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7.1. General Operation and Function
7.1.11. In-Position Output (IPOS)
l It is possible to set a minimum holding time to the parameter FW to confirm the IPOS signal
remains open even in a very short time positioning. (The data is in unit of 100 [ms]. The FW-1
means that the time is 100 ms.)
7.1.11.2. Parameter IN
l The parameter IN is to decide positioning accuracy.
l The IPOS signal closes if the residual pulses of error counter are in the range of value of the IN.
l The unit of data of the parameter IN is the resolution (pulses) of the position sensor.
Table 7-5
Motor series
7.1.11.3. Parameter IS
l The parameter IS is to confirm the stability of the positioning. If the data of parameter IN is
smaller (roughly less than IN10) in case of the IPOS mode, the IPOS output will be instable in a
moment of positioning settling, even all servo gains are adjusted properly.
l The parameter IS should be set to eliminate above instability. In addition the parameter prevents
from outputting IPOS signal before the Motor settles its motion in the FIN mode
7.1.11.4. IPOS Output in Special Occasion
1 When 0 (Zero) movement operation is executed.
l When [AD0] or [AR0] is executed even the Motor is on the home position, motion of the Motor
is 0 (Zero). The following show IPOS output states in such a case.
1)
IPOS mode
2)
IPOS mode
3)
FIN mode
4） CFIN node
[Unit: pulse/r]
Resolution
YSB
819 200
à For example, the following calculation shows conversion of the unit of repeatability of
± 100 seconds into the unit of pulse for YSB Series Motor.
Resolution
IN data =
819 200
=
360
IS = 0
à IPOS output remains closed because there is no internal pulse output, if the residual
pulses of position error counter are within the data of parameter IN.
IS ¹ 0
à Even no pulse is generated internally the IPOS output will open for the moment set by
the data of parameter IS to check positioning stability.
à Even no internal pulse is generated, the IPOS output signal always opens for a time set
by the parameter FW in case of a positioning caused by the start command.
à Even no internal pulse is generated, the IPOS output signal always opens for a time set
by the parameter FW for the RUN command input.
× Repeatability [degree]
360
100
×
= 63 [pulse]
3600
— 7-18 —
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Troubleshooting
