Coin (Positioning Completion) Signal - YASKAWA SGD7S series Product Manual

6.6.5

/COIN (Positioning Completion) Signal

The /COIN (Positioning Completion) signal indicates that Servomotor positioning has been
completed during position control.
The /COIN signal is output when the difference between the reference position output by the
host controller and the current position of the Servomotor (i.e., the position deviation as given
by the value of the deviation counter) is equal to or less than the setting of the positioning com-
pleted width (Pn522).
Use this signal to check the completion of positioning from the host controller.
Type Signal
Output /COIN
Note: Use Pn50E = n.X (/COIN (Positioning Completion Output) Signal Allocation) to allocate the /COIN signal
to other connector pins. Refer to the following section for details.
6.1.2 Output Signal Allocations on page 6-8
Setting the Positioning Completed Width
The /COIN signal is output when the difference between the reference position and the current
position (i.e., the position deviation as given by the value of the deviation counter) is equal to or
less than the setting of the positioning completed width (Pn522).
Positioning Completed Width
Pn522 Setting Range
0 to 1,073,741,824
The setting of the positioning completed width has no effect on final positioning accuracy.
Reference
peed
Po ition
deviation
/COIN ignal
Note: If the parameter is set to a value that is too large, the /COIN signal may be output when the position deviation
is low during a low-speed operation. If that occurs, reduce the setting until the signal is no longer output.
Setting the Output Timing of the /COIN (Positioning Com-
pletion Output) Signal
You can add a reference input condition to the output conditions for the /COIN signal to
change the signal output timing.
If the position deviation is always low and a narrow positioning completed width is used,
change the setting of Pn207 = n.X (/COIN (Positioning Completion Output) Signal Output
Timing) to change output timing for the /COIN signal.
Connector Pin No. Signal Status
ON (closed)
CN1-25 and CN1-26
(default setting)
OFF (open)
Setting Unit
1 reference unit
Motor peed
Time
Pn522
Time
(Active when ON (clo ed).)
Time

6.6.5 /COIN (Positioning Completion) Signal

Positioning has been completed.
Positioning has not been completed.
Default Setting When Enabled
7 Immediately
6.6 Position Control
Meaning
Position
Classification
Setup
6-37
6