Omron R88D-1SN10H-ECT - Control Loop Objects; 3210 Hex: Internal Position Command

9 - 33
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
9-4-1 3210 hex: Internal Position Command
9-4 Control Loop Objects
This section explains the objects related to the control loop.
Gives the position command value which is calculated in the Servo Drive.
• Gives the command position to the feedback control in units of command.
• Gives the command velocity to the feedback control in units of r/min.
• Gives the following error between the command position to the feedback control and the present
position in units of command.
• Mirror object of 60F4 hex
• Gives the following error between the command position to the feedback control and the present
position in units of encoder.
9-4-1 3210 hex: Internal Position Command
Index
(hex)
Sub-
index
(hex)
Object name
Set-
ting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
operation
3210 --- Internal Position
Command
--- --- --- --- --- --- --- Possible ---
00 Number of entries --- --- 92 hex --- 1 byte
(U8)
RO --- --- ---
81 Position --- Command
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
84 Motor Velocity --- r/min --- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
91 Following Error
Actual Value
--- Command
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
92 Following Error
Actual Internal
Value
--- Encoder
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
Subindex 81 hex: Position
Subindex 84 hex: Motor Velocity
Subindex 91 hex: Following Error Actual Value
Subindex 92 hex: Following Error Actual Internal Value