Omron NJ501-1300, Руководство пользователя, Страница: 253 / 432

9-71
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-8 Other F
u
n
ction
s
9
9-8-9
In-posit
ion C
hec
k
You can check to see if the actual current position has reached the specified range for the target posi-
tion during positioning or homing. After command output of the target position is completed, positioning
is considered to be finished when the difference between the target position and the actual current posi-
tion is within the in-position range. An instruction error occurs if the position is not within the in-position
within the in-position check time.
z
Axis Parameters That Are Related to In-position Checks
You can set the check conditions for the in-position check by setting the appropriate axis parame-
ters. Set the in-position check time if you want to start any of the following operations only after con-
firming that axes are in position.
Additional Information
Do not set an in-position check time if you want to start the next operation as quickly as possible
without waiting for positioning to finish.
9-8-9 In-position Check
Parameter name Function Setting range Default
In-position Range Set the in-position width.
(Unit: command units) Non-negative long
reals 10
In-position Check
Time Set the in-position check time in milliseconds.
Set 0 to check for the end of positioning only
when you define the home position during
homing and not check positioning at other
times.
(Unit: ms) 0 to 10,000 0
In-position Range
The following error (absolute
value) is monitored after
positioning finishes.
If the following error is within
the in-position range,
positioning is considered
finished.
Positioning Monitoring Time
Upon completion of a command (after the command has been
executed), if in-position status is not reached within the set time, a
positioning monitoring timeout error will occur.
Time
Actual velocity
Command velocity
Time
Velocity
|Following error|