5.3 Sequence I/O Signals
5.3.2 Output Signals
5-13
Note: You must allocate the /N-CL signal to use it. Use PnBB6 = n.X (/N-CL (Reverse External Torque Limit
Input) Signal Allocation) to allocate the signal to a connector pin. Refer to the following section for details.
5.3.3 Allocating Input Signals to Pins and Parameter Settings on page 5-18
E-STP (Emergency Stop Input) Signal
This signal functions as the emergency stop command.
Note: Use PnBB8 = n.X (E-STP (Emergency Stop Input) Signal Allocation) to allocate the E-STP signal to
another connector pin. Refer to the following section for details.
5.3.3 Allocating Input Signals to Pins and Parameter Settings on page 5-18
5.3.2
Output Signals
/INPOSITION (Positioning Completion Output) Signal
This signal indicates that Servomotor positioning has been completed.
The /INPOSITION signal is output when the difference between the target position and current
position is equal to or less than the setting of PnB2D (Positioning Completed Width).
Use this signal to check the completion of positioning from the host controller.
Note: Use PnBC0 = n.X (/INPOSITION (Positioning Completion Output) Signal Allocation) to allocate the
/INPOSITION signal to another connector pin. Refer to the following section for details.
5.3.4 Allocating Output Signals to Pins and Parameter Settings on page 5-20
Setting the Positioning Completed Width
The /INPOSITION signal is output when the difference between the target position and the cur-
rent position is equal to or less than the setting of PnB2D (Positioning Completed Width).
The setting of the positioning completed width has no effect on final positioning accuracy.
Typ e Signal Pin Signal Status Meaning
Input E-STP 16 [default setting]
ON (closed) The emergency stop is cleared.
OFF (open)
An emergency stop is performed. (The motor
is decelerated to a stop at the emergency
stop torque and the system is changed to the
SERVO OFF state.)
Typ e Signal Pin Signal Status Meaning
Output
/INPOSI
TION
18 [default setting]
ON (closed)
Positioning operation: Positioning has been
completed.
Pressing operation: Pressing operation has
been completed.
OFF (open)
Positioning operation: Positioning has not
been completed.
Pressing operation: Pressing operation has
not been completed.
PnB2D
Positioning Completed Width
Setting Range Setting Unit Default Setting When Enabled
Classifica-
tion
1 to 99,999 Reference units 10 Immediately Setup
Speed
Reference Speed
Motor speed
Position deviation
/INPOSITION signal
PnB2D
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