position / speed mode - Harmonic Drive LLC

Chapter 4 Installing HA-655 driver
4-9Power ON and OFF sequences
Plan power ON and power OFF sequences with the timing shown in the figures below.
Power ON sequence >
Main power
OFFON
0ms(min)
Control power OFFON
4ms(max)
Ready
outputting
3ms(max)
Alarm
outputting
0ms(min)
Servo ON
inputting
Servo ON is available.
Commands
inputting
Commands are acceptable.
20ms(max)
>
Control power OFFON
0ms(min)
Main power
OFFON
4s(max)
Ready
outputting
3ms(max)
Alarm
outputting
ABS data request
inputting
0ms(min)
10ms(max)
90ms(max)
Phase-Z
outputting
840µs
84µs
Phase-A, -B
outputting
Note 1
Multi-turn
data
Note
1
Single turn data
note 2
Incremental
data
90ms(max)
Servo ON
inputting
Note 4
Servo ON
available.
Note 1: Both output signals of phase-A and phase-B are settled at LOW-level. To settle at LOW-level, at
least three pulses are outputted. Make a sequence for the host device ignoring outputted pulses
while the phase-Z is LOW-level before generating a unique pulse train, and during other
LOW-level duration of the phase-Z signal.
Note 2: An absolute pulse train for single-turn encoder is outputted after around 1 ms of outputting
phase-Z signal.
Note 3: The servo-ON signal is unaccepted until completing the transmission of a set of unique pulse
trains by the [absolute data request] signal.
Note 4: The [alarm 57] may occurs if the single-turn encoder rotates more than 127 resolvable position
while the multi-turn counter is transmitting a unique pulse train.
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