Omron 3G3M1-A4110-ECT - Page 318

Parameter No. Function name Data Default data Unit
3005Hex-02Hex to
3005Hex-06Hex,
3005Hex-63Hex,
3005Hex-64Hex
Input Terminal [DI1] to [DI7]
Function Selection
78(1078): Speed control pa-
rameter selection 1
“MPRM1”
- -
79(1079): Speed control pa-
rameter selection 2
“MPRM2”
135(1135): Increment/abso-
lute position switching “INC/
ABS”
136(1136): Orientation com-
mand “ORT”
137(1137): Speed/position
switching “SPD”
141(1141): Current position
clear “PCLR”
142(1142): Current position
preset “PSET”
143(1143): Teaching com-
mand “TEACH”
144(1144): Position change
command “POS-SET”
145(1145): Position com-
mand selection 1 “CP1”
146(1146): Position com-
mand selection 2 “CP2”
147(1147): Position com-
mand selection 3 “CP3”
3005Hex-15Hex
3005Hex-1CHex
Output Terminal [DO1] Func-
tion Selection, Output T
ermi-
nal [ROA, ROB] Function
Selection
82(1082): Positioning com-
pleted “POK”
- -
3014Hex-04Hex,
3009Hex-2EHex,
3013Hex-2EHex,
300CHex-2EHex
Speed Control 1 P Propor-
tional Gain, Speed Control 2
P Proportional Gain, Speed
Control 3 P Proportional
Gain, Speed Control 4 P
Proportional Gain
0.1 to 200.0 10.00
time
3014Hex-05Hex
Speed Control 1 I Integral
Time
0.001 to 9.999 s
999: Cancel integral term
0.100
s
3009Hex-2FHex
Speed Control 2 I Integral
Time
0.001 to 9.999 s
999: Cancel integral term
3013Hex-2FHex
Speed Control 3 I Integral
Time
0.001 to 9.999 s
999: Disable
300CHex-2FHex
Speed Control 4 I Integral
Time
0.001 to 9.999 s
999: Disable
3037Hex-02Hex
Position Control Feed For-
ward Gain
0.00: Disable feed-forward
0.01 to 1.50
0.00
-
3037Hex-03Hex
Position Control Feed For-
ward Filter
0.000 to 5.000 s 0.500 s
3037Hex-04Hex Position Loop Gain 1 0.1 to 300.0 1.0 time
3037Hex-05Hex Position Loop Gain 2 0.1 to 300.0 1.0 time
7 Vector Control and Applied Functions
7-52
M1 Series EtherCAT Type User’s Manual (I670)