Omron R88D-1SN30F-ECT

9 Details on Servo Parameters
9 - 40
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Gives the internal torque command value.
• Gives the torque command value which is generated in the Servo Drive.
• Mirror object of 6074 hex
Gives the torque detection value.
• Gives the present torque value.
• Mirror object of 6077 hex
Sets the filter switching function in the torque control.
9-4-11 3230 hex: Internal 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
opera-
tion
3230 --- Internal Torque
Command
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 81 hex --- 1 byte
(U8)
RO --- --- ---
81 Torque Demand --- 0.1% --- --- 2 bytes
(INT16)
R --- --- csp, csv,
cst, pp,
pv, hm
Subindex 81 hex: Torque Demand
9-4-12 3231 hex: Torque Detection
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
3231 --- Torque Detection --- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 81 hex --- 1 byte
(U8)
RO --- --- ---
81 Torque Actual
Value
--- 0.1% --- --- 2 bytes
(INT16)
R --- --- csp, csv,
cst, pp,
pv, hm
Subindex 81 hex: Torque Actual Value
9-4-13 3232 hex: Filter Switching 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
3232 --- Filter Switching in
Torque Control
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 01 hex --- 1 byte
(U8)
RO --- --- ---
01 Mode Selection 0 to 2 --- 0 E 4 bytes
(INT32)
RW --- --- cst