Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 138)

4.8 Other Output Signals
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4.8.6 Positioning Completed Output Signal (/COIN)
This signal indicates that servomotor movement has been completed during position control.
When the difference between the number of references output by the host controller and the travel distance of
the servomotor (position error) drops below the set value in the parameter, the positioning completion signal
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 for use. Refer to 3.3.2 Output Signal Allocations for 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 error
is low during a low speed operation. This will cause the positioning completed signal to be output continuously. If
this 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 to
change output timing for the /COIN signal.
Type
Signal
Name
Connector
Pin Number
Setting Meaning
Output /COIN Must be allocated
ON (closed) 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 1 reference unit 7 Immediately Setup
Position
Motor speed
Reference
Motor speed
/COIN
Time
Time
Time
Position error
Effective at ON (close).
Pn522
Parameter Name Meaning
When
Enabled
Classification
Pn207
n.0
[Factory setting]
/COIN Output
Timing
When the absolute value of the posi-
tion error is below the positioning
completed width (Pn522).
After restart Setup
n.1
When the absolute value of the posi-
tion error is below the positioning
completed width (Pn522), and the ref-
erence after applying the position ref-
erence filter is 0.
n.2
When the absolute value of the posi-
tion error is below the positioning
completed width (Pn522), and the
position reference input is 0.