Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 34

[St.1062] In-position (R: M32402+32n/Q: M2402+20n)
• This signal turns on when the number of droop pulses in the deviation counter becomes below the "in-position range" set in
the servo parameters. It turns off at positioning start.
Number of droop pulses
[St.1062] In-position
(R: M32402+32n/Q: M2402+20n)
• While the control circuit power supply of the servo amplifier is ON, the status of the in-position signal of the servo amplifier
("[Md.108] Servo status1 (R: D32032+48n/Q: #8010+20n)": b12) is reflected. However, the state of the signal is always
OFF for the following.
• Servo error
• From positioning start until deceleration start
• Current value change
*2
• Home position return
• Speed-torque control
• Pressure control
*1 Except during position follow-up control, high-speed oscillation control, manual pulse generator operation, synchronous control,
machine program operation, and G-code control. (The in-position signal is constantly updated during such controls.)
*2 The in-position signal may be updated after the proximity dog turns ON during home position return.
[St.1063] Command in-position (R: M32403+32n/Q: M2403+20n)
• This signal turns on when the absolute value of difference between the command position and feed current value becomes
below the "command in-position range" set in the fixed parameters. This signal turns off in the following cases.
• Positioning control start
• Home position return
• Speed control
• JOG operation
• Manual pulse generator operation
• Speed-torque control
• Pressure control
• Command in-position check is continually executed during position control.
[St.1063] Command in-position
(R: M32403+32n/Q: M2403+20n)
2 POSITIONING DEDICATED SIGNALS
32
2.1 Internal Relays
ON
OFF
*1
Command in-position setting
V
Position
control
start
ON
OFF
Execution of command in-position check
In-position range
Switch from speed to position
Speed/position
switching
control start
Execution of command
in-position check
t
Command in-position
setting
t