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3.6
In-position range setting
The 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. In addition, the range unit for the in-position and the
conditions to turn on the in-position can be changed with servo parameters.
ON
Servo-on command
OFF
Occurring
Alarm
Not occurring
ON
INP (In-position)
OFF
• 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 always be
turned on. In this case, lower the setting value until the in-position signal stops being outputted.
• After the in-position has fallen to within or below the range, the in-position may turn on and off repeatedly if the droop
pulses exceed the in-position range due to overshoot, vibration, or oscillation. In that case, take actions such as adjusting
the gain and reviewing the operation pattern.
In the super trace control, droop pulses are near 0 during the servo motor control. Thus, the INP (In-position) signal may
remain on. To prevent the INP (In-position) signal from remaining on, set the servo parameters as follows.
[Pr. PD13.2 INP output signal ON condition selection] = "1" (Within the in-position range and at the completion of command
output)
Setting method
The servo parameters related to the in-position setting are as follows.
Servo parameter
Symbol
PA10
INP
PC06.0
*COP3
PD13.2
*DOP2
Command pulse frequency
Droop pulses
Name
In-position range
In-position range unit selection
INP output signal ON condition
selection
[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
3.6 In-position range setting
3 BASIC FUNCTION
57
3
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