Omron M1 Series User Manual


Deceleration Time for Homing/Orientation (d215)
Set the deceleration time from Homing Frequency/Orientation Frequency (d213). This deceleration
time can be adjusted to adjust the set time when overtravel or overshooting occurs on the instruct-
ed position.
Mechanical
shaft speed
d215: Small
d215: Large
Extend d215
Overshooting
Overshooting No overshooting
Time
Extend d215

Preset Position (MSB) (d240), Preset Position (LSB) (d241)
The current reference position and current feedback position can be set to any position referenced
to the machine origin. In orientation, ordinarily
, the position offset between the machine origin and
the Z phase of the encoder is handled as the homing of
fset. For this reason, set Preset Position
(MSB) (d240) and Preset Position (LSB) (d241) as “0.”

Homing Offset (MSB) (d242) and Homing Offset (LSB) (d243)
The homing offset in orientation is equivalent to the position offset between the machine origin and
the Z phase of the encoder. Adjust the homing offset by the following procedure.
Mechanical origin Mechanical origin
= Current position
Encoder Phase Z
=Target position
Encoder Phase Z Encoder Phase Z
Mechanical shaft Mechanical shaft
Movement
Mechanical shaft
(Homing Offset)
d242, d243
Mechanical origin (0) = Preset position
d240, d241 = 0
1) When the orientation command is turned ON with the target position set as 0, perform positioning with
the Z phase position of the encoder as the origin.
2) Then, operate the motor, and move the machine shaft to the machine origin position and stop move-
ment there. Set the Current Feedback Position Monitor (MSB) (d298) and Current Feedback Position
Monitor (LSB) (d299) at this time to Homing Offset (MSB) (d242) and Homing Offset (LSB) (d243).
Then, when the current position preset “PSET” is turned ON with Preset Position (MSB) (d240) and
Preset Position (LSB) (d241) set to “0,” “0” is set to Current Feedback Position Monitor (MSB) (d298)
and Current Feedback Position Monitor (LSB) (d299).
3)
For confirmation, perform orientation again. Perform orientation with the current position as “0” (origin),
and check that orientation to the machine origin position is possible.

Positioning Data 1 to 8 (d244 to d259) and Position Data Determination
Time (d238)
This parameter is for setting the positioning position referenced to the machine origin in orientation.
Up to eight points can be set, and multipoint positioning can be performed continuously by using
position command selection 1 to 3 “CP1 to CP3.” To prevent malfunction caused by chattering
when the position command selection signal is used to switch positioning data, set a time for
6 Vector Control and Applied Functions
6-56
M1 Series Standard Type User's Manual (I669)

Omron M1 Series Specifications

General

Brand	Omron
Model	M1 Series
Category	Inverter
Language	English