 4 bytes RW
(INT32)
Modes of
PDO Complete
opera-
map access
tion
--- Possible ---
--- --- ---
--- --- csp, csv,
cst, pp,
pv, hm
--- --- csp, csv,
cst, pp,
pv, hm
--- csp, csv,
cst, pp,
pv, hm
Modes of
PDO Complete
opera-
map access
tion
--- Possible ---
--- --- ---
--- --- csp, pp,
hm
--- --- csp, pp,
hm
--- --- csp, pp,
hm
--- --- csp, pp,
hm
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