position / speed mode - Harmonic Drive LLC
position / speed mode - Harmonic Drive LLC
position / speed mode - Harmonic Drive LLC
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Chapter 6Setting up parameters<br />
6-6Parameter <strong>mode</strong><br />
The [parameter <strong>mode</strong>] sets various parameter values relating to the fundamental operational functions<br />
such as: specifications of [<strong>position</strong> <strong>mode</strong>] or [<strong>speed</strong> <strong>mode</strong>], configurations of input signals, electronic<br />
gear function, limiting values of <strong>speed</strong> and torque, and parameters to communicate with a host.<br />
The parameter <strong>mode</strong> indicates and sets the following items.<br />
Mode Code Position <strong>mode</strong> Setting Code Speed <strong>mode</strong> Setting<br />
0 Control <strong>mode</strong> 0 Control <strong>mode</strong> Possible<br />
1 Command configuration 1 <br />
2 Multiplication of 2-phase pulse 2 <br />
3 Electronic gear - denominator Possible 3 <br />
4 Electronic gear - numerator 4 <br />
5 Error count cleared by S-ON 5 <br />
6 Position error allowance<br />
6 <br />
7 7 Zero clamp<br />
8 Rotary direction 8 Rotary direction<br />
9 Speed conversion factor 9 Speed conversion factor<br />
A Speed limit Possible A Speed limit<br />
Possible<br />
b Torque limit b Torque limit<br />
c Alarm logic<br />
c Alarm logic<br />
d d <br />
E E <br />
F ABS multi-turn data clear Impossible F ABS multi-turn data clear Impossible<br />
Parameter <strong>mode</strong><br />
6-6-1Operating in the parameter <strong>mode</strong><br />
Selecting operations of function items<br />
(1) To transfer to [parameter <strong>mode</strong>] from [monitor <strong>mode</strong>],<br />
press both the [ADJ] key and the [SET] key at the same<br />
time at least three seconds.<br />
Transfers to [parameter <strong>mode</strong>] when there is no<br />
indication on 4th to 6th digit.<br />
(Note): While [servo-ON: S-ON (CN2-3 pin)]<br />
signal is ON, changing to [parameter <strong>mode</strong>]<br />
turns the signal OFF and the system goes<br />
into the servo-OFF state.<br />
(2) Press the [UP] key or the [DOWN] key to change the<br />
functional items of [parameter <strong>mode</strong>]<br />
Every pressing the [UP] key shifts a code of the first<br />
digit one by one from [0] to [b], and indicates a value<br />
corresponding to the code.<br />
Every pres sing the [DOWN] key shifts a code of the<br />
first digit one by one from [b] to [0], and indicates a<br />
value corresponding to the code.<br />
Function<br />
(1) Transferring to the parameter <strong>mode</strong>:<br />
1st to 3rd digit: indicates [SyP].<br />
4th to 6th digit: Indicates [-] throughout the transfer.<br />
(2) For the parameter <strong>mode</strong>:<br />
1st digit: Codes in the <strong>mode</strong><br />
2nd to 6th digit: A value of the code<br />
Decimal point of the second digit: indicates that the state is<br />
in the parameter <strong>mode</strong>.<br />
- 102 -<br />
U P D O W N A D J S E T<br />
Monitor <strong>mode</strong><br />
U P<br />
D O W N<br />
Parameter <strong>mode</strong><br />
U P<br />
1st digit<br />
D O W N<br />
6th digit<br />
Press both 3 sec.<br />
A D J<br />
A D J<br />
S E T<br />
S E T<br />
Selecting a function
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