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8 CONTROL SUB FUNCTIONS
8.9 Other Functions
Command in-position function
The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of
positioning control, and sets "1". This flag is called the "command in-position flag". The command in-position flag is used as a
front-loading signal indicating beforehand the completion of the position control.
Control details
The following shows control details of the command in-position function.
• When the remaining distance to the stop position during the automatic deceleration of positioning control becomes equal to
or less than the value set in "[Pr.16] Command in-position width", "1" is stored in the command in-position flag ([Md.31]
Status: b2).
■Command in-position width check
Remaining distance "[Pr.16] Command in-position width" setting value
• A command in-position width check is carried out every operation cycle.
Precautions during control
• A command in-position width check will not be carried out in the following cases.
• The command in-position flag will be turned OFF in the following cases. ("0" will be stored in "[Md.31] Status: b2".)
• The "[Pr.16] Command in-position width" and command in-position flag ([Md.31] Status: b2) of the reference axis are used
during interpolation control. When the "[Pr.20] Interpolation speed designation method" is "Composite speed", the
command in-position width check is carried out in the remaining distance on the composite axis (line/arc connecting the
start point address and end point address).
• During speed control
• During speed control in speed-position switching control
• During speed control in position-speed switching control
• During speed control mode
• During torque control mode
• During continuous operation to torque control mode
• At the positioning control start
• At the speed control start
• At the speed-position switching control, position-speed switching control start
• At the home position return control start
• At the JOG operation start
• At the inching operation start
• When the manual pulse generator operation is enabled
Command in-position width setting value
Positioning
Command in-position flag
([Md.31] Status: b2)
V
t
ON
OFF
Positioning
control start
Speed-position
switching control start
Command in-position width
setting value
Speed to position switching
Command in-position width setting value
t
V
Command in-position flag
([Md.31] Status: b2)
Execution of the command in-position width check Execution of the command in-position width check
OFF
ON
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