Appendices
A - 22
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• You can map the following objects to the receive PDO mapping.
Index (hex)
Subindex
(hex)
Bit length
(hex)
Object name
3112 E1 20 ODF Velocity Feed-forward - Gain
E2 20 ODF Velocity Feed-forward - LPF Cutoff Frequency
3113 E1 20 ODF Torque Feed-forward - Gain
E2 20 ODF Torque Feed-forward - LPF Cutoff Frequency
3213 E1 20 1st Position Control Gain - Proportional Gain
3214 E1 20 2nd Position Control Gain - Proportional Gain
3223 E1 20 1st Velocity Control Gain - Proportional Gain
E2 20 1st Velocity Control Gain - Integral Gain
3224 E1 20 2nd Velocity Control Gain - Proportional Gain
E2 20 2nd Velocity Control Gain - Integral Gain
3233 E1 20 1st Torque Command Filter - Cutoff Frequency
3234 E1 20 2nd Torque Command Filter - Cutoff Frequency
6040 00 10 Controlword
6060 00 08 Modes of operation
6071 00 10 Target torque
6072 00 10 Max torque
607A 00 20 Target position
607F 00 20 Max profile velocity
6081 00 20 Profile velocity
6083 00 20 Profile acceleration
6084 00 20 Profile deceleration
60B0 00 20 Position offset
60B1 00 20 Velocity offset
60B2 00 10 Torque offset
60B8 00 10 Touch probe function
60E0 00 10 Positive torque limit value
60E1 00 10 Negative torque limit value
60FE 01 20 Physical outputs
60FF 00 20 Target velocity
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