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For a real number $q>1$ and a positive integer $m$, let $Y_m\left(q\right):=\left\{{\sum }_{i=0}^n{ϵ}_i{q}^i:{ϵ}_i\in \left\{0,\pm 1,...,\pm m\right\},n=0,1,...\right\}$. In this paper, we show that $Y_m\left(q\right)$ is dense in $ℝ$ if and only if $q<m+1$ and $q$ is not a Pisot number. This completes several previous results and answers an open question raised by Erdös, Joó and Komornik [8].