User`s manual

5 Parameter Setting and Functions
5.3.7 Positioning Completed Output Signal (/INPOSITION)
5-10
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.
• The inposition width setting has no effect on final positioning accuracy.
 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.
Type
Signal
Name
Connector
Pin No.
Output Status Meaning
Output
/INPOSI-
TION
CN11-19, 20
ON (close) Positioning has been completed.
OFF (open) Positioning is not completed.
Parameter Meaning When Enabled
PnB13
0
[Factory setting]
When positioning has been completed, photocoupler becomes ON
(close).
After restart
1
When positioning has been completed, photocoupler becomes OFF
(open).
PnB2D
/INPOSITION width
Setting Range Setting Unit Factory Setting When Enabled
0 to 99999 Reference unit 1 Immediately
Speed
Reference speed
Motor speed
Position error
/INPOSITION
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.