Mitsubishi Electric Q172CPU Programming Manual page 61

4 POSITIONING DEDICATED SIGNALS
(b) Command in-position check is continually executed during position control.
This check is not executed during speed control.
V
Position
control
start
Command in-position ON
(M4003+20n)
(4) Speed controlling signal (M4004+20n) ....................... Status signal
(a) This signal turns on during speed control, and it is used as judgement of
during the speed control or position control.
The speed controlling signal that turned on with speed control turns off at
the positioning control start of following figure.
(b) This signal turns off at the power supply on and during position control.
Speed controlling signal
(M4004+20n)
(5) Error detection signal (M4007+20n) ........................... Status signal
(a) This signal turns on when a minor error or major error is detected in a virtual
servomotor or output module connected to a virtual servomotor.
It is used as judgement of the error available/not available by turning the
error detection signal on/off.
(b) When the error detection signal turns on, the applicable error code is stored
in the error code storage register.
• Minor error code
• Major error code
The judgement of the virtual servomotor/output module for detected error
can be confirmed by the error code details or turning the error detection
signal of output module on/off.
Command in-position setting
OFF
Execution of command in-position check
At speed control
Speed control start
OFF
(Note-1)
... Stored in the minor error code storage register
(Note-2) .
(Note-1)
... Stored in the major error code storage register
(Note-2)
.
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Speed
control
start
At position control
Positioning start
t
t