Omron R88D-1SN ECT Series User Manual

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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
9-2-10 3021 hex: Velocity Command Filter
Sets the velocity command filter.
• Sets the acceleration time during acceleration.
• Sets the time to accelerate from 0 to 1,000 r/min.
• Sets the deceleration time during deceleration.
• Sets the time to decelerate from 1,000 to 0 r/min.
• Selects whether to enable or disable the IIR filter in the velocity command filter.
 Description of Set Values
• Sets the cutoff frequency for the IIR filter.
9-2-10 3021 hex: Velocity Command Filter
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
opera-
tion
3021 --- Velocity Com-
mand Filter
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 04 hex --- 1 byte
(U8)
RO --- --- ---
01 Acceleration
Time
0 to
10,000
ms 0 E 4 bytes
(INT32)
RW --- --- csv, pv
02 Deceleration
Time
0 to
10,000
ms 0 E 4 bytes
(INT32)
RW --- --- csv, pv
03 IIR Filter Enable 0 to 1 --- 0 A 4 bytes
(INT32)
RW --- --- csv, pv
04 Filter Cutoff Fre-
quency
10 to
50,000
0.1 Hz 50,000 E 4 bytes
(INT32)
RW --- --- csv, pv
Subindex 01 hex: Acceleration Time
Subindex 02 hex: Deceleration Time
Subindex 03 hex: IIR Filter Enable
Set
value
Description
0 Disabled
1 Enabled
Subindex 04 hex: Filter Cutoff Frequency

Omron R88D-1SN ECT Series Specifications

General

Feedback	Incremental encoder, Absolute encoder
Position Control	Yes
Speed Control	Yes
Torque Control	Yes
Communication Interface	EtherCAT
Power Supply Voltage	200 to 240 VAC
Output Power	0.1 to 1.5 kW
Input Voltage Range	170 to 264 VAC
Control Method	Sine-wave PWM control
Main Circuit Power Supply	200-240 VAC
Applicable Motor Capacity	0.1 to 1.5 kW
Protection Functions	Overcurrent, Overvoltage, Undervoltage, Overheating, Encoder Error
Ambient Operating Temperature	0 to 55°C
Vibration Resistance	4.9 m/s² (10 to 55 Hz)
Shock Resistance	98 m/s2
Weight	Varies by model