Omron R88D-1SN ECT Series

9 Details on Servo Parameters
9 - 36
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Sets the 2nd position control gain.
• Sets the 2nd position proportional gain.
• Sets the 2nd position proportional gain.
• This object is intended for PDO assignment. Use this object to change the Proportional Gain
(subindex 01 hex) from a PDO.
Gives the velocity command value in the Servo Drive.
• Gives the command velocity which is generated in the Servo Drive, in units of command/s.
• The displayed value may have an error due to the unit conversion from [r/min] to [command unit/s].
• Mirror object of 606B hex
9-4-5 3214 hex: 2nd Position Control Gain
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
3214 --- 2nd Position
Control Gain
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 01 hex --- 1 byte
(U8)
RO --- --- ---
01 Proportional Gain 0 to 5,000 0.1 Hz
44/29
*1
*1. 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 --- --- csp, pp,
hm
E1 Proportional Gain
Command
0 to 5,000 0.1 Hz
44/29
*1
A 4 bytes
(INT32)
W RxPDO --- csp, pp,
hm
Subindex 01 hex: Proportional Gain
Subindex E1 hex: Proportional Gain Command
9-4-6 3220 hex: Internal Velocity 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
3220 --- Internal Velocity
Command
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 92 hex --- 1 byte
(U8)
RO --- --- ---
81 Velocity Demand
Value
--- Command
unit/s
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
82 Motor Velocity --- r/min --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
hm, pp,
pv
83 Control Effort --- Command
unit/s
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
92 Motor Velocity
Deviation
--- r/min --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
hm, pp,
pv
Subindex 81 hex: Velocity Demand Value