Omron RX Series - Absolute Position;High-Resolution Absolute Position Control Mode; Absolute Position;High-Resolution Absolute Position Control Mode Parameter Settings

6 Vector Control
6 - 40
High-function General-purpose Inverter 3G3RX-V1 User’s Manual (I578-E1)
6-7 Absolute Position/High-resolution
Absolute Position Control Mode
• To use the absolute position control mode, set the 1st Control Method (A044) to 05 (Sensor vector
control) and the V2 Control Mode Selection (P012) to 02 (APR2: Absolute position control mode).
• When the V2 Control Mode Selection (P012) is set to 03 (HAPR: High-resolution absolute position
control mode), the current position is controlled based on the quadrupled (x4) pulse count used in
internal calculations. Set the Multi-step Position Command/Position Limit Setting to a quadruple
precision.
• Using the combination of the multi-step input terminals enables switching among eight position
command settings.
• Origin search can be performed in different frequencies, either at a low speed (Mode 1) or at a high
speed (Mode 2, 3). The orientation function is disabled during origin search operation. For the
orientation function, refer to 6-8 Orientation Function on page 6-53.
• The teaching function allows you to set the position command while operating the machine.
• Allocating one of the Multi-function Input S1 to S8 Selection (C001 to C008) to 73 (SPD:
Speed/Position switching) enables the switching between speed control and position control via the
corresponding terminal.
• For the position command or other data with many digits, only the four most significant bits (MSBs)
will be displayed. It is recommended to use the CX-Drive for setting these parameters.
6-7-1 Absolute Position/High-resolution Absolute Position Control Mode
Parameter Settings
Parameter
No.
Function name Data Default data Unit
A044 1st Control Method
05: Sensor vector control (V2)
*1
00 –
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 99.99, 100.0 0.50 rad/s
P060
Multi-step Position
Command 0
Position range specification (reverse side) to
position range specification (forward side)
Displays MSB 4digit (1 digit for “–”)
00 –
P061
Multi-step Position
Command 1
Position range specification (reverse side) to
position range specification (forward side)
Displays MSB 4 digits (1 digit for “–”)
00 –
P062
Multi-step Position
Command 2
Position range specification (reverse side) to
position range specification (forward side)
Displays MSB 4 digits (1 digit for “–”)
00 –
P063
Multi-step Position
Command 3
Position range specification (reverse side) to
position range specification (forward side)
Displays MSB 4 digits (1 digit for “–”)
00 –
P064
Multi-step Position
Command 4
Position range specification (reverse side) to
position range specification (forward side)
Displays MSB 4 digits (1 digit for “–”)
00 –
P065
Multi-step Position
Command 5
Position range specification (reverse side) to
position range specification (forward side)
Displays MSB 4 digits (1 digit for “–”)
00 –