List Of Parameters - Renesas RX24T Reference Manual

Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers

2.3.4 List of Parameters

Table 2-4 shows the parameters managed by the NC software.
Table 2-4 List of Managed Parameters
Medium item Minor Item
CP mode in Tangential speed *
trajectory
Acceleration time *
calculation
Arm lengths
(L1, L2) * 1
Directions of motor
rotation (θ1, θ2) *
Step time *
Permissible error *
Maximum error
correction count *
Offset
(θ1, θ2) * 1
PTP mode * 2 Maximum speed
Acceleration time
Communication Intervals of sync
* commands
2
Timeout period in
CP mode
Timeout period in
modes other than
CP mode
Retry count
Size of buffer for
data reception from
GUI
Size of buffer for
commands from
GUI
Size of buffer for
data transmission to
GUI
Baud rate for
communication with
RX24T
Baud rate for
communication with
PC
Notes: 1. A decimal number can be entered.
2. Only integers can be entered.
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
Unit Parameter Name
1 mm/s Trajectory_POINTSPEED
1 ms Trajectory_ACCELTIME_ms
mm Trajectory_ARMLENGTH_L1
Trajectory_ARMLENGTH_L2
— Trajectory_MOTORROLL_1
2
Trajectory_MOTORROLL_2
1 ms Trajectory_STEPTIME
1 mm Trajectory_ERRORRANGE
Count Trajectory_MAX_ERROR_
CORRECTION
2
Trajectory_OFFSET_1
°
(degrees)
Trajectory_OFFSET_2
RPM Api_PTP_MAXSPEED
ms Api_PTP_ACCERATIONTIME
μs CtrlMotor_CP_SYNC_
INTERVAL
μs TIMEOUT_CP_us
μs TIMEOUT_OUT_us
Count NUM_RETRY
Byte CommPC_BUFSIZE_RCV
Number of COMMAND_SIZE
commands
Byte CommPC_BUFSIZE_SEND
bps RX24T_BAUDRATE
bps —
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Initial
Range Value
0 to 5,000 100
0 to 255 50
1 to 255 L1: 120
L2: 120
-1 or 1 θ1: 1
θ2: 1
0.5 to 5 1
(multiple of 0.5)
0.001 to 5 0.01
0 to 255 2
-180 to 180 θ1: 0
θ2: 0
0 to 65,535 100
0 to 65,535 50
500 to 5,000 2,000
(multiple of 500)
0 to 1,000 100
0 to 5,000 1,000
0 to 255 1
0 to 5,000 2,048
0 to 1,000 100
0 to 1,000 4,096
10M, 5M, 4M, 2M, or 2,000,000 Disabled
1M bps is assumed
115.2 kbps only 115,200
R/W from
GUI
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Disabled
R/W
R/W
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
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