Omron 3G3RX - Absolute Position Control Mode

4-136
4-3 Functions When PG Option Board (3G3AX-PG01) Is Used
4
Functions
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 mode)
03: HAPR (high-resolution absolute position
control mode)
00 
P023 Position loop gain 0.00 to 100.00 0.50 rad/s
P060
Multi-step position
command 0
Position range setting (reverse side)
to Position range setting (forward side)
-268435455 to 268435455
0 
P061
Multi-step position
command 1
Position range setting (reverse side)
to Position range setting (forward side)
-268435455 to 268435455
0 
P062
Multi-step position
command 2
Position range setting (reverse side)
to Position range setting (forward side)
-268435455 to 268435455
0 
P063
Multi-step position
command 3
Position range setting (reverse side)
to Position range setting (forward side)
-268435455 to 268435455
0 
P064
Multi-step position
command 4
Position range setting (reverse side)
to Position range setting (forward side)
-268435455 to 268435455
0 
P065
Multi-step position
command 5
Position range setting (reverse side)
to Position range setting (forward side)
-268435455 to 268435455
0 
P066
Multi-step position
command 6
Position range setting (reverse side)
to Position range setting (forward side)
-268435455 to 268435455
0 
P067
Multi-step position
command 7
Position range setting (reverse side)
to Position range setting (forward side)
-268435455 to 268435455
0 
P068 Zero return mode
00: Low speed
01: High speed 1
02: High speed 2
00 
P069
Zero return direction
selection
00: FWD (Forward side)
01: REV (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 Maximum frequency 0.00 Hz