position / speed mode - Harmonic Drive LLC

Chapter 6Setting up parameters
6-4 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 powering, the [monitor mode] starts up. While the power is on, from the monitor mode as the main
screen, it is possible to switch to and from other modes.
The monitor mode indicates the following items.
Mode Code Position mode Setting Code Speed mode Setting
0 Error counter state 0 Error counter state
1 Motor revolutions 1 Motor revolutions
2 2 Speed command voltage
3 Error pulse count (Low) 3 Error pulse count (Low)
4 Error pulse count (High) 4 Error pulse count (High)
5 Torque monitor 5 Torque monitor
6 Overload rate 6 Overload rate
7 Feedback pulse (Low) 7 Feedback pulse (Low)
8 Feedback pulse (High)
Impossible
8 Feedback pulse (High)
Impossible
9 Command pulse (Low) 9
A Command pulse (High) A
b Command pulse frequency b
c I/O monitor c I/O monitor
d Alarm history d Alarm history
E Actuator code E Actuator code
F
F
Monitor mode
6-4-1 Operating in the monitor mode
After powering or finishing operations in other modes, the
drive automatically transfers to the [monitor mode].
Therefore, there is no special code for the [monitor mode].
Operation procedure
(1) To transfer to the [monitor mode] from other modes,
press the [SET] key after displaying the [END].
The monitor mode begins.
(2) Press the [UP] key or the [DOWN] key to change the
functional items of the monitor mode.
Every pressing the [UP] key shifts a code of the first
digit one by one from [0] to [E], and indicates a value
corresponding to the code.
Every pressing the [DOWN] key shifts a code of the
first digit one by one from [E] to [0], and indicates a
value corresponding to the code.
Details of display
1st digit
U P D O W N A D J S E T
Other modes
Monitor mode
6th digit
U P D O W N A D J S E T
1st digit: Codes in the mode.
Decimal point of the sixth digit:
When the point is on, the servo is active (ON) and the actuator is able to respond to a
command signal. When the point is off, the servo is inactive (OFF).
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