Craig Robertson breached a criminal behaviour order, banning him from the town centre, most recently when he was found in the market place, at 8am, on July 25.
He admitted the offence at Mansfield Magistrates Court, on the same day.
The court heard the 41-year-old had problems with alcohol and drugs, and was currently sofa-surfing at a friend’s home on Terrace Road.
Donna Pursglove, mitigating, said: “This is the sixteenth breach for being sat on a bench or a doorway.
“The order is complicated and convoluted and I don’t think he fully understands it.
“He is trying to sort things out. He goes to churches for food and aid.”
District judge Jonathan Taaffe said the order was imposed to provide “some protection for the citizens of Mansfield from problems Mr Robertson has caused in part.”
But he added that Robertson had been brought before the court “on a daily basis” when he was “not doing any particular harm to anyone or anything.”
He granted Robertson unconditional bail until August 15, when he would consider an application to vary the order.