Coin (Positioning Completion) Signal - YASKAWA SGD7S-xxxDA0 series Product Manual

7.1 I/O Signal Allocations

7.1.8 /COIN (Positioning Completion) Signal

Example
7.1.8

/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
Output /COIN
Note: You must allocate the /COIN signal to use it. Use Pn50E = n.X (/COIN (Positioning Completion Output)
Signal Allocation) to allocate the signal to connector pins. Refer to the following section for details on alloca-
tions.
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).
Pn522
(2522h)
The setting of the positioning completed width has no effect on final positioning accuracy.
Position
deviation
/COIN signal
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.
7-10
If Pn582 is set to 100 and the speed reference is 2,000 mm/s the signal would be output
when the motor speed is between 1,900 and 2,100 mm/s.
Motor speed
The /V-CMP signal is output when the motor speed is in
the area between the dotted lines.
Signal Connector Pin No.
Must be allocated.
7.1.2 Output Signal Allocations on page 7-5
Positioning Completed Width
Setting Range
0 to 1,073,741,824 1 reference unit
Reference
Motor speed
Speed
Pn522
Pn582
Speed reference
Signal Status
ON (closed)
OFF (open)
Setting Unit Default Setting
Time
Time
(Active when ON (closed).)
Time
Meaning
Positioning has been completed.
Positioning has not been completed.
Position
When Enabled
7 Immediately
Classification
Setup