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Chapter 4 Explanation of Functions
4 - 106
4.3.12 Absolute position control mode
- To use the absolute position control mode function, specify "05"
(V2) for V/F characteristic curve selection, 1st motor (A044) and
"02" (APR: absolute position control) for the control pulse setting
(P012).
- If "03" (high-resolution absolute position control) has been
specified for the control pulse setting (P012), the quadruple
number of pulses used for internal operations is applied to the
control. (Then, specify values of quadruple precision for the
multistage position settings and position range specification.)
- Position settings can be switched in up to eight stages in
combination with control pulse settings.
- You can select zero-return mode from one low-speed and two
high-speed modes.(The home search function described in the
preceding section cannot be used.)
- The teaching function allows you to specify position settings
while actually running the machine.
- If function "73" (SPD) is assigned to an intelligent input terminal,
you can switch between the speed control and position control
modes during operation.
- Only the four high-order digits of data are displayed when the
data (e.g., position setting) to be displayed consists of a large
number of many digits.
Item Function code Data/range of data Description
Control pulse setting P012 APR2: Absolute position control
Position loop gain setting P023
HAPR: High-resolution absolute
position control
Multistage position setting 0 P060
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P061
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P062
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P063
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P064
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P065
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P066
Position range specification
(reverse) to position range
specification (forward)
Multistage position setting 0 P067
Position range specification
(reverse) to position range
specification (forward)
00
01
Zero-return mode selection P068
02
00 For forward rotation
Zero-return direction selection P069
01 For reverse rotation
Low-speed zero-return frequency P070 0.00 to 10.00 (Hz)
High-speed zero-return
frequency
P071
0.00 to 99.99 / 100.0 to 400.0
(Hz)
0 to +268435456 When APR2 is selected Position range specification
(forward)
P072
0 to +1073741823 When HAPR is selected
0 to +268435456 Position range specification
(reverse)
P073
0 to +1073741823
00 Multistage position setting 0 (P060)
01 Multistage position setting 0 (P060)
02 Multistage position setting 0 (P060)
03 Multistage position setting 0 (P060)
04 Multistage position setting 0 (P060)
05 Multistage position setting 0 (P060)
06 Multistage position setting 0 (P060)
Teaching selection P074
07 Multistage position setting 0 (P060)
P012: Control pulse setting
P023: Position loop gain setting
P060: Multistage position setting 0
P061: Multistage position setting 1
P062: Multistage position setting 2
P063: Multistage position setting 3
P064: Multistage position setting 4
P065: Multistage position setting 5
P066: Multistage position setting 6
P067: Multistage position setting 7
P068: Zero-return mode selection
P069: Zero-return direction selection
P070: Low-speed zero-return frequency
P071: High-speed zero-return frequency
P072: Position range specification (forward)
P073: Position range specification (reverse)
P074: Teaching selection
C169: Multistage speed/position determination
time
C001 to C008: Terminal [1] to terminal [8]
functions
Related code