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9.1.6.2. Parameter “IN”
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Parameter “IN” is to decide positioning accuracy.
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“IPOS” output will be closed when residual pulses of position error counter are within the range
of “IN” parameter.
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The unit of parameter “IN” value is the maximum resolution (pulses) of the motion detector
(resolver).
9.1.6.3. Parameter “IS”
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“IS” is to confirm the stability of the positioning. When the in-position output signal is IPOS
format, if the parameter “IN” value is smaller (roughly less than IN10), “IPOS” output will be
instable in the moment of positioning settling, even all servo gains are adjusted properly.
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“IS” parameter should be set to eliminate above instability.
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When “IPOS” output is in “FIN” format, “IS” parameter prevents to output IPOS signal before
the Motor complete the positioning.
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“IS” parameter is not effective for pulse train input operation and jogging operation.
9.1.6.4. “IPOS” Output for Special Occasion.
(1) When 0 (Zero) moment operation is executed.
u
Example
When [AR0] is executed even the Motor is in the home position, movement of the Motor is 0
(Zero). Followings show “IPOS” output states.
(i)
“IPOS” format
IS = 0
à
There is no internal pulse output and “IPOS” output remains close if residual pulse of
position error counter are within “IN” value.
(ii) “IPOS” format
IS
¹
0
à
Even no pulse is internally generated, “IPOS” output will be opened for the moment
set by “IS” value to check positioning stability.
(iii) “FIN” format
à
Even no pulse is generated internally, “IPOS” output signal shall always be returned
for positioning start command.
(2) Sequential operation (BCD mode) for Programmable Indexer.
(i)
“IPOS” format
à
After the positioning is completed, execute next channel program, while “IPOS” output
remains close.
(ii) “FIN” format
à
After the positioning is completed, “IPOS” output closes for the moment which is set
by the parameter “FW”, then execute the next channel
ﾕ
s program after “IPOS” output
is opened again.
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