Omron R88M-1M Series User Manual page 867

Sub-
Index
index Object name
(hex)
(hex)
3224 --- 2nd Velocity Control
Gain
01 Proportional Gain
02 Integral Gain
E1 Proportional Gain Com-
mand
E2 Integral Gain Command
3230 --- Internal Torque Com-
mand
81 Torque Demand (Mirror
object of 6074 hex)
3231 --- Torque Detection
81 Torque Actual Value
(Mirror object of 6077
hex)
3232 --- Filter Switching in Torque
Control
01 Mode Selection
3233 --- 1st Torque Command
Filter
01 Enable
02 Cutoff Frequency
E1 Cutoff Frequency Com-
mand
3234 --- 2nd Torque Command
Filter
01 Enable
02 Cutoff Frequency
E1 Cutoff Frequency Com-
mand
3310 --- Torque Compensation
01 Viscous Friction Coeffi-
cient
02 Unbalanced Load Com-
pensation
03 Positive Dynamic Fric-
tion Compensation
04 Negative Dynamic Fric-
tion Compensation
81 Viscous Friction Coeffi-
cient Display
82 Unbalanced Load Com-
pensation Display
83 Positive Dynamic Fric-
tion Compensation Dis-
play
84 Negative Dynamic Fric-
tion Compensation Dis-
play
3320 --- Adaptive Notch Filter
01 Adaptive Notch Selec-
tion
03 Resonance Detection
Threshold
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Setting range Unit
--- ---
0 to 30,000 0.1 Hz
0 to 16,000 0.1 Hz
0 to 30,000 0.1 Hz
0 to 16,000 0.1 Hz
--- ---
--- 0.1%
--- ---
--- 0.1%
--- ---
0 to 2 ---
--- ---
0 to 1 ---
10 to 50,000 0.1 Hz
10 to 50,000 0.1 Hz
--- ---
0 to 1 ---
10 to 50,000 0.1 Hz
10 to 50,000 0.1 Hz
--- ---
0 to 1,000 0.1%
-1,000 to 1,000 0.1%
0 to 1,000 0.1%
0 to 1,000 0.1%
--- 0.1%
--- 0.1%
--- 0.1%
--- 0.1%
--- ---
0 to 4 ---
0 to 500 %
Data
Default setting attri- Size
bute
--- ---
A 4 bytes
*4
219/146
(INT32)
A 4 bytes
*4
55/37
(INT32)
*4 A 4 bytes
219/146
(INT32)
*4 A 4 bytes
55/37
(INT32)
--- ---
--- --- 2 bytes
(INT16)
--- ---
--- --- 2 bytes
(INT16)
--- ---
0 E 4 bytes
(INT32)
--- ---
1 A 4 bytes
(INT32)
*4 A 4 bytes
1,536/1,024
(INT32)
A 4 bytes
*4
1,536/1,024
(INT32)
--- ---
0 A 4 bytes
(INT32)
A 4 bytes
*4
1,536/1,024
(INT32)
A 4 bytes
*4
1,536/1,024
(INT32)
--- ---
0 A 4 bytes
(INT32)
0 A 4 bytes
(INT32)
0 A 4 bytes
(INT32)
0 A 4 bytes
(INT32)
--- --- 4 bytes
(INT32)
--- --- 4 bytes
(INT32)
--- --- 4 bytes
(INT32)
--- --- 4 bytes
(INT32)
--- ---
0 A 4 bytes
(INT32)
4 A 4 bytes
(INT32)
Appendices
PDO map
--- ---
---
---
RxPDO
RxPDO
--- ---
---
--- ---
---
--- ---
---
--- ---
A
---
---
RxPDO
--- ---
---
---
RxPDO
--- ---
---
---
---
---
---
---
---
---
--- ---
---
---
A - 81