Mitsubishi Electric A173UHCPU Programming Manual page 40

3. POSITIONING SIGNAL
(3) In-position signal (M2402+20n)
(a) The in-position signal comes ON when the number of droop pulses in the
deviation counter enters the "in-position range" set in the servo parameters.
It goes off when axis motion starts.
Number
droop pulses
ON
In-position signal
(M2402+20n)
(b) An in-position check is performed in the following cases.
• When the servo power supply is switched on
• After automatic acceleration/deceleration is started during positioning
control
• After deceleration is started as a result of the JOG start signal going OFF
• When manual pulse generator operation is in progress
• After the proximity dog comes ON during a zeroing
• After deceleration is started as a result of a stop command
• When a speed change to a speed of "0" is executed
(4) Command in-position signal (M2403+20n)
(a) The command in-position signal comes ON when the absolute value of the
difference between the command position and the feed current value enters
the "command in-position range" set in the fixed parameters.
It goes OFF in the following cases.
• When positioning control starts
• When a zeroing is executed
• When speed control is executed
• When JOG operation is performed
• When manual pulse generator operation is performed
(b) Command in-position checks are continually performed during positioning
control.
Command in-position checks are not performed during speed control or
during speed control in speed/position switching control.
Start of position switching control
V
Command in-
ON
position
(M2403+20n)
Execution of command in-position check
Setting for in-position range
OFF
Command in-position setting
Start of speed/
position swiching
control
OFF
3 − 9
Swich from speed to position
control
Command in-
position setting
Execution of command
in-position check
t
t