Chapter 4 Operation
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4.6.6 Positioning Completion Output Signal
This signal indicates that servomotor movement has been completed during position control. Use the
signal as an interlock to confirm that positioning has been completed at the host controller.
Type
Type
Type
Type
Signal
Signal
Signal
Signal Name
Name
Name
Name
Connector
Connector
Connector
Connector Pin
Pin
Pin
Pin Number
Number
Number
Number
Setting
Setting
Setting
Setting
Meaning
Meaning
Meaning
Meaning
Output
/COIN
CN1-11,CN1-12
(Factory setting)
ON(low level)
Positioning has been
completed.
OFF(high level)
Positioning is not
completed.
This output signal can be allocated to an output terminal with parameter Pn511. Refer to
3.2.2
3.2.2
3.2.2
3.2.2 I/O
I/O
I/O
I/O Signal
Signal
Signal
Signal Names
Names
Names
Names and
and
and
and Functions
Functions
Functions
Functions
.
The factory setting is allocated to CN1-11,12.
Pn500
Positioning Error
Setting
Setting
Setting
Setting Range
Range
Range
Range
Setting
Setting
Setting
Setting Unit
Unit
Unit
Unit
Factory
Factory
Factory
Factory Setting
Setting
Setting
Setting
Setting
Setting
Setting
Setting Validation
Validation
Validation
Validation
0
～
5000
1Puls
10
Immediately
The positioning completion (/COIN) signal is output when the difference (position error pulse) between the number of
reference pulses output by the host controller and the travel distance of the servomotor is less than the value set in this
parameter.
Set the number of error pulses in reference unit (the number of input pulses defined using the electronic gear).
Too large a value at this parameter may output only a small error during low-speed operation that will cause the /COIN
signal to be output continuously.
The positioning error setting has no effect on final positioning accuracy.
Reference
Reference
Reference
Reference
Servom otor speed
Servom otor speed
Servom otor speed
Servom otor speed
P n
P n
P n
P n 5 0 0
5 0 0
5 0 0
5 0 0
S p e e d
S p e e d
S p e e d
S p e e d
Error pulse
Error pulse
Error pulse
Error pulse
((((U n
U n
U n
U n 0 1 1
0 1 1
0 1 1
0 1 1 ,,,,U n
U n
U n
U n 0 1 2
0 1 2
0 1 2
0 1 2 ))))
////C O IN
C O IN
C O IN
C O IN
((((C N
C N
C N
C N 1
1
1
1----1 1
1 1
1 1
1 1 ,,,,1 2
1 2
1 2
1 2 ))))
■Note
/COIN is a position control signal.
This signal is used for the speed coincidence output /V-CMP for speed control, and it always OFF(high
level) for torque control.
Position
