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4. SIGNALS AND WIRING
4.6.2 Movement completion
rough match in position
POINT
If an alarm cause, etc. are removed and servo-on occurs after a stop is made
by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic
operation, Movement completion (MEND), Rough-match, (CPO) and In
position (INP) are turned on. To resume operation, confirm the current
position and the selected point table No. for preventing unexpected operation.
(1) Movement completion
The following timing charts show the output timing relationships between the position command generated
in the servo amplifier and the movement completion (RYnC). This timing can be changed using parameter
No.PA10 (in-position range). RYnC turns ON in the servo-on status.
Forward rotation start (RYn1)
or reverse rotation start (RYn2)
Position command and
servo motor speed
3ms or less
In-position range
Servo motor speed
Position command
OFF
ON
OFF
ON
Forward
rotation
0r/min
Movement completion (RXnC)
When parameter No.PA10 is small
Forward rotation start (RYn1)
or reverse rotation start (RYn2)
Position command and
servo motor speed
3ms or less
In-position range
Servo motor speed
Position command
OFF
ON
OFF
ON
Forward
rotation
0r/min
Movement completion (RXnC)
When parameter No.PA10 is large