5 Operation5.4.6 Positioning Completed Signal5-405.4.6 Positioning Completed SignalThis signal indicates that servomotor movement has been completed during position control.When the difference between the number of reference pulses output by the host controller and the travel dis-tance of the servomotor (position error) drops below the set value in the parameter, the positioning completionsignal will be output.Use this signal to check the completion of positioning from the host controller.Note: Use parameter Pn50E.0 to allocate the /COIN signal to another terminal. Refer to 3.4.2 Output Signal Allocationsfor details.The positioning completed width setting has no effect on final positioning accuracy.Note: If the parameter is set to a value that is too large, a positioning completed signal might be output if the position erroris low during a low speed operation. This will cause the positioning completed signal to be output continuously. Ifthis signal is output unexpectedly, reduce the set value until it is no longer output.If the position error is kept to a minimum when the positioning completed width is small, use Pn207.3 tochange output timing for the /COIN signal.Type SignalNameConnectorPin Number Setting MeaningOutput /COIN CN1-25, 26[Factory setting]ON (closed) Positioning has been completed.OFF (open) Positioning is not completed.Pn522Positioning Completed Width ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 1073741824 1 reference unit 7 Immediately SetupPositionMotor speedReferenceMotor speed/COINTimeTimeTimePosition errorEffective at ON (close).Pn522Parameter Name Meaning WhenEnabled ClassificationPn207n.0[Factory setting]/COIN OutputTimingWhen the absolute value of the posi-tion error is below the positioningcompleted width (Pn522).After restart Setupn.1When the absolute value of the posi-tion error is below the positioningcompleted width (Pn522), and the ref-erence after applying the position ref-erence filter is 0.n.2When the absolute value of the posi-tion error is below the positioningcompleted width (Pn522), and theposition reference input is 0.
