YASKAWA E-7-Series SGD7S - Page 203

6.6 Position Control
6.6.5 /COIN (Positioning Completion) Signal
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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).
The setting of the positioning completed width has no effect on final positioning accuracy.
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.
Pn522
Positioning Completed Width
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 1,073,741,824 1 reference unit 7 Immediately Setup
Parameter Description
When
Enabled
Classification
Pn207
n.0
(default setting)
Output the /COIN signal when the absolute value of
the position deviation is the same or less than the
setting of Pn522 (Positioning Completed Width).
After
restart
Setup
n. 1
Output the /COIN signal when the absolute value of
the position deviation is the same or less than the
setting of Pn522 (Positioning Completed Width) and
the reference after the position reference filter is 0.
n. 2

Output the /COIN signal when the absolute value of
the position deviation is the same or less than the
setting of Pn522 (Positioning Completed Width) and
the reference input is 0.
Position
Pn522
Reference
Motor speed
Time
Time
Time
/COIN signal
Position
deviation
Speed
(Active when ON (closed).)