position / speed mode - Harmonic Drive LLC

Chapter 6Setting up parameters
[Parameter mode]
Command configuration
(position mode)
Function
Three types of command signals can be inputted to the
HA-655 driver as follows:
Type 2-pulse train 1-pulse train 2-phase pulse
Code 0 1 2
Forward
Forward
Forward
1st digit
6th digit
Command
configuration
FWD
REV
FWD
REV
Reverse
FWD
CN2-27,28
Forward Pulse train Phase-A
REV
CN2-29,30 Reverse Polarity Phase-B
Setting Factory default
Details of display
FWD
REV
FWD
REV
Reverse
1st digit: [1: command configuration].
2nd to 5th digit: No indication
6th digit: Indicates current [command configuration] code (refer above table).
Operations
(1) To change a value, press the [ADJ] key at least 0.1 second.
1st digit [1] flashes. You can change the value.
(2) Set a code to [command configuration] with the [UP] or [DOWN] key.
(3) To define the new value, press the [SET] key at least 0.1 second.
Flashing of 1st digit [1] stops and the new value is defined.
(4) To cancel a change in operation, press the [ADJ] key at least 0.1 second.
Flashing of 1st digit [1] stops and the previous value becomes effective.
FWD
REV
90
FWD
Reverse
REV
90
U P D O W N A D J S E T
Command configuration
Indicates current command configuration.
0: 2-pulse train
1: 1-pulse train
2: 2-pase pulse
Multiplication of 2-phase pulse (position mode)
Function
When [command configuration] is set at [2-phase pulse], it
is possible to make the motion command pulse count two
or four times greater than the command pulse count.
1: Same as the command count
2: Two times the command count
4: Four times the command count
1st digit
6th digit
Details of display
1st digit: [2:Multiplication of 2-phase pulse]
2nd to 5th digit: No indication
6th digit: Indicates the current multiplier of
[multiplication of 2-phase pulse] function.
[1], [2] and [4] are allowed.
Operations
Same operations as [command configuration] described
above
U P D O W N A D J S E T
Multiplication of
2-phase pulse
Indicates current multiplier.
(ex.)quadrature
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