5.4.5 Positioning Completed Output Signal
This signal indicates that servomotor movement has been completed during position control.
If the difference between the number of reference pulses from the host controller and the movement of the ser-
vomotor (the number of position error pulses) drops below the set value in the parameter, the positioning com-
pletion signal will be output.
Use this signal to check the completion of positioning from the host controller.
• This output signal can be allocated to another output terminal with Pn50E. Refer to
3.3.2 Output Signal Alloca-
tions
.
• The positioning completed width setting has no effect on final positioning accuracy.
Note: 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.
If a servo gain is set that keeps the position error small when the positioning completed width is small, use
Pn207.3 to change output timing for the /COIN signal.
Type
Signal
Name
Connector
Pin Number
Output Status Close Meaning
Output /COIN
CN1-25, 26
[Factory setting]
ON (close) Positioning has been completed.
OFF (open) Positioning is not completed.
Pn522
Positioning Completed Width
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 1073741824(2
30
)
Reference unit 7 Immediately Setup
Parameter Name Meaning When Enabled Classification
Pn207
n.0
/COIN Output
Timing
When the absolute value of the posi-
tion error is below the positioning
completed width setting.
[Factory setting]
After restart Setup
n.1
When the absolute value of the posi-
tion error is below the positioning
completed width setting, and the refer-
ence after applying the position refer-
ence filter is 0.
n.2
When the absolute value of the posi-
tion error is below the positioning
completed width (Pn522) setting, and
the position reference input is 0.
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