Omron R88D-KN series User Manual page 290

9 Servo Parameter Objects
Positioning Completion Condition Selection
3432 hex
Setting range 0 to 4
Size 2 bytes (INT16)
• Select the condition under which the positioning completion signal (INP1) is output.
Explanation of Settings
Set
value
0 Turn ON when the position error is equal to or lower than the Position window (6067 hex).
1 Turn ON when there is no position command and the position error is equal to or lower than the
Position window (6067 hex).
2 Turn ON when there is no position command, the zero speed detection signal is ON, and the position
error is equal to or lower than the Position window (6067 hex).
3 Turn ON when there is no position command and the position error is equal to or lower than the
Position window (6067 hex). Then, hold the ON state for the time set in the Positioning Completion
Hold Time (3433 hex).
After the Positioning Completion Hold Time expires, turn the INP1 output ON or OFF according to the
position command and position error at that time.
4 Turn ON when there is no position command and the position error is equal to or lower than the
Position window (6067 hex). Positioning starts when the time set in the Positioning Completion Hold
Time (3433 hex) has expired since the transition from a "no position command" to "position command
present" state.
Additional Information
The setting of this parameter affects the detection condition for the Target reached flag in
Statusword (6041 hex).
Positioning Completion Hold Time
3433 hex
Setting range 0 to 30000
Size 2 bytes (U16)
• Set the hold time for when Positioning Completion Condition Selection (3432 hex) is set to 3.
Explanation of Settings
Set value
0 The hold time will be an infinite time and the ON status will be held until the next position command
is received.
1 to 30000 The ON status is held for the set time [ms]. The output is turned OFF if a position command is
received while the ON status is being held.
Additional Information
The setting of this parameter does not affect the detection condition for the Target reached flag in
Statusword (6041 hex).
9-32

Unit Default setting
Access
Description
Unit ms Default setting
Access
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
0
RW PDO map
0
RW PDO map
Description
csp pp hm
Data attribute A
Not possible.
csp pp hm
Data attribute A
Not possible.