position / speed mode - Harmonic Drive LLC

Chapter 6Setting up parameters
[Monitor mode]
Command pulse (Low)
Function
The fundamental functions of servomotors are for
positioning and rotation responding to a command signal.
A block diagram of servo motor control is shown as
follows:
Error counter
HA-655
(position mode)
1st digit
6th digit
U P D O W N A D J S E T
Command pulse+
-
Processing
FHA
Command pulse (Low)
Feedback pulses
Position commands in the position mode are inputted into
The HA-655 driver from a host as the command pulse
count. The command is accumulated from the time of
powering. 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).
[9: Command pulse (low)] indicates the low part, and [A:
Command pulse (high)] indicates the high part.
Low 4th digit part of command pulse
count
Unit: pulse (accumulated)
(ex.) Low 4th digit part of command
pulses = 6802
Details of display
1st digit: [9: Command pulse (Low)]
2nd digit: no indication: positive (forward) position, [-]: negative (reverse) position
3rd to 6th digit: Indicates a command count (accumulated) that is reset to the [0] position when the
HA-655 driver is powered.
Command pulse (High)
(position mode)
Function
This indicates the high part of the command pulse count
(accumulated).
Combining with the [9: command pulse (Low)], the whole
pulse count is indicated.
1st digit
6th digit
The high part of the example is “31” and the low part
“6802”, therefore the feedback quadrate count is
“316802.”
Details of display
Same as [9: command pulse (Low)]
Related functions
[Feedback pulse]: [Monitor mode] [7: Feedback pulse
(Low)], [8: Feedback 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
[Command pulse (High)
High part of command pulse count
Unit: pulse
(ex.) High part of
command pulses = 31
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