Positioning Completed Output Signal (/Inposition) - YASKAWA S-V Series User Manual

5.3.7 Positioning Completed Output Signal (/INPOSITION)

This signal indicates that servomotor positioning has been completed.
The signal is output when the motor stops, even if the current position has not reached the target position.
If the difference between the reference from the INDEXER Module and the movement of the servomotor (the
number of position error pulses) drops below the value set for this parameter, the positioning completed signal
will be output.
Signal
Type
Name
/INPOSI-
Output
TION
Parameter
[Factory setting]
PnB13
/INPOSITION width
PnB2D
• The inposition width setting has no effect on final positioning accuracy.
Reference speed
Speed
Position error
/INPOSITION
 Notes when the Positioning Completed State is Established while Canceling a Motion
Command
When the SERVOPACK enters any of the following states during execution of a motion command, it may
cancel the execution of the motion command and establish the positioning completed state.
• The servo OFF state has been established due to an alarm.
• The servo OFF state has been established because the main power supply was turned OFF.
• The motor has stopped due to overtravel or a software limit.
In this case, the motor has not reached the target position specified by the host controller. Check the current
position to confirm that the axis is stopped at a safe position.
Pin No.
ON (close)
CN11-19, 20
OFF (open)
0
When positioning has been completed, photocoupler becomes ON
(close).
When positioning has been completed, photocoupler becomes OFF
1
(open).
Setting Range Setting Unit
0 to 99999 Reference unit
Motor speed
PnB2D
If the state of an OT signal varies over a short time (in a pulsing manner for example),
the host controller may not be able to monitor the variation of the OT signal properly.
Take due care about the selection of limit switches and their mounting and wiring to
avoid chattering of OT signals and malfunctioning.
Output Status
Positioning has been completed.
Positioning is not completed.
Meaning
Factory Setting
1
5.3 Sequence I/O Signals
Meaning
When Enabled
After restart
When Enabled
Immediately
5-11
5