YASKAWA Sigma-7 SGD7S Series

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.
Parameter Meaning 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 refer-
ence 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.
7.2.10 /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
Completion) signal, it can start preparations for the operating sequence to use after posi-
tioning 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.
Setting the Output Timing
of the /COIN (Positioning
Completion Output) Signal
Sigma-7 Series SERVOPACKs
Application Functions
I/O Signal Allocations > /NEAR (Near) Signal
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