Torque Output Setting Objects - Omron 1 S Series User Manual

9 Details on Servo Parameters
9-5

Torque Output Setting Objects

These objects are used for the torque output setting.
9-5-1 3310 hex: Torque Compensation
Sets the torque compensation.
Sub-
Index
index Object name
(hex)
(hex)
3310 --- Torque Compen-
sation
00 Number of
entries
01 Viscous Friction
Coefficient
02 Unbalanced
Load Compensa-
tion
03 Positive Dynamic
Friction Compen-
sation
04 Negative
Dynamic Friction
Compensation
81 Viscous Friction
Coefficient Dis-
play
82 Unbalanced
Load Compensa-
tion Display
83 Positive Dynamic
Friction Compen-
sation Display
84 Negative
Dynamic Friction
Compensation
Display
Subindex 01 hex: Viscous Friction Coefficient
• Adjusts the amount of viscous friction compensation torque.
• Sets the amount of torque at 10,000 r/min.
Subindex 02 hex: Unbalanced Load Compensation
• Sets the amount of unbalanced load torque compensation.
Subindex 03 hex: Positive Dynamic Friction Compensation
• Sets the amount of dynamic friction compensation in the positive direction.
9 - 44
Setting Default
Unit
range setting
--- --- ---
--- --- 84 hex
0 to 0.1% 0
10,000
-1,000 to 0.1% 0
1,000
0 to 1,000 0.1% 0
0 to 1,000 0.1% 0
--- 0.1% ---
--- 0.1% ---
--- 0.1% ---
--- 0.1% ---
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Data
PDO
attri- Size Access
bute
--- --- ---
--- 1 byte RO
(U8)
A 4 bytes RW
(INT32)
A 4 bytes RW
(INT32)
A 4 bytes RW
(INT32)
A 4 bytes RW
(INT32)
--- 4 bytes RO
(INT32)
--- 4 bytes RO
(INT32)
--- 4 bytes RO
(INT32)
--- 4 bytes RO
(INT32)
Modes of
Complete
opera-
map access
tion
--- Possible ---
--- --- ---
--- --- csp, csv,
cst, pp,
pv, hm
--- --- csp, csv,
cst, pp,
pv, hm
--- --- csp, csv,
cst, pp,
pv, hm
--- --- csp, csv,
cst, pp,
pv, hm
--- --- csp, csv,
cst, pp,
pv, hm
--- --- csp, csv,
cst, pp,
pv, hm
--- --- csp, csv,
cst, pp,
pv, hm
--- --- csp, csv,
cst, pp,
pv, hm