position / speed mode - Harmonic Drive LLC
position / speed mode - Harmonic Drive LLC
position / speed mode - Harmonic Drive LLC
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Chapter 6Setting up parameters<br />
Motor <strong>speed</strong><br />
[Monitor <strong>mode</strong>]<br />
(<strong>position</strong> / <strong>speed</strong> <strong>mode</strong>)<br />
Function<br />
The “motor <strong>speed</strong>” indicates the present motor <strong>speed</strong> in<br />
r/min.<br />
The actuator <strong>speed</strong> is obtained by dividing the motor<br />
<strong>speed</strong> by the reduction ratio of the actuator gear.<br />
1st digit<br />
6th digit<br />
Details of display<br />
1st digit: [1: Motor <strong>speed</strong>]<br />
2nd digit: No indication means positive counts, and [-]<br />
indicates negative counts.<br />
3rd to 6th digit:<br />
Indicates motor <strong>speed</strong> in r/min.<br />
U P D O W N A D J S E T<br />
Motor <strong>speed</strong><br />
Motor <strong>speed</strong> indication<br />
unit: r/min<br />
(ex.)1234r/min<br />
Speed command voltage<br />
Function<br />
This indicates the present <strong>speed</strong> command voltage (unit:<br />
V) to the HA-655 driver in the <strong>speed</strong> <strong>mode</strong>.<br />
The parameter [9: <strong>speed</strong> conversion factor] of parameter<br />
<strong>mode</strong> relates the <strong>speed</strong> command voltage and the motor<br />
<strong>speed</strong>.<br />
10V/ 10V: Motor maximum <strong>speed</strong>(forward/reverse)<br />
The actuator <strong>speed</strong> is obtained by dividing motor <strong>speed</strong> by<br />
the reduction ratio of the actuator. Therefore the actuator<br />
<strong>speed</strong> is obtained by the following formula:<br />
1st digit<br />
(<strong>speed</strong> <strong>mode</strong>)<br />
U P D O W N A D J S E T<br />
Speed<br />
voltage<br />
6th digit<br />
command<br />
Motor max. <strong>speed</strong><br />
Actuator <strong>speed</strong>=<br />
×<br />
Reductionratio<br />
Details of display<br />
Speedcommandvoltage<br />
10<br />
1st digit: [2: Speed command voltage]<br />
2nd digit: No indication means positive counts, and [-]<br />
indicates negative counts.<br />
3rd digit: No indication<br />
Speed command voltage<br />
unit: V<br />
(ex.)5.1V<br />
4th to 6th digit:<br />
Indicates [Speed command voltage](unit: V)<br />
Related functions<br />
[Speed conversion factor]: [Parameter <strong>mode</strong>][9:Speed conversion factor]<br />
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