position / speed mode - Harmonic Drive LLC

Chapter 6Setting up parameters
[Monitor mode]
Feedback pulse (Low) (position / speed mode)
Function
The fundamental functions of servomotors are positioning
and rotation responding to a command signal. A block
diagram of servo motor control is shown as follows:
1st digit
6th digit
Error counter
HA-655
Command pulse+
-
Processing
FHA
U P D O W N A D J S E T
Feedback pulses
Feedback pulse (Low)
[Feedback pulse] indicates a feedback quadrate pulse
count (accumulated) that is reset to [0] position when the
HA-655 driver is powered. As the count will become a
large number, the count is divided in two parts: low 4th
digit part and high part (up to 4th digits).
[7: Feedback pulse (Low)] indicates the low part, and
[8:feedback pulse (high)] indicates the high part.
Details of display
1st digit: [7: Feedback pulse (Low)]
2nd digit: no indication: positive (forward) position, [-]: negative (reverse) position
3rd to 6th digit: Indicates a feedback quadrate pulse count (accumulated) that is reset to the [0] position
when the HA -655 driver powered.
Feedback pulse (High)
Low 4th digit part of feedback
quadrate pulse count
Unit: 4 times of feedback pulse
(ex.) Low 4th digit part of feedback
quadrate pulses = 8930
(position / speed mode)
Function
This indicates the high part of a feedback quadrate pulse
count (accumulated).
Combining with the [6:feddback pulse (Low)], the whole
pulse count is indicated.
1st digit
6th digit
The high part of the example is “1932” and the low part
“8930”, therefore the feedback quadrate count is
“19328930.”
Details of display
Same as [7: feedback pulse (Low)]
Related functions
[Command pulse]: [Monitor mode] [9: Command pulse
(Low)], [A: Command pulse (High)]
[Error pulse count]: [Monitor mode][3:Error pulse count
(Low)], [4:Error pulse count (High)]
U P D O W N A D J S E T
[Feedback pulse (High)]
High part of feedback quadrate pulse
count
Unit: 4 times of feedback pulse
(ex.) High part of feedback quadrate
pulses = 1932
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