6.1 I/O Signal Allocations
6.1.8 /COIN (Positioning Completion) Signal
6-12
6.1.8
/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.
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.
6.1.2 Output Signal Allocations on page 6-6
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.
Type Signal Connector Pin No. Signal Status Meaning
Output /COIN Must be allocated.
ON (closed) Positioning has been completed.
OFF (open) Positioning has not been completed.
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
Pn522
Reference
Motor speed
Time
Time
Time
/COIN signal
Position
deviation
Speed
(Active when ON (closed).)
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