The motor stops running, the LED monitor displays Al013, and it is defined as valid output of the ALM DO terminal. Parameter functions: Select the condition for valid output of positioning completion signal (defined as the DO terminal of COIN). P1-22 = 0: The absolute value of position deviation is smaller than P1-24. P1-22 = 1: The absolute value of position deviation is smaller than P1-24, and the position command is 0. P1-22 = 2: The absolute value of position deviation is smaller than P1-24, the position command is 0, and the motor has zero speed. P1-22 = 3: The absolute value of position deviation is smaller than P1-24, and the position command is 0.
Both conditions are satisfied, and the lasting time reaches the INP holding time P1-25. If any of the 3 conditions above is dissatisfied, COIN output is immediately invalidated. Revalidation requires re-judgment. P1-22 = 4: The absolute value of position deviation is smaller than P1-24, the position command is 0, and the motor has zero speed. All the three conditions are satisfied, and the lasting time reaches the INP holding time P1-25. If any of the 4 conditions above is dissatisfied, COIN output is immediately invalidated. Revalidation requires re-judgment. P1-22 = 5: When the prerequisite of the position command being 0 is satisfied: A.
If the holding time P1-25≠0 and the absolute value of position deviation is smaller than P1-24, COIN output is valid. After the lapse of P1-25, whether COIN output is valid or invalid will depend on the relation between the position deviation and P1-24 then. B. If the holding time P1-25 = 0 and the absolute value of position deviation is smaller than P1-24, COIN output is valid and will constantly remain valid. Once the position command is not zero, the COIN output will be immediately invalidated. After invalidation of COIN output, revalidation requires re-judgment. P1-22 = 6: When the prerequisite of the position command being 0 is satisfied: A.
If the holding time P1-25≠0, the absolute value of position deviation is smaller than P1-24 and the motor has zero speed, then COIN output is valid. After the lapse of P1-25, whether COIN output is valid or invalid will depend on the relation between the position deviation and P1-24 then and zero speed of the motor. B. If the holding time P1-25 = 0, the absolute value of position deviation is smaller than P1-24 and the motor has zero speed, COIN output is valid and will constantly remain valid. Once the position command is not zero, the COIN output will be immediately invalidated. After invalidation of COIN output, revalidation requires re-judgment.
115 Technical Manual for EA190 Series Servo Driver V100 Caution☞ 1. When P1-18 = 0, position following deviation warnings will be shielded; when P1-20 = 0, alarms for too high position deviation will be shielded. 2. The default setting unit is a command unit, but the encoder unit can be changed via P8-18 bit3.When the encoder unit is used, it is required to set a proper value based on the encoder resolution, so as to avoid frequent alarms as a result of a too small set value.
P1-22 Positioning completion output setting Initial value 1 Communication address 0116H Unit - Time of taking effect With immediate effect Setting range 0~6 Data size 16bit Control mode P Caution☞ This parameter applies only to DO set to positioning completion (COIN).It is invalid to DO of positioning approach (PNEAR). P1-23 Positioning approach width Initial value 20 Communication address 0117H Unit ppr Time of taking effect With immediate effect Setting range 1~65535 Data size 16bit Control mode P P1-24 Positioning completion width Initial value 10 Communication address 0118H Unit ppr Time of taking effect With immediate effect Setting range 1~65535 Data size 16bit Control mode P