YASKAWA E-7-Series SGD7S - COIN (Positioning Completion) Signal

6.6 Position Control
6.6.5 /COIN (Positioning Completion) Signal
6-33
6
Application Functions
* *The filter is disabled if you set the parameter to 0
The difference between the position reference acceleration/deceleration time constant (Pn216)
and the average position reference movement time (Pn217) is shown below.
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.
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 6-6
Pn216
Position Reference Acceleration/Deceleration Time Constant
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 65,535 0.1 ms
0
*
Immediately after
the motor stops
Setup
Pn217
Average Position Reference Movement Time
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 10,000 0.1 ms
0
*
Immediately after
the motor stops
Setup
Changes to the settings in Pn216 or Pn217 are not applied while the Servomotor is operat-
ing. The changes will be enabled the next time the Servomotor comes to a stop.
Position Reference Acceleration/Deceleration Filter Average Position Reference Movement Filter
–
Position
Position
Information
100%
63.2%
36.8%
Pn216 Pn216
Time
Before lter
After lter
Reference pulse
frequency
100%
Pn217
Pn217
Time
Before lter
After lter
Reference pulse
frequency
Pn217
Pn217
100%
Reference pulse
frequency
Before lter
After lter
Time
Typ e Signal Connector Pin No. Signal Status Meaning
Output /COIN
CN1-25 and CN1-26
(default setting)
ON (closed) Positioning has been completed.
OFF (open) Positioning has not been completed.