Quick Start with the HDM Software - Harmonic Drive LLC

STEP 1Basic setup continuedSelect Motor and Feedback optionsMotor Family = BrushlessFor RSF, SHA and FHAMotor Type = RotaryFor RSF, SHA and FHAHall type = DigitalFor standard incremental encoder with hallsMotor Encoder = Primary IncrementalOr select the appropriate feedback devicePosition Encoder = NoneThis is typically used for dual-loopfeedback systems2

STEP 1Basic setup continuedSelect the appropriateoperating mode for theapplication.Select additional optionsCommutation mode = SinusoidalMulti-mode port= Buffered Primary Encoder(for sending encoder signal out toanother device)= Differential Input(for master encoder input signal,Step & direction input, etc)Click Finish3

STEP 2To configure the amplifier for the specific motor/feedback:Please utilize the pre-engineered motor file designed specificallyfor the actuator and servo drive.To load the Actuator(motor) file from the HDM software:1. Click Motor/Feedback to open the Motor/Feedback screen.2. Click Restore Motor Data from Disk ,on the Motor/Feedback screenThe default installation folder isC:\ Program files\ Harmonic Drive\ HDM \ Motor Data4

STEP 2Continued3. Select the appropriate file and click Open4. Click Calculate5

STEP 2ContinuedThe Calculate function uses the motor and encoder values entered to calculatethe initial loop gains and limits. These can be modified later to fine-tune the amplifier.5. Click OK to load the values into volatile memory..6. On the main screen, click Save to flash to save theamplifier data too.6