position / speed mode - Harmonic Drive LLC

HA655 series servo driver manual
Contents
Chapter 1
Outlines of the HA-655 driver
1
1-1 Main features
1
1-2 Ordering information
2
1-3 Combinations with actuators
2
1-4 Specifications of HA-655 drivers
3
1-5 External drawing of the HA-655drivers
4
1-6 Front panel
5
1-7 Outlines of I/O ports
6
1-8 Operating display panel
8
1-8-1 Outlines of operation modes
8
1-8-2 Selecting a mode
8
1-8-3 Functions in modes
9
1-9 Outlines of protective functions
10
Chapter 2
1-9-1 Alarms
10
1-9-2 Protective functions
11
Functions
13
2-1 Control system of the HA-655 driver
13
2-2 Position mode
14
2-2-1 Command configuration in position mode
14
2-2-2 Command transmitting system
16
2-2-3 Outputting encoder signal
16
2-2-4 Absolute encoder signals
17
2-2-5 Tuning servo gains
24
2-2-6 FWD inhibit and REV inhibit
26
2-2-7 In-position
26
2-3 Speed mode
27
2-3-1 Speed conversion factor
27
2-3-2 Voltage of speed command
27
2-3-3 Tuning servo gains
28
2-3-4 Command change
29
2-3-5 Acceleration / deceleration time constants
29
2-3-6 Zero clamp
29
2-4 Other functions
30
2-4-1 Indication of pulse counts
30
2-4-2 Manual JOG operation
30
2-4-3 Monitoring inputs and operating outputs
30
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