HarmonicDrive H A - 800A, Manual

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7-2 Details of status display mode
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7-2 Details of status display mode
The following explains details of the status display mode. Detailed explanations for simple items are omitted.
Refer to the [Status display mode list] (P7-1).
d01, 02: Error pulse count display
The deviation between command pulses and feedback pulses during position control is shown.d01
indicates the lower 4 digits, while d02 indicates the upper 4 digits.
The driver continues to output a rotation command until there is no longer difference (error pulse)
between the feedback pulses fed back from the encoder and command pulses output to the actuator.
d01 indicates the lower 4 digits, while d02 indicates the upper 4 digits.
Display example)
Relational items d05, d06, d07, d08
Command pulse+
Feedback pulse
－
Error pulse
Driver
UP MODE DOWN S E T
d01 (Low)
The lower 4 digits of the error pulse (multiplied by 4)
are shown.
Unit: Pulse (Example) = -10 pulses