Omron R88D-1SN ECT Series User Manual

9 - 39
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
9-4-10 3224 hex: 2nd Velocity Control Gain
• Sets the 1st velocity proportional gain.
• This object is intended for PDO assignment. Use this object to change the propotional gain from a
PDO.
• Sets the 1st velocity integral gain.
• This object is intended for PDO assignment. Use this object to change the integral gain from a PDO.
Sets the 2nd velocity control gain.
• Sets the 2nd velocity proportional gain.
• Sets the 2nd velocity integral gain.
• Sets the 2nd velocity proportional gain.
• This object is intended for PDO assignment. Use this object to change the propotional gain from a
PDO.
• Sets the 2nd velocity integral gain.
• This object is intended for PDO assignment. Use this object to change the integral gain from a PDO.
Subindex E1 hex: Proportional Gain Command
Subindex E2 hex: Integral Gain Command
9-4-10 3224 hex: 2nd Velocity 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
3224 --- 2nd Velocity Con-
trol Gain
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 02 hex --- 1 byte
(U8)
RO --- --- ---
01 Proportional Gain 0 to
30,000
0.1 Hz 219 A 4 bytes
(INT32)
RW --- --- csv, pv
02 Integral Gain 0 to
16,000
0.1 Hz 55 A 4 bytes
(INT32)
RW --- --- csv, pv
E1 Proportional Gain
Command
0 to
30,000
0.1 Hz 219 A 4 bytes
(INT32)
W RxPDO --- csv, pv
E2 Integral Gain
Command
0 to
16,000
0.1 Hz 55 A 4 bytes
(INT32)
W RxPDO --- csv, pv
Subindex 01 hex: Proportional Gain
Subindex 02 hex: Integral Gain
Subindex E1 hex: Proportional Gain Command
Subindex E2 hex: Integral Gain Command

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