Panasonic MINAS A6 Multi Series Technical Reference page 66

4.2.4 Positioning complete output (INP/INP2) function
The completion of positioning can be verified by the positioning complete output (INP) or the positioning
complete output 2 (INP2).
When the absolute value of the positional deviation counter at the position control is equal to or below
the positioning complete range by the parameter, the output is ON. Presence and absence of positional
command can be specified as one of judgment conditions.
The calculation methods (standard) of a position deviation differ as follows according to the setting for
the command position deviation output switching (bit 14) of Pr7.23 "Communication function Extended
setup 2".
Pr7.23 bit14=0: Deviation with respect to command input after positional command filter
Pr7.23 bit14=1: Deviation with respect to command input before positional command filter
However, it becomes available when Pr5.20(Position setup unit select) is 0.

The "positional deviation" written in this section is that of the motor control process part
(on PANATERM for Multi), not 60F4h (Following error actual value) on the EtherCAT
communication.
The details of how to calculate the position deviation are shown in the figure below.
Basic Functions
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