3020 Hex: Velocity Command - Omron R88M-1M Series User Manual

9 Details on Servo Parameters
9-2-9

3020 hex: Velocity Command

Sets the velocity command and gives the command value.
Sub-
Index
index Object name
(hex)
(hex)
3020 --- Velocity Com-
mand
00 Number of
entries
82 Motor Velocity
83 Motor Velocity
After Velocity
Command Filter-
ing
92 Motor Velocity
Deviation
F1 Target Velocity
F2 Velocity Offset
Subindex 82 hex: Motor Velocity
• Gives the velocity command which is generated in the Servo Drive.
Subindex 83 hex: Motor Velocity After Velocity Command Filtering
• Gives the command velocity after velocity command filtering.
Subindex 92 hex: Motor Velocity Deviation
• Gives the deviation between the command velocity and the present velocity.
Subindex F1 hex: Target Velocity
• Sets the command velocity for the Cyclic synchronous velocity mode (csv) and Profile velocity mode
(pv).
• Mirror object of 60FF hex
Subindex F2 hex: Velocity Offset
• Sets the offset for the Target velocity.
• Mirror object of 60B1 hex
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AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Setting Default
Unit
range setting
--- --- ---
--- --- F2 hex
--- r/min ---
--- r/min ---
--- r/min ---
-2,147,4 Command 0
83,648 to unit/s
2,147,48
3,647
-2,147,4 Command 0
83,648 to unit/s
2,147,48
3,647
Data
PDO
attri- Size Access
map
bute
--- --- ---
--- 1 byte RO
(U8)
--- 4 bytes RO
(INT32)
--- 4 bytes RO
(INT32)
--- 4 bytes RO
(INT32)
A 4 bytes W
(INT32)
A 4 bytes W
(INT32)
Modes
Complete
of oper-
access
ation
--- Possible ---
--- --- ---
--- --- csv, pv
--- --- csv, pv
--- --- csv, pv
--- --- csv, pv
--- --- csp, csv,
pp, pv