9 Details on Servo Parameters
9 - 24
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Sets the torque command and gives the command value.
• Gives the torque command value which is generated in the Servo Drive.
• Sets the torque command in the Cyclic synchronous torque mode.
• Mirror object of 6071 hex
• Sets the offset for the Target torque.
• Mirror object of 60B2 hex
Sets the velocity limit in the torque control.
• Sets the velocity limit in the torque control.
9-2-11 3030 hex: Torque Command
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
operation
3030 --- Torque Com-
mand
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- F2 hex --- 1 byte
(U8)
RO --- --- ---
81 Torque --- 0.1% --- --- 4 bytes
(INT32)
RO --- --- cst
F1 Target Torque -5,000 to
5,000
0.1% 0 A 2 bytes
(INT16)
W --- --- cst
F2 Torque Offset -5,000 to
5,000
0.1% 0 A 2 bytes
(INT16)
W --- --- csp, csv,
cst, pp, pv
Subindex 81 hex: Torque
Subindex F1 hex: Target Torque
Subindex F2 hex: Torque Offset
9-2-12 3031 hex: Velocity Limit in Torque Control
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
3031 --- Velocity Limit in
Torque Control
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 81 hex --- 1 byte
(U8)
RO --- --- ---
01 Velocity Limit
Value
0 to
20,000
r/min 20,000 A 4 bytes
(INT32)
RW --- --- cst
81 Status --- --- --- --- 4 bytes
(INT32)
RO --- --- cst
Subindex 01 hex: Velocity Limit Value
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