position / speed mode - Harmonic Drive LLC

2-2Position mode
Chapter 2Functions
The HA -655 driver makes use of either the position control or the speed control. This section describes
the position mode. ( The default setting is the [position mode].)
Before driving, set the control mode by [parameter mode] [0: control mode].
2-2-1Command configuration in position mode
In the position mode, the command is transmitted from a host in the form of a digital pulse signal train.
The HA-655 driver provides two pair of two ports (CN2-27&28, CN2-29&30) for the command pulses.
Signals of three type of configurations are available for the ports.
Setting a command configuration
[Parameter mode][1: command configuration]
Relating I/O pins
Input pins: CN2-26 to 30
(1)2-pulse train (FWD and REV pulse train)
Two pairs of two terminals are provided, and each of FWD and REV pulse trains is assigned a pair
independently. FWD commands and REV commands are inputted in the pair of FWD ports and REV
ports respectively, as shown in the figure below. When signals are inputted to a pair of terminals, the
signal to the other should keep [OFF] state.
FWD command
REV command
Opt-isolator: OFF
FWD+
FWD-
Opt-isolator: OFF
REV+
REV-
(2)1-pulse train (polarity + pulse train)
One pair of terminals is assigned dedicatedly for command pulse train, and the other is assigned to a
sign for rotary direction. Position commands are inputted in the FWD port pair only and the REV port pair
accepts the sign of rotary direction, as shown in the figure below. [OFF] or [Low level] state is for the
FWD command and [ON] or [High] level is for the REV command.
FWD command
REV command
FWD+
FWD-
Opt-isolator: OFF
Opt-isolator: ON
REV+
REV-
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