4-3 Functions When Multi-function Feedback Option Board (3G3AX-PG01) Is Used Absolute Position Control Mode •To use this function, set V/f characteristics selection A044 to "05" (V2), and V2 mode selection P012 to "02" (APR: Absolute position control). •When "03" (high-resolution absolute position control) is selected in V2 mode selection P012, control is based on Ч4 the number of pulses used for internal operations. (Set the multi-step position command and position range setting for Ч4 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. 4 Functions 4-127 Parameter No. Function name Data Default setting Unit P012 V2 control mode selection 02: APR2 (absolute position control) 03:
HAPR (high-resolution absolute position control) 00 P023 Position loop gain 0.00 to 99.99/100.0 0.50 rad/s P060 Multi-step position command 0 Position range setting (reverse side) to Position range setting (forward side) 0 P061 Multi-step position command 1 Position range setting (reverse side) to Position range setting (forward side) 0 P062 Multi-step position command 2 Position range setting (reverse side) to Position range setting (forward side) 0 P063 Multi-step position command 3 Position range setting (reverse side) to Position range setting (forward side) 0 P064 Multi-step position command 4 Position range setting (reverse side) to Position range setting (forward side) 0 P065 Multi-step position command 5 Position range setting (reverse side) to Position range setting (forward side) 0 P066 Multi-step position command 6 Position range setting (reverse side) to Position range setting (forward side) 0 P067 Multi-step position command 7 Position range setting (reverse side) to Position range setting (forward side) 0 P068 Zero return mode 00:
Low 01: Hi 02: Hi2 00 P069 Zero return direction selection 00: Forward side 01: 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 99.99/100.0 to 400.0 0.00 Hz P072 Position range specification (forward) 0 to +268435456: When APR2 is selected 0 to +1073741823: When HAPR is selected 268435455