NSK EDD Megatorque Motor - In-Position: IPOS

7. Operational Function
— 7-15 —
7.2.6. In-position: IPOS
 This signal reports completion (settling) of a positioning operation executed by a positioning command.
The settling means that the Motor has stopped at the target position with a margin of error.
Table 7-22: Signal logic of the output IPOS
Logic
Description
Open
Positioning uncompleted, or lost data of the target position.
Closed
Positioning completed and the target position data secured.
 When execution of positioning is not performed after turning on the power or when a positioning
operation is interrupted, the output IPOS does not close because the current position is not at the target
position.
 The output IPOS does not close in the following conditions because the target position data is not secured.
In such a case, execute the positioning command again and complete it to make the output IPOS closed.
 The positioning is interrupted by the input STP to stop the Motor.
 Turning the Motor servo off.
 The Motor stopped due to an alarm, warning and a detection of the travel limit.
 There are three reporting mode set by the parameter FW (FIN with).
 CFIN mode: Holds the completion signal after completion of positioning.
 IPOS mode: After completion of positioning, the way of outputting IPOS signal depends on the
position error.
 FIN mode: The System outputs a pulse signal at the completion of a positioning.
Fig 7-11: Difference in modes to output IPOS signal.
Table 7-23: Parameter related to the output IPOS
Name
Function
Initial setting
Data range
Unit
IN
In-position limit: Threshold of
outputting IPOS signal
400
0~2 621 439
pulse
IS
In-position stability timer
0.0
0.0~10 000.0
ms
FW
FIN width: Sets the IPOS
outputting mode
-1.0
– 0.1 to – 0 000.0: CFIN mode
0.0: IPOS mode
0.1 to 10 000.0: FIN mode
ms
-
ms
< 100 ms
100 ms
100 ms
Residual pulses of
the error counter
IN setting value
Motor motion
Stability timer
Example: IS100: 100 ms
Max. 1 ms
closed
open
Output IPOS
(FW = 0: IPOS)
FW setting value
closed
open
Output IPOS
(FW > 0: FIN）
• Start of positioning
• Start to input pusle
train, etc
closed
open
Output IPOS
(FW< 0: CFIN)
Opens after outputting s
pulse for completion of
positioning
Forcibly opened while inputting command
Forcibly opened while inputting command
Opens or closes
depending on position
error.
Focibly closed at
completion of
positioning.