HarmonicDrive H A - 800A, Manual

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7-2 Details of status display mode
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Appe
Stat
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spl
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d05, 06: Feedback pulse display
Feedback pulses from the encoder are shown.

Absolute encoder: The current encoder value is shown.

Incremental encoder: Cumulative feedback pulses since the power ON, multiplied by 4
d05 indicates the lower 4 digits, while d06 indicates the upper 4 digits.
Display example)
Display range: 0 to
±
99999999
When the feedback pulses increase to a 9-digit figure, the highest digit is ignored and only the lower 8
digits are shown.
d07, 08: Command pulse display
The command pulse value input to the driver is shown.

Absolute encoder: Current encoder value at the power ON, plus command pulses

Incremental encoder: 0 at the power ON, plus command pulses
d07 indicates the lower 4 digits, while d08 indicates the upper 4 digits.
Display example)
Display range: 0 to
±
99999999
When the command pulses increase to a 9-digit figure, the highest digit is ignored and only the lower 8
digits are shown.
Relational items d01, d02, d05, d06
Command pulse: [12345678] is shown.
UP MODE DOWN S E T
d08 (High) d07 (Low)
UP MODE DOWN S E T
UP MODE DOWN S E T UP MODE DOWN S E T
d06 (High) d05 (Low)
Feedback pulse: [19328930] is shown.