Omron R88D-1SN ECT Series

9 - 15
9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-2 Common Control Objects
9
9-2-4 3010 hex: Position Command
Sets the position command and gives the command value.
• Gives the command position which is generated in the Servo Drive, in units of command.
• Mirror object of 6062 hex
• Gives the command position which is generated in the Servo Drive, in units of encoder.
• Mirror object of 60FC hex
• Gives the command velocity which is generated in the Servo Drive, in units of command/s.
9-2-4 3010 hex: Position Command
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes
of oper-
ation
3010 --- Position Com-
mand
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- F2 hex --- 1 byte
(U8)
RO --- --- ---
81 Position
Demand Value
--- Command
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
82 Position
Demand Inter-
nal Value
--- Encoder
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
83 Velocity --- Command
unit/s
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
84 Motor Velocity --- r/min --- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
85 Motor Velocity
After Position
Command Fil-
tering
--- r/min --- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
86 Motor Velocity
After Damping
Filtering
--- r/min --- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
87 Reference
Position for csp
--- Command
unit
0 --- 4 bytes
(INT32)
RO TxPDO --- csp, csv,
cst, pp,
pv, hm
91 Following Error --- Command
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
92 Following Error
After Interpola-
tion
*1
*1. This object is available for the unit version 1.4 or later.
--- Command
unit
--- --- 4 bytes
(INT32)
RO TxPDO --- csp, pp,
hm
F1 Target Position -2,147,483,
648 to
2,147,483,
647
Command
unit
0 A 4 bytes
(INT32)
W --- --- csp, pp
F2 Position Offset -2,147,483,
648 to
2,147,483,
647
Command
unit
0 A 4 bytes
(INT32)
W --- --- csp
Subindex 81 hex: Position Demand Value
Subindex 82 hex: Position Demand Internal Value
Subindex 83 hex: Velocity