8.6 Operating Using Position Control
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8.6.6 Positioning Near Signal
This signal (/NEAR) indicates that the positioning of the servomotor is near to completion, and is generally used
in combination with the positioning completed (/COIN) output signal.
The host controller receives the positioning near signal prior to confirming the positioning-completed signal, and
performs the following operating sequence after positioning has been completed to shorten the time required for
operation.
Type Signal
Name
Connector
Pin Number
Setting Meaning
Output /NEAR Must be allocated ON (low level) The servomotor has reached a point near to positioning
completed.
OFF (high level) The servomotor has not reached a point near to posi-
tioning completed.
The output terminal must be allocated with parameter Pn510 in order to use positioning near signal. Refer to 7.3.3 Output
Circuit Signal Allocation for details.
Pn504 NEAR Signal Width
Setting Range Setting Unit Factory Setting Setting Validation
1 to 250 1 Reference unit 7 Immediately
The positioning near (/NEAR) signal is output when the differ-
ence (error) between the number of reference pulses output by
the host controller and the travel distance of the servomotor is
less than the value set in Pn504.
Set the number of error pulses in reference units (the number of
input pulses defined using the electronic gear.)
Normally, the setting should be larger than that for the position-
ing completed width (Pn500).
Speed
Reference
Motor speed
Error pulse
/NEAR
/COIN
Pn504 Pn500
0
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