3121 Hex: Tdf Velocity Control - Omron R88M-1M Series User Manual

Subindex 01 hex: Command Following Gain
• Sets the following performance for the target position.
• The higher the gain is, the higher the following performance of the internal command is for the target
position.
• The set value is valid when TDF Position Control - Command Following Gain Selection (3120-10
hex) is set to 0 (use the Command Following Gain).
Subindex 10 hex: Command Following Gain Selection
• Selects the command following gain switching method.
 Description of Set Values
Set
value
0 Use the Command Following Gain.
1 Use the Command Following Gain 2.
Subindex 11 hex: Command Following Gain 2
• Sets the cutoff frequency to the position command.
• The higher the set value is, the higher the following performance of the internal command is for the
target position.
• The set value is valid when TDF Position Control - Command Following Gain Selection (3120-10
hex) is set to 1 (use the Command Following Gain 2).
9-3-4

3121 hex: TDF Velocity Control

Sets the operation in the two-degree-of-freedom velocity control.
Sub-
Index
index Object name
(hex)
(hex)
3121 --- TDF Velocity
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 3kw or less. The second value is for the Servo Drive with its capacity
5kw or more.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Setting Default
Unit
range setting
--- ---
--- --- 01 hex
10 to %
5,000
0 to 1 ---
1 to 0.1 Hz 219/146
*1 50,000
9 Details on Servo Parameters
Description
Data
attri- Size Access
bute
--- --- ---
--- 1 byte
(U8)
100 A 4 bytes
(INT32)
0 A 4 bytes
(INT32)
A 4 bytes
*2 (INT32)
PDO Complete Modes of
map access operation
--- --- Possible
RO --- ---
RW --- ---
RW --- ---
RW --- ---
9
---
---
csv, pv
csv, pv
csv, pv
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