HA-655 Series - Harmonic Drive LLC

2-4Other functions
2-4-1 Indicating of pulse counts
Chapter 2Functions
As shown in the figure to the right, the motion
command pulses are transmitted to the HA-655
driver from a host. The driver drives the actuator
corresponding to the motion command. When the
actuator starts, the position pulses are sensed by
the encoder and are fed back to the driver. The
HA-655 driver continues to drive the actuator until
the error count (difference between command count
and feedback count) comes to zero.
In the monitor mode, [command pulse], [feedback pulse], and [error pulse] can be monitored. This
function may be effective for diagnosis.
Indications
Command
pulse
Error
counter
Feedback
pulse
[Tune mode][3,4: error counter status], [7,8: feedback pulse], [9,A: command pulse]
Position
speed
control block
2-4-2Manual JOG operation
It is possible to operate the actuator manually for test, for tuning, and for diagnosis without commands
from a host. Pressing the [UP] and [DOWN] keys on the front panel rotates the actuator at pre-set speed
and at pre-set acceleration.
Operation and setting
[Test mode][Jo: JOG operation], [SP: JOG speed], [Ac: JOG acceleration]
2-4-3Monitoring inputs and operating outputs
It is possible to monitor input ports of [clear], [servo -ON], [FWD inhibit] and [REV inhibit] for test, for
tuning, and for diagnosis.
It is also possible to manually output signals of [in-position], [attained speed], [alarm] and so on without
relations to the actuator state by pressing the [UP] and [DOWN] keys on the front panel outputs signals.
Operation and setting
[Test mode][bI/O monitor], [InPOutput port operation]
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