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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-3 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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