5.4 Operating Using Position Control with Pulse Train Reference5-435 Operation5.4.5 Positioning Completed Output SignalThis 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, usePn207.3 to change output timing for the /COIN signal.Type SignalNameConnectorPin Number Output Status Close MeaningOutput /COIN CN1-25, 26[Factory setting]ON (close) Positioning has been completed.OFF (open) Positioning is not completed.Pn522Positioning Completed Width ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 1073741824(2 30) Reference unit 7 Immediately SetupPositionSpeedReference Servomotorspeed/COINTimeTimeError pulseON (close) is effective.Pn522Pn216Pn217Pn20EPn210+Pn200.0-SmoothingElectronicgear ratioReferencepulse formReference after positionreference filter appliedPosition error counterAbsolute value ofposition errorPositionreferenceinputParameter Name Meaning When Enabled ClassificationPn207n.0/COIN OutputTimingWhen the absolute value of the posi-tion error is below the positioningcompleted width setting.[Factory setting]After restart Setupn.1When the absolute value of the posi-tion error is below the positioningcompleted width setting, and the refer-ence after applying the position refer-ence filter is 0.n.2When the absolute value of the posi-tion error is below the positioningcompleted width (Pn522) setting, andthe position reference input is 0.
