Functions That Are Disabled In Position Control; Position Monitor; Restarting Positioning - Omron M1 Series User Manual

"POS-SET" ON. As changes to the positioning data while the RUN command is OFF are reset
when operation is started, operation by position change command "POS-SET" is not required.
Orientation operation differs from position control in that, even when a value greater than one rota-
tion is set to positioning data, the value is automatically corrected to a position within one rotation
when the operation is actually performed.
To assign positioning data as an incremental amount of movement relative to the current position,
set movement in Positioning Data Type (3037Hex-26Hex). To switch handling when necessary, use
increment/absolute position switching "INC/ABS" (data = 135) in the multifunction input terminal
function. When this function is allocated, the 3037Hex-26Hex setting is disabled.
 Positioning Data Setting Selection via communication (3037Hex-4EHex)
In orientation, to use Positioning Data via Communication (MSB) (3002Hex-15Hex) and Positioning
Data via Communication (LSB) (3002Hex-16Hex) via communication to perform positioning, set "1"
to Positioning Data Setting Selection via communication (3037Hex-4EHex) to enable positioning
commands via communication, just as in position control.
7-7-12

Functions That Are Disabled in Position Control

When speed/position switching is set to "SPD" OFF and the RUN command is ON, the following func-
tions are disabled.
Jogging operation, PID control, starting frequency hold, stop frequency hold, DC braking, Zero Speed
Control, restart after momentary power failure, retry, offline tuning, anti-regenerative control, overload
prevention, Stop Selection (3008Hex-0CHex), pickup, torque control, 1st/2nd control.
7-7-13

Position Monitor

Use this function to monitor the feedback current position and instructed current position. The feed-
back current position is the value obtained by totaling the number of feedback pulses and converting
them to user values. The instructed current position is not the target position but the momentary in-
structed position based on the position instruction pattern, and is the same as the feedback current
position during a stop.
Parameter No.
3037Hex-61Hex
3037Hex-62Hex
3037Hex-63Hex
3037Hex-64Hex
7-7-14

Restarting Positioning

If the motor moves out of the Restarting Positioning Range Setting (3037Hex-4FHex) while operation
is still ON after positioning is performed by position control, the inverter automatically starts reposition-
ing the motor again. When the motor is in the Positioning Completed Range (3037Hex-28Hex) even if
outside of the position restarting range, the motor does not operate.
M1 Series EtherCAT Type User's Manual (I670)
Function name
Current Reference Position Moni-
tor (MSB)
Current Reference Position Moni-
tor (LSB)
Current Feedback Position Moni-
tor (MSB)
Current Feedback Position Moni-
tor (LSB)
7 Vector Control and Applied Functions
Data
−268435455 to 268435455
(MSB: -4096 to 4095, LSB: 0 to
65535)
−268435455 to 268435455
(MSB: -4096 to 4095, LSB: 0 to
65535)
7
Default
Unit
data
-
-
-
-
-
-
7-57