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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-3 Control Method Objects
9
9-3-2 3113 hex: ODF Torque Feed-forward
• Sets the one-degree-of-freedom velocity feed-forward gain.
• The velocity feed-forward can reduce a following error and improve the responsiveness during posi-
tion control.
• Although the following ability is improved by the increase in gain, overshooting may occur in some
cases.
• This object is intended for PDO assignment. Use this object to change the Gain (subindex 01 hex)
from a PDO.
• Sets the low-pass filter cutoff frequency in the one-degree-of-freedom velocity feed-forward filter.
• This object is intended for PDO assignment. Use this object to change the LPF Cutoff Frequency
(subindex 03 hex) from a PDO.
Sets the torque feed-forward in the one-degree-of-freedom control.
• Sets the one-degree-of-freedom torque feed-forward gain.
• The torque feed-forward can improve the responsiveness of the velocity control system.
• Although the following ability is improved by the increase in gain, overshooting may occur in some
cases.
Subindex E1 hex: Gain Command
Subindex E2 hex: LPF Cutoff Frequency Command
9-3-2 3113 hex: ODF Torque Feed-forward
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
3113 --- ODF Torque
Feed-forward
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- E2 hex --- 1 byte
(U8)
RO --- --- ---
01 Gain 0 to 1,000 0.1% 0 A 4 bytes
(INT32)
RW --- --- csp, pp,
hm
02 LPF Enable 0 to 1 --- 0 A 4 bytes
(INT32)
RW --- --- csp, pp,
hm
03 LPF Cutoff Fre-
quency
10 to
50,000
0.1 Hz 50,000 A 4 bytes
(INT32)
RW --- --- csp, pp,
hm
E1 Gain Command 0 to 1,000 0.1% 0 A 4 bytes
(INT32)
W RxPDO --- csp, pp,
hm
E2 LPF Cutoff Fre-
quency Com-
mand
10 to
50,000
0.1 Hz 50,000 A 4 bytes
(INT32)
W RxPDO --- csp, pp,
hm
Subindex 01 hex: Gain
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