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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-4 Control Loop Objects
9
9-4-7 3221 hex: Velocity Detection
• Gives the command velocity which is generated in the Servo Drive, in units of r/min.
• Gives the velocity command value which is generated in the position control of the Servo Drive.
• The displayed value may have an error due to the unit conversion from [r/min] to [command unit/s].
• Mirror object of 60FA hex
• Gives the deviation between the command velocity to the feedback control and the present velocity.
Gives the velocity detection value.
• Gives the present velocity in units of command/s.
• Mirror object of 606C hex
• Gives the present motor velocity in units of r/min.
• Gives the motor acceleration.
Subindex 82 hex: Motor Velocity
Subindex 83 hex: Control Effort
Subindex 92 hex: Motor Velocity Deviation
9-4-7 3221 hex: Velocity Detection
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
3221 --- Velocity Detec-
tion
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 83 hex --- 1 byte
(U8)
RO --- --- ---
81 Velocity Actual
Value
--- Command
unit/s
--- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
82 Present Motor
Velocity
--- r/min --- --- 4 bytes
(INT32)
RO TxPDO --- csp, csv,
cst, pp,
pv, hm
83 Acceleration ---
rad/s
2
--- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
Subindex 81 hex: Velocity Actual Value
Subindex 82 hex: Present Motor Velocity
Subindex 83 hex: Acceleration
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