10. Application Functions
10.5.2 Signals Related with Position Control
As shown in the figure below, the difference between the position command value from the
host controller and the position feedback value, that is the position error, is under the
INPOS1 output range (0x2401) and is maintained for the duration of INPOS1 output
time(0x2402), the INPOS1(In Position 1) signal is displayed. However, the INPOS1 signal is
displayed only when the position command is not updated.
In addition, regardless whether the position command is updated, the INPOS2 (In Position 2)
signal is displayed when the position error is below the INPOS2 output range (0x2403)..
Time
Command
Feedback
Following
order
Output rnage
Starting point for position
command update
(In case of output time =
Time
Completion point for
position command
update
Time
Related Objects
Index
0x2401
Sub
Index
Name
- INPOS1 Ouput Range
0x2402
- INPOS1 Ouput Time
0x2403
- INPOS2 Ouput Range
Variable
Format
Accessibility
PDO
Allocation
Unit
UINT
RW
Yes
UU
UINT
RW
Yes
ms
UINT
RW
Yes
UU
10-25
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