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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-5 Torque Output Setting Objects
9
9-5-1 3310 hex: Torque Compensation
9-5 Torque Output Setting Objects
These objects are used for the torque output setting.
Sets the torque compensation.
• Adjusts the amount of viscous friction compensation torque.
• Sets the amount of torque at 10,000 r/min.
• Sets the amount of unbalanced load torque compensation.
• Sets the amount of dynamic friction compensation in the positive direction.
9-5-1 3310 hex: Torque Compensation
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
3310 --- Torque Compen-
sation
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 84 hex --- 1 byte
(U8)
RO --- --- ---
01 Viscous Friction
Coefficient
0 to
10,000
0.1% 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
02 Unbalanced
Load Compensa-
tion
-1,000 to
1,000
0.1% 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
03 Positive Dynamic
Friction Compen-
sation
0 to 1,000 0.1% 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
04 Negative
Dynamic Friction
Compensation
0 to 1,000 0.1% 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
81 Viscous Friction
Coefficient Dis-
play
--- 0.1% --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
82 Unbalanced
Load Compensa-
tion Display
--- 0.1% --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
83 Positive Dynamic
Friction Compen-
sation Display
--- 0.1% --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
84 Negative
Dynamic Friction
Compensation
Display
--- 0.1% --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
Subindex 01 hex: Viscous Friction Coefficient
Subindex 02 hex: Unbalanced Load Compensation
Subindex 03 hex: Positive Dynamic Friction Compensation
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