Instruction manual

6. DRIVE MODULE
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(c) Command in-position command (M4003+20n)
1) This signal switches ON when the absolute difference between the
command position and the current value is less than the "command in-
position range" designated by the virtual servo motor parameter setting
(see Section 6.1.2).
This signal switches OFF when the following occur:
• Positioning control START
• Speed control
• JOG operation
2) A command in-position check occurs constantly during position control,
but does not occur during speed control.
Position
control
start
Command in-position setting value
Speed
control start
Command in-position
(M4003+20n)
ON
OFF
Execution of command in-position check
V
(d) Speed control in-progress signal (M4004+20n)
1) Since the speed control in progress signal is ON while speed control is in
progress this signal can be used to determine whether speed control is in
progress or positioning is in progress.
The speed control in progress signal that comes ON during speed control
will go OFF when the next positioning control operation starts.
2) When the power is turned on or positioning control is in progress this
signal will be OFF.
ON
OFF
Speed control start
Speed control
Positioning start
Speed control in-progress
signal (M4004+20n)
Positioning control
t