position / speed mode - Harmonic Drive LLC

Chapter 2Functions
Receiving a message from HA-655 driver
In case of requiring for data:
then ;
Data & 0Dh
q 0Dh
In case of not requiring for any data:
q 0Dh
(HA-655 host)
When processing for a command from the host is finished and the HA-655 driver can accept a next
command, the HA-655 driver responds to the host with “q 0dh” as described above. Then the HA-655
driver can accept the next command.
In spite of this, the HA-655 responds other codes as follows:
Note: “0” means zero.
Note: “0” means zero.
Note: “0” means zero.
- servo ON condition (the motor is energized): no processing and acknowledgement is “s 0Dh”;
- abnormal command form the host: acknowledgement is “x 0Dh”.
Absolute Data request
Command from the host:
Response from HA-655:
DGR+ 00000 0Dh
XX
0Dh
q 0Dh
The absolute resolvable position is the data calculated by the formula of:
Multi-turn count x 8192 + single turn count
(Note: XX
means a numerical data.)
If the position is negative (from an origin), the sign “-” is attached at the first position of the data, if it is
positive, no sign is attached. The data is expressed in the ASCII decimal codes.
The host device can acknowledge data termination with the code “q 0Dh”.
Note: The servo-ON signal is unaccepted until completing the transmission of a set of absolute pulse
trains by the [absolute data request] signal.
Multi-turn data clear
Command from the host:
OWW+ 00000 0Dh
Response from HA-655: q 0Dh for normal data clearing
x 0Dh
for abnormal data clearing
If the data clearing process completes normally, the code “q 0Dh” may be acknowledged to the host after
about 5 seconds from commanding.
If the process terminates abnormally, HA-655 driver acknowledges the code “x 0Dh” to the host, and quits
the multi-turn data clearing process.
The abnormal termination may occur at cases as follows:
- servo ON condition (the motor is energized);
- the actuator equips an incremental encoder;
Note: “0” means zero.
Note: “0” means zero.
Note: “0” means zero.
- the second multi-data commanding before receiving the acknowledgement for the first command
(duplicated commands).
By the multi-turn data clearing, a discrepancy between the resolvable position count in the memory of
HA-655 driver and the actual resolvable position count of the encoder comes into existence. To
synchronize them, shut off the control power once and turn it on again, or send a reset command
described below.
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