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6.1.8 Positioning Completion (/COIN) Signal
When the positioning completion output (/COIN) signal is position control, it indicates the servo motor
positioning completion signal.
When the difference between the command position from the upper device and the current position of the
servo motor (position deviation: value of deviation counter) is less than the set value of the positioning
completion amplitude (Pn522), a /COIN signal will be output.
For the upper device to confirm that the positioning has been completed.
Type
Signal
name
Connector pin number
Signal status
Meaning
Output
/COIN
Distribution required
ON (closed)
Positioning is completed
OFF (OFF)
Positioning is not completed
(Note) /COIN signal needs to be distributed. It can be set to Pn50E = n.
X (distribution of positioning complete output (/coil)
signal) and distributed to terminals.
Setting of positioning completion amplitude
The positioning completion amplitude (Pn522) outputs a signal when the difference between the command
position and the current position (position deviation: value of deviation counter) is smaller than the set value.
Pn522
Positioning completion amplitude
Position
Setting range
Setting Unit
Factory setting
Effective time
Category
0
～
1073741824
1 Command unit
10
Effective
immediately
Setup
This parameter setting has no influence on the final positioning accuracy.
(Note) If the set value is too large and the deviation during low-speed operation is small, a constant /COIN signal may be output.
When outputting the signal, please lower the set value until the signal is no longer output.
Setting of Output Time for Positioning Complete Output (/COIN) Signal
Command input condition can be added to the output condition of the /COIN signal to change the output time.
When used in a state where the positioning completion amplitude is small and the position deviation is
generally small, it can be set to Pn207 = n.X
(positioning completion output (/COIN) signal output time)
to change the output time of the /COIN signal.
Parameter
Name
Content
Effective
time
Category
Pn207
n.0
[Factory
setting]
Positioning
completion
output
(/COIN)
Signal Output
Time
When the absolute value of the position
deviation is smaller than the positioning
completion amplitude (Pn522), the /COIN
signal is output.
Power
restart
Setup
n.1
When the absolute value of the position
deviation is less than the positioning
completion amplitude (Pn522) and the filtered
command of the position command is 0, the
/COIN signal is output.
n.2
When the absolute value of the position
deviation is smaller than the positioning
completion amplitude (Pn522) and the position
command input is 0, the /COIN signal is output.
6.1.9 Position nearby output (/NEAR) signal
The near positioning output (/NEAR) signal is a signal notifying the near positioning completion position.
In position control, the upper device receives the positioning approach signal before confirming the
positioning completion signal, thus preparing for the action sequence after positioning is completed. In
this way, the time required for action when positioning is completed can be shortened.
This signal is usually used in pairs with the positioning completion output (/COIN) signal.
Type
Signal
name
Connector pin number
Signal status
Meaning
Output
/NEAR
Distribution required
ON (closed)
Output when reaching the positioning completion
approach point
OFF (OFF)
The positioning completion approach point has
not been reached.
Speed
Location deviation
/COIN signal
Command
Motor speed
Time
Time
Time
(ON (Closed) Valid)
