NSK EDD Megatorque Motor - IPOS Mode (Parameter FW = 0)

7. Operational Function
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7.2.6.2. IPOS Mode (Parameter FW = 0)
 This mode is to check if the current position defers from the target position of the positioning command.
 Execution of positioning command, such as program operation, edits the target position. Thus, the output
IPOS (In-position) will be forcibly opened.
 The output opens at least for the time set in the parameter IS (In-position stability timer) to
check stability of positioning, even no internal pulse is outputted.
 Confirmation of settling stability starts when the Motor reaches to the target position. The IPOS output
closes only when residual pulses in the error counter is less or equal to the setting of parameter IN; it
opens in other states.
Fig 7-14: Output IPOS in the operation caused by an internal command (IPOS mode)
Max. 1 ms
max.
100 ms
Residual pulses in
the error counter
IN setting
Motor motion
< 100 ms
Stability timer
Example: IS100 (100 ms)
MV
MB
Max. 0.5 ms.
Max. 0.5 ms
Input RUN
ON
OFF
closed
open
Output BUSY
closed
open
Output IPOS
(FW = 0: IPOS)
MA
Clsoed: If the target position data is secured.
Open: If the target position data is lost.
The Motor starts rotating at the rising edge.
 In the pulse train command operation, the System always confirms completion of positioning every time
inputting pulse pauses. If the intervals of inputting pulses are intermittent, set the parameter IS longer
because the outputting IPOS signal will be unstable.
Fig 7-15: Output IPOS in the pulse train command operation (IPOS mode)
IN setting
< 100 ms
100 ms
1 ms max.
Residual pulses in
the error counter
Motor motion
Stability timer
Exmaple: IS100 (100 ms)
closed
open
Output IPOS
(FW = 0: IPOS)
Pulse train input
Clsoed: If the target position data is secured.
Open: If the target position data is lost.