In-Position Range Setting; Setting Method [G] [Wg] - Mitsubishi Electric MR-J5 Series User Manual

3.9

In-position range setting

Positioning completion status can be checked with INP (in-position). When the number of droop pulses falls within or less than
the range set in servo parameters, INP (in-position) turns on. With servo parameters, the range unit of the in-position and the
conditions to turn on the in-position can be changed.
Servo-on command
Alarm
INP (In-position)
• INP is always off in the velocity mode and torque mode.
Precautions
• If [Pr. PA10 In-position range] is set to a large value and the servo motor is operated at a low speed, INP may be always on.
In this case, lower the setting value until the in-position signal stops being outputted.
• After the in-position fell to within or below the range, if the droop pulses exceed the in-position range due to overshoot,
vibration, or oscillation, the in-position may turn on and off repeatedly. In that case, take action such as adjusting the gain
and reviewing the operation pattern.

Setting method [G] [WG]

The servo parameters related to the in-position setting are shown as follows:
Servo parameter
PA10
PC06.0
PD13.2
3 BASIC FUNCTION
88
3.9 In-position range setting
ON
OFF
Occurring
Not occurring
Command pulse frequency
ON
OFF
Symbol Name
INP In-position range
*COP3 In-position range unit
selection
*DOP2 INP output signal ON
condition selection
Droop pulses
[Pr. PA10 In-position range]
Outline
Set the in-position range.
Initial value: 25600 [pulse]
Select a unit of the in-position range.
0: Command input pulse unit (initial value)
1: Servo motor encoder pulse unit
Select the in-position on condition.
0: Within the in-position range (initial value)
1: Within the in-position range and at the completion of command output
2: Within the in-position range, at the completion of command output, and at
start signal off