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Interface Specifics
Section 7-4
• The bit [Positioning Completed (No.2)] will be turned ON when the differ-
ence between the present position and target position enters into the in-
position range No.2 (specified in the system parameter) after position
command output was completed.
• Both bits [Positioning Completed] and [Positioning Completed (NO.2)] are
turned OFF under the conditions described below:
• Turned OFF simultaneously when the bit [Axis Operating] is turned ON
in starting the position command output.
• When the parameter [P00004 bit04: Positioning completed signal se-
lect] is 0:
The bits will not be turned OFF until the bit [Axis Operating] is turned
ON.
• When the parameter [P00004 bit04: Positioning completed signal se-
lect] is 1:
The bits will be turned OFF when moving out of the in-position range.
• In Speed or Torque control, the bits are always OFF because there is no
target position.
• 1-shot output may occur. In that case, depending on the Scan Time of the
ladder program and the Unit Scan Time of the MC Unit, the output may
not be reflected in the ladder program.
Effect on Other Functions
• The bits function as the completion condition of the following axis opera-
tions:
• The bits also function as the start condition for the following functions:
Function
Positioning completed/Positioning
completed (NO.2)
Remark
Axis Control Bit: Origin Search
Positioning Completed
Axis Control Bit: Machine Origin Return
Positioning Completed
MOVEL Command: Linear Interpolation
Positioning Completed (NO.2)
In Stop Mode
MOVEC Command: Circular Interpolation
Positioning Completed (NO.2)
In Stop Mode
MOVETRAV Command: Traverse
Positioning Completed (NO.2)
In Stop Mode
MOVE: Positioning
Positioning Completed
DATUM: Origin Search
Positioning Completed
MOVEI: Interrupt Feeding
Positioning Completed
MOVET: Time-specified Positioning
Positioning Completed
CAM: Electronic CAM, Single Axis
Positioning Completed
SYNCR: Synchronization Cancel
Positioning Completed
SPEEDR: Speed Control Cancel
Positioning Completed
Switch to position control mode
checked
TORQUER: Torque Control Cancel
Positioning Completed
Switch to position control mode
checked
MOVELINK: Link Operation
Positioning Completed
Depends on link option
CAMBOX: Electronic Cam, Synchronous
Positioning Completed
Depends on link option
Function
Start condition
Axis Control Bit: Forced Origin
Cannot be executed when not ON
Axis Control Bit: ABS Origin Setting
Cannot be executed when not ON
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