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Omron R88D-1SN ECT Series User Manual

Omron R88D-1SN ECT Series
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9 - 31
9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-3 Control Method Objects
9
9-3-4 3121 hex: TDF Velocity Control
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).
Selects the command following gain switching method.
Description of Set Values
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).
Sets the operation in the two-degree-of-freedom velocity control.
Subindex 01 hex: Command Following Gain
Subindex 10 hex: Command Following Gain Selection
Set
value
Description
0 Use the Command Following Gain.
1 Use the Command Following Gain 2.
Subindex 11 hex: Command Following Gain 2
9-3-4 3121 hex: TDF Velocity Control
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
operation
3121 --- TDF Velocity
Control
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 01 hex --- 1 byte
(U8)
RO --- --- ---
01 Command Fol-
lowing Gain
10 to
5,000
% 100 A 4 bytes
(INT32)
RW --- --- csv, pv
10 Command Fol-
lowing Gain
Selection
*1
*1. These objects are available for the unit version 1.1 or later.
0 to 1 --- 0 A 4 bytes
(INT32)
RW --- --- csv, pv
11 Command Fol-
lowing Gain 2
*1
1 to
50,000
0.1 Hz 219/146
*2
*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.
A 4 bytes
(INT32)
RW --- --- csv, pv

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Omron R88D-1SN ECT Series Specifications

General IconGeneral
FeedbackIncremental encoder, Absolute encoder
Position ControlYes
Speed ControlYes
Torque ControlYes
Communication InterfaceEtherCAT
Power Supply Voltage200 to 240 VAC
Output Power0.1 to 1.5 kW
Input Voltage Range170 to 264 VAC
Control MethodSine-wave PWM control
Main Circuit Power Supply200-240 VAC
Applicable Motor Capacity0.1 to 1.5 kW
Protection FunctionsOvercurrent, Overvoltage, Undervoltage, Overheating, Encoder Error
Ambient Operating Temperature0 to 55°C
Vibration Resistance4.9 m/s² (10 to 55 Hz)
Shock Resistance98 m/s2
WeightVaries by model

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