Command In-Position Function - Mitsubishi Electric MELSEC iQ-R Series User Manual

Command in-position function

The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of
positioning control, and sets "1". This flag is called the "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 control details of the command in-position function.
• When the remaining distance to the stop position during the automatic deceleration of positioning control becomes equal to
or less than the value set in "[Pr.16] Command in-position width", "1" is stored in the command in-position flag ([Md.31]
Status: b2).
■Command in-position width check
Remaining distance  "[Pr.16] Command in-position width" setting value
Positioning
Command in-position flag
([Md.31] Status: b2)
• A command in-position width check is carried out every operation cycle.
Precautions during control
• A command in-position width check will not be carried out in the following cases.
• During speed control
• During speed control in speed-position switching control
• During speed control in position-speed switching control
• During speed control mode
• During torque control mode
• During continuous operation to torque control mode
V
Positioning
control start
Command in-position flag
([Md.31] Status: b2)
• The command in-position flag will be turned OFF in the following cases. ("0" will be stored in "[Md.31] Status: b2".)
• At the positioning control start
• At the speed control start
• At the speed-position switching control, position-speed switching control start
• At the home position return 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 interpolation control. When "[Pr.20] Interpolation speed designation method" is "Composite speed", the command in-
position width check is carried out in the remaining distance on the composite axis (line/arc connecting the start point
address and end point address).
8 CONTROL SUB FUNCTIONS
296
8.8 Other Functions
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ON
OFF
Command in-position
width setting value
Speed-position
switching control start
ON
OFF
Execution of the command in-position width check
search engine
Command in-position width setting value
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Speed to position switching
Command in-position width setting value
Execution of the command in-position width check
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