Omron R88D-1SN30F-ECT User Manual

Appendices
A - 80
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
3212 --- Gain Switching in Posi-
tion Control
--- --- --- --- --- ---
01 Mode Selection 0 to 3 --- 0 E 4 bytes
(INT32)
---
02 Delay Time 0 to 10,000 0.1 ms 50 E 4 bytes
(INT32)
---
03 Speed 0 to 20,000 r/min 50 E 4 bytes
(INT32)
---
04 Time 0 to 10,000 0.1 ms 100 E 4 bytes
(INT32)
---
3213 --- 1st Position Control Gain --- --- --- --- --- ---
01 Proportional Gain 0 to 5,000 0.1 Hz
44/29
*4
A 4 bytes
(INT32)
---
E1 Proportional Gain Com-
mand
0 to 5,000 0.1 Hz
44/29
*4
A 4 bytes
(INT32)
RxPDO
3214 --- 2nd Position Control
Gain
--- --- --- --- --- ---
01 Proportional Gain 0 to 5,000 0.1 Hz
44/29
*4
A 4 bytes
(INT32)
---
E1 Proportional Gain Com-
mand
0 to 5,000 0.1 Hz
44/29
*4
A 4 bytes
(INT32)
RxPDO
3220 --- Internal Velocity Com-
mand
--- --- --- --- --- ---
81 Velocity Demand Value
(Mirror object of 606B
hex)
--- Command unit/s --- --- 4 bytes
(INT32)
---
82 Motor Velocity --- r/min --- --- 4 bytes
(INT32)
---
83 Control Effort (Mirror
object of 60FA hex)
--- Command unit/s --- --- 4 bytes
(INT32)
---
92 Motor Velocity Deviation --- r/min --- --- 4 bytes
(INT32)
---
3221 --- Velocity Detection --- --- --- --- --- ---
81 Velocity Actual Value
(Mirror object of 606C
hex)
--- Command unit/s --- --- 4 bytes
(INT32)
---
82 Present Motor Velocity --- r/min --- --- 4 bytes
(INT32)
TxPDO
83 Acceleration ---
rad/s
2
--- --- 4 bytes
(INT32)
---
3222 --- Gain Switching in Veloc-
ity Control
--- --- --- --- --- ---
01 Mode Selection 0 to 2 --- 0 E 4 bytes
(INT32)
---
3223 --- 1st Velocity Control Gain --- --- --- --- --- ---
01 Proportional Gain 0 to 30,000 0.1 Hz
219/146
*4
A 4 bytes
(INT32)
---
02 Integral Gain 0 to 16,000 0.1 Hz
55/37
*4
A 4 bytes
(INT32)
---
E1 Proportional Gain Com-
mand
0 to 30,000 0.1 Hz
219/146
*4
A 4 bytes
(INT32)
RxPDO
E2 Integral Gain Command 0 to 16,000 0.1 Hz
55/37
*4
A 4 bytes
(INT32)
RxPDO
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit Default setting
Data
attri-
bute
Size PDO map

Omron R88D-1SN30F-ECT Specifications

General

Brand	Omron
Model	R88D-1SN30F-ECT
Category	Controller
Language	English