position / speed mode - Harmonic Drive LLC

Chapter 6Setting up parameters
Chapter 6Setting up parameters
The display panel of the HA-655 driver is equipped with a six-digit LED display and four operation keys.
Monitoring information, tuning operations, setting operations, and jog operation are done using the
display panel.
6-1Summary of modes
The HA -655 driver provides the following four modes of monitor, tuning, parameter, and test:
Monitor mode
The HA-655 driver indicates position and speed commands, current position information from a
motor-encoder, pulse count in an error counter, input and output signal states, load condition, alarm
history, and the code number of the actuator. These are useful to diagnose the driver if it fails or operates
in an abnormal manner.
After power ON sequence is complete, the [monitor mode] starts up. While the power is active, the
monitor mode functions as the main screen switching from and to other modes.
Tuning mode
The tuning mode provides various parameters to control the actuator motion. Setting the most suitable
value for each parameter obtains the optimum performances of the actuator.
Parameter mode
The parameter mode sets various parameter values relating to the fundamental operational functions
such as: specifications of the position mode or the speed mode, configurations of input signals, an
electronic gear function, limiting values of speed and torque, and parameters to communicate with a
host.
Test mode
The test mode consists of required functions for system test, such as: JOG operation functions,
operations of pseudo output signals, and I/O signal monitors.
6-2Selecting a mode
After turning on the power, the [monitor mode] starts up automatically. The [ADJ] key and [SET] key
select a mode.
Powering
Monitor mode
ADJ
ADJ SET SET
3 sec. 3 sec.
3 sec.
Tune mode
Parameter mode
Test mode
SET
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