CHAPTER 2 WIRING
Description of I/O Signals 2-61
2
In-position [INP]: Sequence output signal (Reference value 2)
This signal is turned on after a positioning motion is finished.
Function
(1) Status of in-position signal
The state under position control is shown in the table below.
Factor Sequence status
Status of in-position signal
If servo-on [S-ON] is turned off Free-run ON
If servo-on [S-ON] is turned on Servo lock ON
Upon OT detection Servo lock ON
At deviation clear Servo lock ON
If forced stop [EMG] is turned off Zero speed ON
Upon alarm Free-run OFF
This signal is always turned on under speed control and torque control.
(2) In-position signal output format
PA1_33 (in-position output format) at either "0" (level) or "1" (single shot) can be set.
Parameter setting
To assign in-position [INP] to a sequence output terminal, specify the corresponding value ("2") to
the output terminal function setting parameter.
Signal activation condition
(1) At power-on
Level: ON
Single shot: OFF
(2) During command pulse input operation
Level: The signal is turned on if conditions (A) and (B) below are satisfied.
(A) The rpm of the servomotor is within the setting of PA1_30 (zero speed range).
(B) The difference (deviation amount) between the command position (command pulse
input) and feedback position is within the setting of PA1_32 (zero deviation
range/in-position range).
Single shot: If conditions (A) and (B) above are satisfied, the signal is turned on for the time
specified at PA1_34 (In-position minimum OFF time/single shot ON time) and then it
is turned off.
However, if the zero deviation signal is turned off while the signal remains turned on,
the signal is forcibly turned off.
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