position / speed mode - Harmonic Drive LLC

1-8-3 Functions in modes
Chapter 1Outlines of the HA-655 driver
Each mode individually provides the following functions of the position mode and the speed mode.
Mode Code Position mode Setting Code Speed mode Setting
0 Error counter state 0 Error counter state
1 Motor revolutions 1 Motor revolutions
2 2 Speed command voltage
3 Error pulse count (Low) 3 Error pulse count (Low)
4 Error pulse count (High) 4 Error pulse count (High)
5 Torque monitor 5 Torque monitor
6 Overload rate 6 Overload rate
7 Feedback pulse (Low) 7 Feedback pulse (Low)
8 Feedback pulse (High)
Impossible
8 Feedback pulse (High)
Impossible
9 Command pule (Low) 9
A Command pulse (High) A
b Command pulse frequency b
c I/O monitor c I/O monitor
d Alarm history d Alarm history
E Actuator code E Actuator code
F
F
Monitor mode
Tune mode
Parameter mode
Test mode
0 Speed loop gain 0 Speed loop gain
1 S-loop integral compensation 1 S-loop integral compensation Possible
2 Position loop gain Possible 2 Position loop gain
3 Feed-forward gain 3
4 In-position range
4
5 5 Attained speed
6 6 Internal speed command
7 7 Acceleration time constant Possible
8 8 Deceleration time constant
9 9 Speed command offset
0 Control mode 0 Control mode Possible
1 Command configuration 1
2 Multiplication of 2-phase pulse 2
3 Electronic gear - denominator Possible 3
4 Electronic gear - numerator 4
5 Error count cleared by S-ON 5
6 Position error allowance
6
7 7 Zero clamp
8 Rotary direction 8 Rotary direction
9 Speed conversion factor 9 Speed conversion factor
A Speed limit Possible A Speed limit
Possible
b Torque limit b Torque limit
c Alarm logic
c Alarm logic
d d
E E
f ABS multi-turn data clear Impossible f ABS multi-turn data clear Impossible
Jo JOG operation Possible Jo JOG operation Possible
SP JOG speed
SP JOG speed
Possible
Ac JOG acceleration
Ac JOG acceleration
Possible
InP Output port operation Possible InP Output port operation Possible
c I/O monitor Impossible c I/O monitor Impossible
An Analog monitor manual output Possible An Analog monitor manual output Possible
So Speed command auto-offset Possible So Speed command auto-offset Possible
- 9 -