HA-655 Series - Harmonic Drive LLC

Chapter 2Functions
(3)2-phase pulse train (A-B phase pulses with 90 degree difference)
Both port pairs receive the command pulse trains that have a 90 electric degree difference relative to
each other as shown in the figure below. For the FWD command, the pulse train to the FWD ports
advances 90 degrees from the REV port train. For the REV command, the REV port train advances from
the FWD port train.
The encoder pulse trains to the driver have this 2-phase pulse configuration.
FWD command
90
differ
REV command
90
differ
FWD+
FWD-
REV+
REV-
Multiplication of command
When the command configuration is a
[2-phase pulse] type, it is possible to multiply
the command pulse train by 2 or 4 for the
command pulse train to an actuator.
The encoder feedback pulse train is
quadrupled.
FWD
REV
Input
1
2 3 4
Setting
Double
1
2 3 4 5 6 7 8
[Parameter mode] [2: multiplication of
2-phase pulse]
Quadruplicated
1
2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Electronic gear
The electronic gear function can be set make a given
displacement of the driven mechanism for one
command pulse, an integer, or a convenient number.
For example, it is convenient to set the displacement of
0.1 micrometer for one pulse as shown in figure to the
right.
The function multiples the command pulse count by the
coefficient (fraction).
The relation of [denominator / numerator] of the coefficient
is obtained as follows:
Rotary motion:
1 P
FHA
-C
0.1m
W
Electronic gear - denominator
Electronicgear - numerator
Angle per pulse
=
× Actuator resolution×
Reductionratio of load
4
360
Linear motion:
Electronic gear - denominator
Electronic gear - numerator
Displacementperpulse
=
× Actuator resolution×
4
Feedpitch of driven mechanism
With above formulas, each denominator and numerator should be set an integer between 1 and 50.
Setting
[Parameter mode][3: electronic gear-denominator], and [4:electronic gear-numerator]
- 15 -