position / speed mode - Harmonic Drive LLC
position / speed mode - Harmonic Drive LLC
position / speed mode - Harmonic Drive LLC
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6-8 Defaults of parameters<br />
Chapter 6Setting up parameters<br />
The following table shows the defaults of the parameters:<br />
><br />
Actuator<br />
Parameter<br />
FHA -17C FHA -25C FHA -32C FHA -40C<br />
1/50 1/100 1/160 1/50 1/100 1/160 1/50 1/100 1/160 1/50 1/100 1/160<br />
0 Speed loop gain 25 25 25 50 50 50 80 80 80 120 120 120<br />
1 S-loop integral compensation 40 40 40 40 40 50 40 40 40 40 40 40<br />
2 Position loop gain 40 40 40 40 40 40 40 40 40 40 40 40<br />
3 Feed-forward gain 0 0 0 0 0 0 0 0 0 0 0 0<br />
4 In-<strong>position</strong> range 10 10 10 10 10 10 10 10 10 10 10 10<br />
5 Attained <strong>speed</strong> 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000<br />
6 Internal <strong>speed</strong> command 0 0 0 0 0 0 0 0 0 0 0 0<br />
7 Acceleration time constant 0 0 0 0 0 0 0 0 0 0 0 0<br />
8 Deceleration time constant 0 0 0 0 0 0 0 0 0 0 0 0<br />
9 Speed command offset <br />
0 Control <strong>mode</strong> 0 0 0 0 0 0 0 0 0 0 0 0<br />
1 Command configuration 0 0 0 0 0 0 0 0 0 0 0 0<br />
2 Multiplication of 2-phase pulse 1 1 1 1 1 1 1 1 1 1 1 1<br />
3 Electronic gear - denominator 1 1 1 1 1 1 1 1 1 1 1 1<br />
4 Electronic gear - numerator 1 1 1 1 1 1 1 1 1 1 1 1<br />
5 Error count cleared by S-ON 0 0 0 0 0 0 0 0 0 0 0 0<br />
6 Position error allowance 100 100 100 100 100 100 100 100 100 100 100 100<br />
7 Zero clamp 0 0 0 0 0 0 0 0 0 0 0 0<br />
8 Rotary direction 0 0 0 0 0 0 0 0 0 0 0 0<br />
9 Speed conversion factor 4800 4800 4800 4500 4500 4500 4000 4000 4000 3500 3500 3500<br />
A Speed limit 4900 4900 5000 4600 4600 4600 4100 4100 4100 3600 3600 3600<br />
b Torque limit 100 100 100 100 100 100 100 100 100 100 100 100<br />
Alarm logic 0 0 0 0 0 0 0 0 0 0 0 0<br />
Note: the values are available for 200V systems.<br />
Mode<br />
Tune <strong>mode</strong><br />
Parameter <strong>mode</strong><br />
Mode<br />
Tune <strong>mode</strong><br />
Parameter <strong>mode</strong><br />
Code<br />
Code<br />
><br />
Actuator<br />
Parameter<br />
FHA -17C FHA -25C FHA -32C FHA -40C<br />
1/50 1/100 1/160 1/50 1/100 1/160 1/50 1/100 1/160 1/50 1/100 1/160<br />
0 Speed loop gain 25 25 25 50 50 50 80 80 80 120 120 120<br />
1 S-loop integral compensation 40 40 40 50 50 50 40 40 40 70 70 70<br />
2 Position loop gain 40 40 40 40 40 40 40 40 40 40 40 40<br />
3 Feed-forward gain 0 0 0 0 0 0 0 0 0 0 0 0<br />
4 In-<strong>position</strong> range 10 10 10 10 10 10 10 10 10 10 10 10<br />
5 Attained <strong>speed</strong> 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000<br />
6 Internal <strong>speed</strong> command 0 0 0 0 0 0 0 0 0 0 0 0<br />
7 Acceleration time constant 0 0 0 0 0 0 0 0 0 0 0 0<br />
8 Deceleration time constant 0 0 0 0 0 0 0 0 0 0 0 0<br />
9 Speed command offset <br />
0 Control <strong>mode</strong> 0 0 0 0 0 0 0 0 0 0 0 0<br />
1 Command configuration 0 0 0 0 0 0 0 0 0 0 0 0<br />
2 Multiplication of 2-phase pulse 1 1 1 1 1 1 1 1 1 1 1 1<br />
3 Electronic gear - denominator 1 1 1 1 1 1 1 1 1 1 1 1<br />
4 Electronic gear - numerator 1 1 1 1 1 1 1 1 1 1 1 1<br />
5 Error count cleared by S-ON 0 0 0 0 0 0 0 0 0 0 0 0<br />
6 Position error allowance 100 100 100 100 100 100 100 100 100 100 100 100<br />
7 Zero clamp 0 0 0 0 0 0 0 0 0 0 0 0<br />
8 Rotary direction 0 0 0 0 0 0 0 0 0 0 0 0<br />
9 Speed conversion factor 4800 4800 4800 4500 4500 4500 4000 4000 4000 3500 3500 3500<br />
A Speed limit 5000 5000 5000 4600 4600 4600 4100 4100 4100 3600 3600 3600<br />
b Torque limit 100 100 100 100 100 100 100 100 100 100 100 100<br />
Alarm logic 0 0 0 0 0 0 0 0 0 0 0 0<br />
d <br />
E <br />
F ABS multi-turn data clear 2500 2500 2500 2500 2500 2500 2500 2500 2500 2500 2500 2500<br />
Note: the values are available for 200V systems.<br />
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