position / speed mode - Harmonic Drive LLC

2-3Speed mode
Chapter 2Functions
The HA-655 driver makes use of either the position control or the speed control. This section describes
the speed mode. ( The default setting is the [position mode].
Before running, set the control mode by [parameter mode] [0: control mode].
2-3-1Speed conversion factor
In the speed mode, the command is sent from a host with an analog voltage signal. The [speed
conversion factor] converts the [speed command] voltage to motor speed.
The [speed conversion factor] is the motor speed when the [speed command voltage] is [10V]. The
actual motor speed is obtained by the following formula:
Speed conversion factor
Motor speed = Command voltage ×
10.0V
The [speed monitor] (SPD-MON: CN2-23pin) output voltage as follows:
Speed monitor
Setting
[Parameter mode][9: speed conversion factor]
2-3-2Voltage of speed command
Input the voltage converted by the [speed conversion factor] into [CN2-31: speed command] and
[CN2-32: speed command common] pins. The [speed command voltage] is obtained by [parameter
mode][9: speed conversion factor].
FWD enable and REV enable
The HA-655 driver provides [FWD enable] and [REV enable] input ports. The rotary direction of the
actuator is decided by the polarity of [CN2-31: speed command SPD-CMD] and ON/OFF states of [FWD
enable] and [REV enable] as shown in the table below:
CN2-31 Speed cmd.: SPD-CMD Command Command
CN2-4FWD enable:FWD-EN ON OFF ON OFF
CN2-5 REV enable: ON Zero clamp, zero speed REV rotation Zero clamp, zero speed FWD rotation
REV-EN OFF FWD rotation Zero clamp, zero speed REV rotation Zero clamp, zero speed
Relating input pins
CN2-31: speed command, CN2-32: speed command common, CN2-4: FWD enable,CN2-5:REV enable
Speed command offset
In the speed mode, the motor may rotate slightly in spite of a [0V] speed command voltage. This problem
may occur when the speed command voltage has an offset of a few milli-volts. This function removes the
slight rotation compensating the command voltage offset.
While inputting a [OV] command voltage adjust the speed command offset until the actuator stops
rotating.
[Speed command automatic offset] function is also provided.
Setting
voltage
10.0V
= Motor speed ×
Speed conversion factor
10.0V
Speed command voltage Motor
speed ×
Speed conversion factor
[Tune mode][9: speed command offset], [test mode] [So: Speed command automatic offset]
- 27 -