In Position Tolerance

Type:	Axis Parameter Register
Address:	RMC75: %MDn.56, where n = 12 + the axis number RMC150: %MDn.56, where n = 24 + the axis number RMC200: %MDn.180, where n = 384 + the axis number
System Tag:	_Axis[n].InPosTolernce, where n is the axis number
How to Find:	Axes Parameters Pane, Setup tab: Primary Control Setup
Data Type:	REAL
Units:	pu
Range:	≥ 0
Default Value:	0.05

Description

The In Position Tolerance specifies a tolerance around the Command Position. The In Position status bit is set when the Target Position has reached the Command Position and the Actual Position gets within this window. Notice that this bit will not be active until the Target Position has completed its move. The In Position bit is not latched and will clear if the axis moves back outside the In Position window.

This bit is only used when controlling position in a mode that has a requested position. Therefore, it will be clear in Open Loop, Velocity Control, or Position Control in modes such as gearing that have no final requested position.

Example

If an axis Command Position is 10.000 and the In Position parameter is 0.030, the In Position bit will be set when the Target has reached 10.000 and the Actual Position is between 9.971 and 10.029. The bit will be cleared whenever the Actual Position is outside the range.