Omron 3G3RX - Page 330

4-211
4-4 Communication Function
4
Functions
152Ch
Motor parameter J
(auto-tuning data)
H034
(HIGH)
R/W
0.001 to 9999.000
0.001
[kgm
2
]
152Dh
H034
(LOW)
R/W
152Eh
to
153Ch
Not used  
153Dh PI proportional gain H050 R/W 0.0 to 1000.0 0.1 [%]
153Eh PI integral gain H051 R/W 0.0 to 1000.0 0.1 [%]
153Fh P proportional gain H052 R/W 0.01 to 10.00 0.01
1540h
to
1546h
Not used  
1547h Limit at 0 Hz H060 R/W 0.0 to 100.0 0.1 [%]
1548h
Boost amount at SLV
startup, 0 Hz
H061 R/W 0 to 50 1 [%]
1549h
to
1550h
Not used  
1551h
For PI proportional gain
switching
H070 R/W 0.0 to 1000.0 0.1 [%]
1552h
For PI integral gain
switching
H071 R/W 0.0 to 1000.0 0.1 [%]
1553h
For P proportional gain
switching
H072 R/W 0.00 to 10.00 0.01
1554h Gain switching time H073 R/W 0 to 9999 1 [ms]
1555h
to
1600h
Not used  
1601h
Operation selection at
option 1 error
P001 R/W
00: Trip
01: RUN (Continues operation)

1602h
Operation selection at
option 2 error
P002 R/W
00: Trip
01: RUN (Continues operation)

1603h
to
160Ah
Not used  
160Bh Encoder pulses P011 R/W 128 to 65535 1
160Ch V2 control mode selection P012 R/W
00: ASR (speed control mode)
01: APR (pulse train position control
mode)
02: APR2 (absolute position control
mode)
03: HAPR (High resolution absolute
position control mode)

160Dh Pulse train mode selection P013 R/W
00: Mode 1
01: Mode 2
02: Mode 3

160Eh Orientation stop position P014 R/W 0 to 4095 1
Register
No.
Function name
Function
code
R/W Monitor and setting parameters
Resolu-
tion