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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-2 Common Control Objects
9
9-2-1 3000 hex: Basic Functions
• Selects the motor rotation direction for the command position.
Description of Set Values
• Regarding the rotation direction of the Servomotor, a clockwise rotation is defined as CW and a coun-
terclockwise rotation is defined as CCW, when viewed from the load-side shaft.
• Selects the semi-closed control or the fully-closed control. For 1S-series Servo Drives, this object is
fixed to 0 (fixed to semi-closed control).
• Switches the control method between TDF (two-degree-of-freedom) control and ODF
(one-degree-of-freedom) control.
Description of Set Values
• Selects whether to enable or disable the extended functions which are supported by the Servo Drive.
• Mirror object of 60DA hex
Description of Set Values
Subindex 01 hex: Motor Rotation Direction Selection
Set
value
Description
0 A positive direction command sets the motor rotation to clockwise direction.
1 A positive direction command sets the motor rotation to counterclockwise direction.
Subindex 02 hex: Control Mode Selection
Subindex 03 hex: Control Method Selection
Set
value
Description
0 ODF control
1 TDF control
Subindex 04 hex: Function Settings
Set value Description
Bit 0 Status Toggle
0: Disabled
1: Enabled
Bits 1 to 30 Reserved
Always set to 0.
Bits 31 Reserved by system
Always set to 0.
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