HarmonicDrive H A - 800A, Manual

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8-2 Function extension parameter
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8-2 Function extension parameter
The function extension parameters SP40 onward are explained below. For details on other system parameters,
refer to [Chapter 5 I/O signals].
Parameters
No
Name Default
SP40 CP9-CP3 output signal setting 00
SP41 Control mode switching setting 0
SP42 Command pulse input pattern setting 0
SP43 Multiplication of 2-phase input 1
SP44 Electronic gear 1 numerator 1
SP45 Electronic gear 1 denominator 1
SP46 Electronic gear 2 numerator 1
SP47 Electronic gear 2 denominator 1
SP48 Deviation clear upon servo-ON 1
SP49 Allowable position deviation *1
SP50 Command polarity 0
SP51 Speed input factor *1
SP52 Zero clamp 0
SP53 Torque input factor 100
SP54 Status display setting d00
SP55 DB enable/disable setting 1
SP56 External speed limit enable/disable 0
SP57 External torque limit enable/disable 0
SP58 System reservation *3 -
SP59 Angle compensation enable/disable setting 0
SP60
Automatic positioning gain setting
enable/disable setting
*1
SP61 Encoder monitor output pulses *1
SP62
SP63
System reservation *3 -
SP64
Regenerative resistor selection (HA-800-24
only)
0
SP65 FWD/REV inhibit operation 0
SP66 Absolute encoder function setting *4
SP67 Output shaft divide function setting 0
SP68 System reservation *3 -
SP69 Feed-forward control function setting *1
SP70
to
SP79
System reservation *3 -
*1: It varies depending on the applicable actuator. Refer to the values of applicable actuator that
are the targets of Appendix 1 [Default settings].
*2: The system parameters (SP00 to 79) are enabled by reconnecting the control power supply
after changing the setting.
*3: Do not change the parameters that are in the system reserved areas. The default setting of the
system reservation may vary depending on the model/version. If the set values change when
the parameters are transferred between different models, it does not affect the product functions.
To perform the data comparison with the backed up parameter files or writing the backed up
parameter files to the driver using PSF-800 communication software, refer to [10-5. Saving and
reading set values].
*4: HA-800A-*D: SP66=0, HA-800A-*E: SP66=1