Omron R88D-1SN15F-ECT

9 Details on Servo Parameters
9 - 22
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Sets the velocity command and gives the command value.
• Gives the velocity command which is generated in the Servo Drive.
• Gives the command velocity after velocity command filtering.
• Gives the deviation between the command velocity and the present velocity.
• Sets the command velocity for the Cyclic synchronous velocity mode (csv) and Profile velocity mode
(pv).
• Mirror object of 60FF hex
• Sets the offset for the Target velocity.
• Mirror object of 60B1 hex
9-2-9 3020 hex: Velocity Command
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes
of oper-
ation
3020 --- Velocity Com-
mand
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- F2 hex --- 1 byte
(U8)
RO --- --- ---
82 Motor Velocity --- r/min --- --- 4 bytes
(INT32)
RO --- --- csv, pv
83 Motor Velocity
After Velocity
Command Filter-
ing
--- r/min --- --- 4 bytes
(INT32)
RO --- --- csv, pv
92 Motor Velocity
Deviation
--- r/min --- --- 4 bytes
(INT32)
RO --- --- csv, pv
F1 Target Velocity -2,147,4
83,648 to
2,147,48
3,647
Command
unit/s
0 A 4 bytes
(INT32)
W--- --- csv, pv
F2 Velocity Offset -2,147,4
83,648 to
2,147,48
3,647
Command
unit/s
0 A 4 bytes
(INT32)
W --- --- csp, csv,
pp, pv
Subindex 82 hex: Motor Velocity
Subindex 83 hex: Motor Velocity After Velocity Command Filtering
Subindex 92 hex: Motor Velocity Deviation
Subindex F1 hex: Target Velocity
Subindex F2 hex: Velocity Offset