Harmonic Drive HA-520 Series, Technical Manual

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Chapter 7 Parameter details
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Chapter 7 Parameter details
7-1 Default setup parameters
The following table summarizes the default parameters:
Display Parameter name Unit
Actuator model
RSF-8 RSF-11 RSF-14
1/50 1/100 1/50 1/100 1/50 1/100
00 Position error allowance Pulse 30,000 30,000 30,000 30,000 30,000 30,000
01 In-position range Pulse 10 10 10 10 10 10
02 Position loop gain Note ｓ
－１
40 40 50 50 40 40
03
Speed loop proportional gain
Note 1 － 60 60 70 70 60 60
04 Speed loop integral gain Note 1 － 5 5 5 5 5 5
05 Speed loop action gain － 0 0 0 0 0 0
06 Speed feed forward factor － 0 0 0 0 0 0
07 Acceleration feed forward factor
－
0 0 0 0 0 0
08 Torque command filter － 0 0 0 0 0 0
09 Rotational direction command － 1 1 1 1 1 1
10 Electronic gear - numerator
－
1 1 1 1 1 1
11
Electronic gear -
denominator － 1 1 1 1 1 1
12 Speed step correction － 0 0 0 0 0 0
13 Torque step correction － 0 0 0 0 0 0
14 － Note 3 － 0 0 0 0 0 0
15 Forward torque limit Note 2 % 158 147 140 150 240 220
16 Reverse torque limit Note 2 % 158 147 140 150 240 220
19 JOG speed ｒ /min 500 500 500 500 500 500
20 JOG feed pulse count Pulse 100 100 100 100 100 100
24 Step correction switching range Pulse 4000 4000 4000 4000 4000 4000
28 Control input filter time constant ｍｓ 0 0 0 0 0 0
29 － Note 3 － 0 0 0 0 0 0
31 Command pulse input configuration － 2 2 2 2 2 2
33 －
Note 3
－ 0 0 0 0 0 0
38 Input pin logic setting
－
0 0 0 0 0 0
39 Output pin logic setting － 4 4 4 4 4 4
40 JOG acceleration/deceleration ｍｓ 500 500 500 500 500 500
41 CLEAR signal function selection
―
1 1 1 1 1 1
42 Multiplication of 2-phase pulse ― 4 4 4 4 4 4
43 JOG character-S selection ― 0 0 0 0 0 0
44 Communication condition ― 12 12 12 12 12 12
45 Speed limit Note 2 ｒ
/min
5100 5100 5100 5100 5100 5100
46 Dynamic break on/off
―
1 1 1 1 1 1
47 Regeneration brake on/off ― 0 0 0 0 0 0
Note: For the procedure for changing a parameter setting, refer to
“
Chapter 6, Operating the display panel".
Note 1: The actual setting varies with the AC servo actuator model. When changing the setting, consider this default
as the standard (guide setting).
Note 2: The maximum value that is determined, depending on the AC servo actuator model. No value above this can
beset.
Note 3: Do not change the setting. If it is changed, the alarm will be unable to operate normally.