Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 33

[St.1061] Positioning complete (R:M32401+32n/Q: M2401+20n)
• This signal turns on with the completion of the command output to positioning address for the axis specified with the servo
program. It does not turn on at the start or stop on the way using home position return, JOG operation, manual pulse
generator operation or speed control. It does not turn on at the stop on the way during positioning. It can be used to read a
M-code at the positioning completion. (Page 425 M-code Output Function)
• This signal turns off at leading edge of "[Rq.1144] Complete signal OFF command (R:M34484+32n/Q: M3204+20n)" or
positioning start.
[At leading edge of "[Rq.1144] Complete signal OFF command (R:M34484+32n/Q: M3204+20n)"]
V
Servo program start
[St.1040] Start accept flag
OFF
(R: M30080+n/Q: M2001+n)
[St.1061] Positioning complete
OFF
(R: M32401+32n/Q: M2401+20n)
[Rq.1144] Complete signal OFF
OFF
command
(R: M34484+32n/Q: M3204+20n)
[At next positioning start]
V
Servo program start
[St.1040] Start accept flag
OFF
(R: M30080+n/Q: M2001+n)
[St.1061] Positioning complete
OFF
(R: M32401+32n/Q: M2401+20n)
• The positioning complete signal turns ON by the execution of servo program even if the travel value of the axis specified
with the servo program is set to "0".
CAUTION
• The deviation counter value is not considered, so that The "[St.1061] Positioning complete (R: M32401+32n/Q:M2401+20n)" turns on with the completion of
the command output to positioning address. Use the "[St.1061] Positioning complete (R: M32401+32n/Q:M2401+20n)" together with the "[St.1062] In-
position (R: M32402+32n/Q: M2402+20n)" to confirm the positioning completion of servo axis in the final instruction under program.
Dwell time
ON
ON
ON
Dwell time
Positioning
completion
ON
ON
t
ON
OFF
Positioning start
t
ON
OFF
2 POSITIONING DEDICATED SIGNALS
31
2.1 Internal Relays
2