position / speed mode - Harmonic Drive LLC

Chapter 6Setting up parameters
[Parameter mode]
Position error allowance
(position mode)
Function
The [error counter] calculates [error count] subtracting the
[feedback count] from the [position command]. A large
position error may result in an abnormality.
When the position error exceeds the [position error
allowance], an [alarm 60] occurs and the servo power
shuts off.
Details of display
1st digit
6th digit
U P D O W N A D J S E T
1st digit: [6: position error allowance]
Position error allowance
2nd digit: No indication
3rd to 6th digit: Indicates the current [position error
allowance]. A value from [1] to [1000] can be
set.
Operations
(1) To change a value, press the [ADJ] key at least 0.1 Indicates [position error allowance
second.
Range: 1 to 1000 (x1000 pulses)
1st digit [6] flashes. You can change the value.
(2) To make the allowance narrow, press the [DOWN]
key.
To make it wide, press the [UP] key.
(3) To define the new value, press the [SET] key at least 0.1 second.
Flashing of 1st digit [6] 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 [6] stops and the previous value becomes effective.
Zero clamp
(speed mode)
Function
In the speed mode when the [speed command] is [0], the
actuator may rotate slightly by force from the drive
mechanism. The [Zero clamp] function forcefully stops
actuator when the speed command is [0].
Details of display
1st digit: [7: Zero clamp]
2nd to 5th digit: No indication
6th digit: Indicates current setting of [zero clamp]
function.
[0]: Zero clamp OFF; [1]: Zero clamp ON
Operations
(1) To change a value, press the [ADJ] key at least 0.1
second.
1st digit [7] flashes. You can ange ch the value.
1st digit
(2) By the keys of [UP] and [DOWN], set [0] (no function)
or [1] (zero clamp).
(3) To define the new value, press the [SET] key at least 0.1 second.
Flashing of 1st digit [7] 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 [7] stops and the previous value becomes effective.
U P D O W N A D J S E T
Zero clamp
6th digit
Indicates [zero clamp] setting
0: Zero clamp OFF
1: zero clamp ON
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