Position Preset; Orientation - Omron M1 Series User Manual

When "PCLR" is turned ON during position control operation, the current position is cleared to zero
and movement to the target position is performed. When "PCLR" is turned ON after position control
stop, the current position is cleared to zero, however, movement to the target position is not started. To
perform movement, either turn the RUN command OFF then back ON again, or turn "POS-SET" ON.
Parameter No.
3005Hex-02Hex to
3005Hex-06Hex
3005Hex-63Hex
3005Hex-64Hex
3037Hex-16Hex
7-7-10

Position preset

The current position can be overwritten by the setting of Preset Position (MSB) (3037Hex-29Hex) and
Preset Position (LSB) (3037Hex-2AHex) at the ON edge of digital input "PSET." The current position
can be preset in either position control and speed control.
When "PSET" is turned ON during position control operation, the current position is overwritten by the
preset position and movement to the target position is performed. When "PSET" is turned ON after po-
sition control stop, the current position is overwritten, however, movement to the target position is not
started. To perform movement, either turn the RUN command OFF then back ON again, or turn "POS-
SET" ON.
Parameter No.
3005Hex-02Hex to
3005Hex-06Hex
3005Hex-63Hex
3005Hex-64Hex
3037Hex-29Hex
3037Hex-2AHex
 Position control by pulse train input
Position control can be performed with pulse train input used as the pulse position command.
When digital input "SPD" is turned OFF with "12: Pulse train input" set to 1st Frequency Reference
Selection (3004Hex-02Hex)/2nd Frequency Reference Selection (3006Hex-1FHex), position con-
trol is made to operate by taking the pulses according to the pulse train input as the position com-
mand pulse.
For details on the pulse train input method, refer to 8-9-17 Pulse Train Frequency Input on page
8-129.
7-7-11

Orientation

The orientation function can be used as an applied function for position control. In speed control, ori-
entation can be performed during operation or while operation is stopped.
 Orientation during speed control
With speed control, a motor in rotation can be stopped at a desired mechanical position. When digi-
tal input "ORT" is turned ON (2) during operation in speed control, deceleration is performed up to
M1 Series EtherCAT Type User's Manual (I670)
Function name
Input Terminal [DI1] Function
Selection to Input Terminal
[DI7] Function Selection
Current Position Clear Signal
Operation Selection
Function name
Input Terminal [DI1] Function
Selection to Input Terminal
[DI7] Function Selection
Preset Position (MSB)
Preset Position (LSB)
7 Vector Control and Applied Functions
Data
141 (1141): Current position
clear "PCLR"
0: Clear at edge detection
1: Clear at level detection
Data
142 (1142): Current position
preset "PSET"
−268435455 to 268435455
(MSB: -4,096 to 4,095, LSB: 0
to 65,535)
Default data Unit
- -
0 -
Default data Unit
- -
0 -
7-49
7