A - 81
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-3 Object List
A
3224 --- 2nd 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
3230 --- Internal Torque Com-
mand
--- --- --- --- --- ---
81 Torque Demand (Mirror
object of 6074 hex)
--- 0.1% --- --- 2 bytes
(INT16)
---
3231 --- Torque Detection --- --- --- --- --- ---
81 Torque Actual Value
(Mirror object of 6077
hex)
--- 0.1% --- --- 2 bytes
(INT16)
---
3232 --- Filter Switching in Torque
Control
--- --- --- --- --- ---
01 Mode Selection 0 to 2 --- 0 E 4 bytes
(INT32)
---
3233 --- 1st Torque Command
Filter
--- --- --- --- --- ---
01 Enable 0 to 1 --- 1 A 4 bytes
(INT32)
---
02 Cutoff Frequency 10 to 50,000 0.1 Hz
1,536/1,024
*4
A 4 bytes
(INT32)
---
E1 Cutoff Frequency Com-
mand
10 to 50,000 0.1 Hz
1,536/1,024
*4
A 4 bytes
(INT32)
RxPDO
3234 --- 2nd Torque Command
Filter
--- --- --- --- --- ---
01 Enable 0 to 1 --- 0 A 4 bytes
(INT32)
---
02 Cutoff Frequency 10 to 50,000 0.1 Hz
1,536/1,024
*4
A 4 bytes
(INT32)
---
E1 Cutoff Frequency Com-
mand
10 to 50,000 0.1 Hz
1,536/1,024
*4
A 4 bytes
(INT32)
RxPDO
3310 --- Torque Compensation --- --- --- --- --- ---
01 Viscous Friction Coeffi-
cient
0 to 1,000 0.1% 0 A 4 bytes
(INT32)
---
02 Unbalanced Load Com-
pensation
-1,000 to 1,000 0.1% 0 A 4 bytes
(INT32)
---
03 Positive Dynamic Fric-
tion Compensation
0 to 1,000 0.1% 0 A 4 bytes
(INT32)
---
04 Negative Dynamic Fric-
tion Compensation
0 to 1,000 0.1% 0 A 4 bytes
(INT32)
---
81 Viscous Friction Coeffi-
cient Display
--- 0.1% --- --- 4 bytes
(INT32)
---
82 Unbalanced Load Com-
pensation Display
--- 0.1% --- --- 4 bytes
(INT32)
---
83 Positive Dynamic Fric-
tion Compensation Dis-
play
--- 0.1% --- --- 4 bytes
(INT32)
---
84 Negative Dynamic Fric-
tion Compensation Dis-
play
--- 0.1% --- --- 4 bytes
(INT32)
---
3320 --- Adaptive Notch Filter --- --- --- --- --- ---
01 Adaptive Notch Selec-
tion
0 to 4 --- 0 A 4 bytes
(INT32)
---
03 Resonance Detection
Threshold
0 to 500 % 4 A 4 bytes
(INT32)
---
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit Default setting
Data
attri-
bute
Size PDO map
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