position / speed mode - Harmonic Drive LLC

Chapter 6Setting up parameters
6-5Tune mode
The tuning mode consists of various parameters to control the actuator motion. Setting the most suitable
value for each parameter will ensure the optimum performance of the actuator.
The tune mode indicates and sets the following items.
Mode Code Position mode Setting Code Speed mode Setting
0 Speed loop gain 0 Speed loop gain
1 S-loop integral compensation 1 S-loop integral compensation Possible
2 Position loop gain Possible 2 Position loop gain
3 Feed-forward gain 3
4 In-position range
4
5 5 Attained speed
6 6 Internal speed command
7 7 Acceleration time constant Possible
8 8 Deceleration time constant
9 9 Speed command offset
Tune mode
6-5-1Operating in the tune mode
Selecting operations of function items
(1) To transfer to the tune mode from the monitor mode,
press the [ADJ] key at least three seconds.
Transfers to the tune mode when there is no
indication on 4th to 6th digit.
(2) Press the [UP] key or the [DOWN] key to change the
functional items of the tune mode.
Every pressing the [UP] key shifts a code of the first
digit one by one from [0] to [9], and indicates a value
corresponding to the code.
Every pressing the [DOWN] key shifts a code of the
first digit one by one from [9] to [0], and indicates a
value corresponding to the code.
Function
(1) Transferring to the tune mode:
1st to 3rd digit: Indicates [AdJ].
4th to 6th digit: Indicates [-] throughout the transfer.
(2) For the tune mode:
1st digit: Codes in the mode.
Decimal point of the sixth digit:
If the decimal point of the sixth digit is ON,
the servo is active (ON) and the actuator
will respond to command signals. If the
decimal point is OFF, the servo is inactive
(OFF).
U P D O W N A D J S E T
U P
1st digit
Monitor mode
Tune mode
D O W N
6th digit
Press 3 seconds
A D J
S E T
U P
D O W N
A D J
S E T
Selecting a function
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