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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".
For details, refer to Section 3-4.
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
Note: The "positional deviation" written in this section is that of the motor control process part (on PANATERM
and analog monitor), not 60F4h (Following error actual value) on the EtherCAT communication.
■ Parameters
At-
Class
No.
trib-
Title
ute *1)
Positioning
4
31
A
complete
range
Positioning
4
32
A
complete
output setup
INP hold
4
33
A
time
Positioning
4
42
A
complete
range 2
Function
6
10
B
expansion
setup
*1) For parameter attribute, refer to Section 9-1.
R1.00
Range
Unit
Set the threshold of positional deviation with respect to the output of
positioning complete signal(INP).
0–262144
pulse
Select the condition to output the positioning complete signal (INP1).
0: The signal will turn on when the positional deviation is smaller than
1: The signal will turn on when there is no position command and the
2: The signal will turn on when there is no position command, the
3: The signal will turn on when there is no position command and the
0–4
—
4: Positioning completion decision starts in a delay time specified by
Set up the hold time when Pr 4.32 Positioning complete output setup = 3.
0: The hold time is maintained definitely, keeping ON state until the
1 to 30000: ON state is maintained for setup time (ms) but switched to OFF
*) Becomes positioning detection delay time if Pr4.32 is 4.
0: Positioning detection delay time becomes 0, and positioning
0–30000
1 ms
1 to 30000: Positioning decision start time is delayed by a setting value
Set the threshold of positional deviation with respect to the output of
positioning complete (INP) signal.
The INP2 turns ON whenever the positional deviation is lower than the
0–262144
pulse
value set up in this parameter, without being affected by Pr 4.32
Positioning complete output setup. (Presence/ absence of positional
command is not related to this judgment.)
bit7：INP Output limit
0–1023
—
Function
Pr 4.31 (Positioning complete range)
positional deviation is smaller than Pr 4.31 (Positioning complete range).
zero-speed detection signal is ON and the positional deviation is
smaller than Pr 4.31 (Positioning complete range).
positional deviations smaller than Pr 4.31 (Positioning complete
range). Subsequently, ON state is maintained until Pr 4.33 INP hold
time has elapsed. After the hold time, INP output will be turned
ON/OFF according to the coming positional command or condition
of the positional deviation.
Pr4.33 after a change from "With command" to "Without
command". The signal turns on if position command is not received
and position deviation is not larger than Pr4.31.
next positional command is received.
state as the positional command is received during hold time.
completion decision is started immediately upon a change from
"With position command" to "Without position command".
[ms]. If a position command is received during the delay time, the
delay time is reset. When the position command becomes 0, the
delay time starts to be measured starting from 0.
0: Invalid
1: Valid
Motor Business Unit, Panasonic Corporation
No. SX-DSV02829 -
42-
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