Omron 3G3RX Series, User Manual

Page: 240 / 442

4-131
4-3 Functions When Option PG Board (3G3AX-PG01) Is Used
4
Func
tions
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.
• 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. Function name Data Default setting Unit
P012
V2 control mode
selection
02: APR2 (absolute position control)
03: HAPR (high-resolution absolute position
control)
00
⎯
P023 Position loop gain 0.00 to 99.99/100.0 0.50 rad/s
P060
Multi-step position
command 0
Position range setting (reverse side)
to Position range setting (forward side)
0
⎯
P061
Multi-step position
command 1
Position range setting (reverse side)
to Position range setting (forward side)
0
⎯
P062
Multi-step position
command 2
Position range setting (reverse side)
to Position range setting (forward side)
0
⎯
P063
Multi-step position
command 3
Position range setting (reverse side)
to Position range setting (forward side)
0
⎯
P064
Multi-step position
command 4
Position range setting (reverse side)
to Position range setting (forward side)
0
⎯
P065
Multi-step position
command 5
Position range setting (reverse side)
to Position range setting (forward side)
0
⎯
P066
Multi-step position
command 6
Position range setting (reverse side)
to Position range setting (forward side)
0
⎯
P067
Multi-step position
command 7
Position range setting (reverse side)
to Position range setting (forward side)
0
⎯
P068 Zero return mode
00: Low
01: Hi1
02: Hi2
00
⎯
P069
Zero return direction
selection
00: Forward side
01: Reverse side
00
⎯
P070
Low-speed zero
return frequency
0.00 to 10.00 0.00 Hz
P071
High-speed zero
return frequency
0.00 to 99.99/100.0 to 400.0 0.00 Hz
P072
Position range
specification
(forward)
0 to +268435456: When APR2 is selected
0 to +1073741823: When HAPR is selected
268435455
⎯