Absolute Position Control Mode - Omron RX User Manual

4-3 Functions When PG Option Board (3G3AX-PG01) Is Used

Absolute Position Control Mode

•To use this function, set V/f characteristics selection A044 to "05" (V2), and V2 control mode
selection P012 to "02" (APR2: Absolute position control).
•When "03" (high-resolution absolute position control) is selected in V2 control mode selection
P012, control is based on ×4 the number of pulses used for internal operations.
(Set the multi-step position command and position range setting for ×4 multiplication control.)
•The position command can be changed up to 8 steps, depending on combinations of multi-function
input terminals.
•Zero return speed can be selected from one low speed and two high speeds.
(The orientation function, described in the previous section, is not available.)
•By using the teaching function, you can set the position command while running the machine.
4
•By allocating "73" (SPD) to a multi-function input, you can switch between the speed and position
controls.
•For data with many digits (e.g. position command), only the higher 4 digits are displayed.
Parameter No.
P012
P023
P060
P061
P062
P063
P064
P065
P066
P067
P068
P069
P070
P071
P072
P073
4-131
Function name
02: APR2 (absolute position control)
V2 control mode
03: HAPR (high-resolution absolute position
selection
control)
Position loop gain 0.00 to 99.99/100.0
Multi-step position Position range setting (reverse side)
command 0 to Position range setting (forward side)
Multi-step position Position range setting (reverse side)
command 1 to Position range setting (forward side)
Multi-step position Position range setting (reverse side)
command 2 to Position range setting (forward side)
Multi-step position Position range setting (reverse side)
command 3 to Position range setting (forward side)
Multi-step position Position range setting (reverse side)
command 4 to Position range setting (forward side)
Multi-step position Position range setting (reverse side)
command 5 to Position range setting (forward side)
Multi-step position Position range setting (reverse side)
command 6 to Position range setting (forward side)
Multi-step position Position range setting (reverse side)
command 7 to Position range setting (forward side)
00: Low
Zero return mode 01: Hi1
02: Hi2
Zero return direction 00: Forward side
selection 01: Reverse side
Low-speed zero
0.00 to 10.00
return frequency
High-speed zero
0.00 to 99.99/100.0 to 400.0
return frequency
Position range
0 to +268435456: When APR2 is selected
specification
0 to +1073741823: When HAPR is selected
(forward)
Position range
−268435456 to 0: When APR2 is selected
specification
−1073741823 to 0: When HAPR is selected
(reverse)
Data Default setting Unit
⎯
00
0.50 rad/s
⎯
0
⎯
0
⎯
0
⎯
0
⎯
0
⎯
0
⎯
0
⎯
0
⎯
00
⎯
00
0.00 Hz
0.00 Hz
⎯
268435455
−268435455 ⎯