Omron TJ2-MC02 Hardware Reference Manual page 291

Hardware reference
Parameter list
Below is the list of all parameters with their sizes in bytes. These sizes are
necessary when accessing these parameters through DRIVE_READ and
DRIVE_WRITE.
Pn number Parameter name
000 Rotation Direction Switching
001 CONTROL mode Selection
002 REALTIME AUTOTUNING mode selection
003 Realtime Autotuning Machine Rigidity Setting
004 Inertia Ratio
005 Command Pulse Input Selection
006 Command Pulse Rotation Direction Switching Selection
007 COMMAND PULSE mode Selection
008 Electronic Gear Integer Setting
009 Electronic Gear Ratio Numerator 1
010 Electronic Gear Ratio Denominator
011 Encoder Dividing Numerator
012 Encoder Output Direction Switching Selection
013 No. 1 Torque Limit
014 Error Counter Overflow Level Set the range of the error counter
overflow
015 Operation Switch when Using Absolute Encoder
016 Regeneration Resistor Selection
017 External Regeneration Resistor Setting
100 Position Loop Gain
101 Speed Loop Gain
102 Speed Loop Integral Time Constant
103 Speed Feedback Filter Time Constant
104 Torque Command Filter Time Constant
105 Position Loop Gain 2
106 Speed Loop Gain 2
HARDWARE REFERENCE MANUAL
Pn number Parameter name
107 Speed Loop Integration Time Constant 2
108 Speed Feedback Filter Time Constant 2
109 Torque Command Filter Time Constant 2
110 Speed Feedforward Amount
Size
111 Speed Feedforward Command Filter
2
112 Torque Feedforward Amount
2
113 Torque Feedforward Command Filter
2
114 GAIN SWITCHING INPUT OPERATING mode Selection
2
115 SWITCHING mode in Position Control
2
116 Gain Switching Delay Time in Position Control
2
117 Gain Switching Level in Position Control
2
118 Gain Switching Hysteresis in Position Control
2
119 Position Gain Switching Time
4
120 Switching Mode in Speed Control
4
121 Gain Switching Delay Time in Speed Control
4
122 Gain Switching Level in Speed Control
4
123 Gain Switching Hysteresis in Speed Control
2
124 Switching Mode in Torque Control
2
125 Gain Switching Delay Time in Torque Control
4
126 Gain Switching Level in Torque Control
127 Gain Switching Hysteresis in Torque Control
2
200 Adaptive Filter Selection
2
201 Notch 1 Frequency Setting
2
202 Notch 1 Width Setting
2
203 Notch 1 Depth Setting
2
204 Notch 2 Frequency Setting
2
205 Notch 2 Width Setting
2
206 Notch 2 Depth Setting
2
207 Notch 3 Frequency Setting
2
208 Notch 3 Width Setting
2
209 Notch 3 Depth Setting
Size
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
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