3021 Hex: Velocity Command Filter - Omron R88M-1M Series User Manual

9-2-10 3021 hex: Velocity Command Filter

Sets the velocity command filter.
Sub-
Index
index Object name
(hex)
(hex)
3021 --- Velocity Com-
mand Filter
00 Number of
entries
01 Acceleration
Time
02 Deceleration
Time
03 IIR Filter Enable
04 Filter Cutoff Fre-
quency
Subindex 01 hex: Acceleration Time
• Sets the acceleration time during acceleration.
• Sets the time to accelerate from 0 to 1,000 r/min.
Subindex 02 hex: Deceleration Time
• Sets the deceleration time during deceleration.
• Sets the time to decelerate from 1,000 to 0 r/min.
Subindex 03 hex: IIR Filter Enable
• Selects whether to enable or disable the IIR filter in the velocity command filter.
 Description of Set Values
Set
value
0 Disabled
1 Enabled
Subindex 04 hex: Filter Cutoff Frequency
• Sets the cutoff frequency for the IIR filter.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Setting Default
Unit
range setting
--- --- ---
--- --- 04 hex
0 to ms 0
10,000
0 to ms 0
10,000
0 to 1 --- 0
10 to 0.1 Hz 50,000
50,000
9 Details on Servo Parameters
Data
attri- Size Access
bute
--- --- ---
--- 1 byte RO
(U8)
E 4 bytes RW
(INT32)
E 4 bytes RW
(INT32)
A 4 bytes RW
(INT32)
E 4 bytes RW
(INT32)
Description
Modes of
PDO Complete
opera-
map access
tion
--- Possible ---
--- --- ---
--- --- csv, pv
--- --- csv, pv
--- --- csv, pv
--- --- csv, pv
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