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I had the same problems, but I chose to do two things and it made the world of difference.
1. Buy a tripod. The coin is a tricky surface, and it takes the automatic focus some time to get a clear picture on its focus area. On the tripod, you can essentially get a completely still camera, and a specific place on a table for the coin.
2. Use the timed shutter release on the camera, like you would if you setup for a family portrait, click the shutter and run into position so you can be in the picture. This cuts out hand jitter, and on the tripod, you can get truly stellar images.
Cris
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