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CONTENTS
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-2 Common Control Objects ................................................................................................... 9-6
9-2-1 3000 hex: Basic Functions ....................................................................................................... 9-6
9-2-2 3001 hex: Machine ................................................................................................................. 9-12
9-2-3 3002 hex: Optimized Parameters........................................................................................... 9-13
9-2-4 3010 hex: Position Command ................................................................................................9-15
9-2-5 3011 hex: Position Command Filter........................................................................................ 9-17
9-2-6 3012 hex: Damping Control.................................................................................................... 9-18
9-2-7 3013 hex: Damping Filter 1 .................................................................................................... 9-19
9-2-8 3014 hex: Damping Filter 2 .................................................................................................... 9-20
9-2-9 3020 hex: Velocity Command................................................................................................. 9-22
9-2-10 3021 hex: Velocity Command Filter........................................................................................9-23
9-2-11 3030 hex: Torque Command .................................................................................................. 9-24
9-2-12 3031 hex: Velocity Limit in Torque Control ............................................................................. 9-24
9-2-13 3040 hex: Profile Command................................................................................................... 9-25
9-2-14 3041 hex: Command Dividing Function ................................................................................. 9-26
9-3 Control Method Objects.................................................................................................... 9-28
9-3-1 3112 hex: ODF Velocity Feed-forward.................................................................................... 9-28
9-3-2 3113 hex: ODF Torque Feed-forward ..................................................................................... 9-29
9-3-3 3120 hex: TDF Position Control ............................................................................................. 9-30
9-3-4 3121 hex: TDF Velocity Control.............................................................................................. 9-31
9-4 Control Loop Objects........................................................................................................ 9-33
9-4-1 3210 hex: Internal Position Command ................................................................................... 9-33
9-4-2 3211 hex: Position Detection.................................................................................................. 9-34
9-4-3 3212 hex: Gain Switching in Position Control ........................................................................ 9-34
9-4-4 3213 hex: 1st Position Control Gain.......................................................................................9-35
9-4-5 3214 hex: 2nd Position Control Gain...................................................................................... 9-36
9-4-6 3220 hex: Internal Velocity Command.................................................................................... 9-36
9-4-7 3221 hex: Velocity Detection .................................................................................................. 9-37
9-4-8 3222 hex: Gain Switching in Velocity Control......................................................................... 9-38
9-4-9 3223 hex: 1st Velocity Control Gain .......................................................................................9-38
9-4-10 3224 hex: 2nd Velocity Control Gain ......................................................................................9-39
9-4-11 3230 hex: Internal Torque Command ..................................................................................... 9-40
9-4-12 3231 hex: Torque Detection.................................................................................................... 9-40
9-4-13 3232 hex: Filter Switching in Torque Control.......................................................................... 9-
40
9-4-14 3233 hex: 1st Torque Command Filter ................................................................................... 9-41
9-4-15 3234 hex: 2nd Torque Command Filter .................................................................................. 9-42
9-5 Torque Output Setting Objects ........................................................................................ 9-43
9-5-1 3310 hex: Torque Compensation............................................................................................ 9-43
9-5-2 3320 hex: Adaptive Notch Filter ............................................................................................. 9-45
9-5-3 3321 hex: 1st Notch Filter ...................................................................................................... 9-46
9-5-4 3322 hex: 2nd Notch Filter ..................................................................................................... 9-48
9-5-5 3323 hex: 3rd Notch Filter ...................................................................................................... 9-50
9-5-6 3324 hex: 4th Notch Filter ...................................................................................................... 9-52
9-5-7 3330 hex: Torque Limit ........................................................................................................... 9-54
9-6 Homing Objects ................................................................................................................. 9-56
9-7 Applied Function Objects ................................................................................................. 9-60
9-7-1 3B10 hex: Drive Prohibition.................................................................................................... 9-60
9-7-2 3B11 hex: Software Position Limit.......................................................................................... 9-61
9-7-3 3B20 hex: Stop Selection....................................................................................................... 9-63
9-7-4 3B21 hex: Deceleration Stop.................................................................................................. 9-67
9-7-5 3B30 hex: Touch Probe 1 ....................................................................................................... 9-67
9-7-6 3B31 hex: Touch Probe 2 ....................................................................................................... 9-70
9-7-7 3B40 hex: Zone Notification 1 ................................................................................................ 9-71
9-7-8 3B41 hex: Zone Notification 2 ................................................................................................ 9-72
9-7-9 3B50 hex: Position Detection Function .................................................................................. 9-73
9-7-10 3B51 hex: Positioning Completion Notification....................................................................... 9-73
9-7-11 3B52 hex: Positioning Completion Notification 2.................................................................... 9-74
9-7-12 3B60 hex: Speed Detection Function..................................................................................... 9-75
9-7-13 3B70 hex: Vibration Detection ................................................................................................ 9-76
9-7-14 3B71 hex: Runaway Detection ............................................................................................... 9-77
9-7-15 3B80 hex: Load Characteristic Estimation ............................................................................. 9-78
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