3120 Hex: Tdf Position Control - Omron R88M-1M Series User Manual

9 Details on Servo Parameters
Subindex 02 hex: LPF Enable
• Selects whether to enable or disable the low-pass filter in the torque feed-forward.
 Description of Set Values
Set
value
0 Disabled
1 Enabled
Subindex 03 hex: LPF Cutoff Frequency
• Sets the low-pass filter cutoff frequency for the one-degree-of-freedom torque feed-forward.
Subindex E1 hex: Gain Command
• Sets the one-degree-of-freedom torque feed-forward gain.
• The torque feed-forward can improve the responsiveness of the velocity control system.
• Although the following ability is improved by the increase in gain, overshooting may occur in some
cases.
• This object is intended for PDO assignment. Use this object to change the Gain (subindex 01 hex)
from a PDO.
Subindex E2 hex: LPF Cutoff Frequency Command
• Sets the low-pass filter cutoff frequency for the one-degree-of-freedom torque feed-forward.
• This object is intended for PDO assignment. Use this object to change the LPF Cutoff Frequency
(subindex 03 hex) from a PDO.
9-3-3

3120 hex: TDF Position Control

Sets the operation in the two-degree-of-freedom position control.
Sub-
Index
index Object name
(hex)
(hex)
3120 --- TDF Position
Control
00 Number of
entries
01 Command Fol-
lowing Gain
10 Command Fol-
lowing Gain
*1
Selection
11 Command Fol-
lowing Gain 2
*1. These objects are available for the unit version 1.1 or later.
*2. The first value is for the Servo Drive with its capacity 3 kw or less. The second value is for the Servo Drive with its capacity
5.5 kw or more.
9 - 30
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Setting Default
Unit
range setting
--- ---
--- --- 02 hex
10 to %
5,000
0 to 1 ---
1 to 0.1 Hz 219/146
*1 50,000
Description
Data
attri- Size Access
bute
--- --- ---
--- 1 byte
(U8)
50 A 4 bytes
(INT32)
0 A 4 bytes
(INT32)
A 4 bytes
*2 (INT32)
PDO Complete Modes of
map access operation
--- --- Possible
RO --- ---
RW --- --- csp, pp,
RW --- --- csp, pp,
RW --- --- csp, pp,
---
---
hm
hm
hm