Near (Near) Signal - YASKAWA SGD7S series Product Manual

6.6 Position Control

6.6.6 /NEAR (Near) Signal

Pn207
6.6.6

/NEAR (Near) Signal

The /NEAR (Near) signal indicates when positioning completion is being approached.
The host controller receives the NEAR signal before it receives the /COIN (Positioning Comple-
tion) signal, it can start preparations for the operating sequence to use after positioning has
been completed. This allows you to reduce the time required for operation when positioning is
completed.
The NEAR signal is generally used in combination with the /COIN signal.
Type
Output
Note: You must allocate the /NEAR signal to use it. Use Pn510 = n.X (/NEAR (Near) Signal Allocation) to allo-
cate the signal to a connector pin. Refer to the following section for details.
/NEAR (Near) Signal Setting
You set the condition for outputting the /NEAR (Near) signal (i.e., the near signal width) in
Pn524 (Near Signal Width). The /NEAR signal is output when the difference between the refer-
ence 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 near signal width (Pn524).
Pn524
peed
Po ition
deviation
/NEAR ignal
/COIN ignal
Note: Normally, set Pn524 to a value that is larger than the setting of Pn522 (Positioning Completed Width).
6-38
Parameter
Output the /COIN signal when the absolute value of
n.0
the position deviation is the same or less than the
(default setting)
setting of Pn522 (Positioning Completed Width).
Output the /COIN signal when the absolute value of
the position deviation is the same or less than the

n. 1
setting of Pn522 (Positioning Completed Width) and
the reference after the position reference filter is 0.
Output the /COIN signal when the absolute value of
the position deviation is the same or less than the

n. 2
setting of Pn522 (Positioning Completed Width) and
the reference input is 0.
Signal Connector Pin No.
/NEAR Must be allocated.
6.1.2 Output Signal Allocations on page 6-8
Near Signal Width
Setting Range
1 to 1,073,741,824 1 reference unit
Reference
Pn524 Pn522
0
Description
Signal Status
ON (closed)
OFF (open)
Setting Unit Default Setting
1,073,741,824
Motor peed
Time
Time
(Active when ON (clo ed).)
Time
(Active when ON (clo ed).)
Time
When
Classification
Enabled
After
restart
Meaning
The Servomotor has reached a point
near to positioning completion.
The Servomotor has not reached a
point near to positioning completion.
Position
When Enabled Classification
Immediately
Setup
Setup