position / speed mode - Harmonic Drive LLC

Chapter 6Setting up parameters
Rotary direction
[Parameter mode]
(position / speed mode)
Function
This function specifies the rotary direction of the actuator
when responding to commands.
The relation among them is as follows:
Value FWD command REV command Setting
0 FWD rotation REV rotation Default
1 REV rotation FWD rotation
Details of display
1st digit: [8: rotary direction]
Rotary direction
2nd to 5th digit: No indication
6th digit: Indicates current [rotary direction] setting.
Operations
(1) To change a value, press the [ADJ] key at least 0.1
second.
Indicates current [rotary
1st digit [8] flashes. You can change the value.
direction] setting.
(2) Set [0] or [1] pressing the [UP] key or the [DOWN] key, referring above table.
(3) To define the new value, press the [SET] key at least 0.1 second.
Flashing of 1st digit [8] 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 [8] stops and e thprevious value becomes effective.
Speed conversion factor (position / speed mode)
Function
This factor defines the motor speed corresponding to a
[10V] of command voltage. The relation between the
command voltage and the actuator speed is as follows:
Motor speed=
Commandvoltage ×
[Speed monitor (SPD-MON: CN2-23pin)] outputs the
voltage calculated by the following formula:
Speedmonitor voltage
Details of display
Speedconversionfactor
10.0V
10.0V
= Speed×
Speed conversionfactor
1st digit: [9: speed conversion factor]
2nd digit: No indication
3rd to 6th digit: Indicates current [speed conversion
factor]. A value from [1] to [motor max. speed]
can be set.
Operations
(1) To change a value, press the [ADJ] key at least 0.1
second.
1st digit [9] flashes. You can change the value.
(2) Set the motor speed corresponding to command voltage of [10V] by the keys of [UP] and [DOWN].
(3) To define the new value, press the [SET] key at least 0.1 second.
Flashing of 1st digit [9] 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 [9] stops and the previous value becomes effective.
- 109 -
1st digit
6th digit
U P D O W N A D J S E T
1st digit
6th digit
U P D O W N A D J S E T
Speed conversion factor
Indicates current [speed conversion
factor]: speed corresponding to 10V.
Unit: r/min
Range: 1 to motor maximum speed