Technical Manual for EA350 Analog Pulse Type Servo Driver V101 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. 137