Estun ETS-101010APC-CAN - Positioning Completion Output Signal

ETS Series AC Servo User's Manual
- 73 -
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 completedat the host controller.
Type
Signal Name
Connector Pin Number
Setting
Meaning
Output
/COIN
CN1_A/B/C-7,
CN1_A/B/C-8
(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 I/O Signal Names and
Functions.
Pn500
Positioning Error
Setting Range
Setting Unit
Factory Setting
Setting Validation
0～5000
1Puls
10
Immediately
Pn520
Position complete time
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~60000
0.25ms
500
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 and the stabilization time is more than the value of Pn520.
·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
Servomotor speed
Pn500
Speed
Error pulse
(Un011,Un012)
/COIN
(CN1_A/B/C-11,12)
■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
Position