Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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7 CONTROL SUB FUNCTIONS
7.9 Other Functions
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7
Command in-position function
Command in-position function checks the remaining distance to the stop position during the automatic deceleration of the
positioning control, and sets a flag to 1. This flag is called Command in-position flag. The command in-position flag is used as
a front-loading signal indicating beforehand the completion of the position control.
Control details
The following shows the control details of the command in-position function.
• When the remaining distance to the stop position during the automatic deceleration of the position control becomes equal
to or less than the value set in [Pr.16] Command in-position width, 1 is stored in Command in-position flag ([Md.31] Status:
b2).
• The command in-position width check is performed every 0.88ms.
Control precautions
• The command in-position width check will not be performed in the following cases.
In speed control
In speed control of the speed-position switching control
In speed control of the position-speed switching control
• Command in-position flag will be turned off in the following cases. (0 will be stored in [Md.31] Status: b2.)
At the position control start
At the speed control start
At the start of the speed-position switching control or position-speed switching control
At the OPR control start
At the JOG operation start
At the inching operation start
When the manual pulse generator operation is enabled
• [Pr.16] Command in-position width and Command in-position flag ([Md.31] Status: b2) of the reference axis are used during
the interpolation control. When [Pr.20] Interpolation speed specification method is Composite speed, the command in-
position width check is performed in the remaining distance on the composite axis (line or arc connecting the start point
address and end point address).
V
t
ON
OFF
Md.31
Command in-position
width setting value
Positioning
Command in-position flag
[ Status: b2 ]
Md. 31
V
OFF
ON
t
Command in-position flag
[ Status: b2 ]
Speed to position switching
Position
control start
Speed-position
switching control start
Command in-position
width setting value
Execution of the command in-position
width check
Command in-position
width setting value
Execution of the command in-position
width check