YASKAWA E-7-Series SGD7S - NEAR (Near) Signal; Reference Pulse Inhibition Function

6.6 Position Control
6.6.6 /NEAR (Near) Signal
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Application Functions
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.
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.
6.1.2 Output Signal Allocations on page 6-6
/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).
Note: Normally, set Pn524 to a value that is larger than the setting of Pn522 (Positioning Completed Width).
6.6.7 Reference Pulse Inhibition Function
You can stop the SERVOPACK from counting the reference input pulses during position con-
trol. When this function is enabled, the SERVOPACK will ignore the reference pulse input.
/INHIBIT (Reference Pulse Inhibit) Signal
If you set the control method to switch between normal position control and position control
with reference pulse inhibition (Pn000 = n.B), the /INHIBIT signal is used as the Refer-
ence Pulse Inhibit signal (default setting).
Typ e Signal Connector Pin No. Signal Status Meaning
Output /NEAR Must be allocated.
ON (closed)
The Servomotor has reached a point
near to positioning completion.
OFF (open)
The Servomotor has not reached a
point near to positioning completion.
Pn524
Near Signal Width
Setting Range Setting Unit Default Setting When Enabled Classification
1 to 1,073,741,824 1 reference unit 1,073,741,824 Immediately Setup
Position
Pn524 Pn522
0
Reference
Motor speed
Time
Time
Time
Time
/COIN signal
/NEAR signal
Position
deviation
Speed
(Active when ON (closed).)
(Active when ON (closed).)