HarmonicDrive H A - 800A, Manual

Page: 197 / 314

8-2 Function extension parameter
8-8
1
2
3
4
5
6
7
8
9
10
11
Appe
Syst
em
p
aram
et
er
m
ode
Set value Function Default
0
Do not reverse the rotation direction.
Rotates forward (clockwise rotation) with forward (FWD)
command
0 1
Reverse the rotation direction.
Rotates in reverse (counter-clockwise rotation) with
forward (FWD) command.
2*
Reverse the coordinate direction.
Rotates in reverse (counter-clockwise rotation) with
forward (FWD) command.
*: With the SHA-SG/HP series, rotation is in the opposite directions from those above.
The following shows the range affected by command polarity.
○ : Affected by SP50 setting x: Not affected by SP50 setting
Input signals Display panel PSF-800
SP50 SP50 SP50
1 2 1 2 1 2
SP03: FWD inhibit
× ○
T04: JOG operation
× ×
JOG operation
× ×
SP04: REV inhibit
× ○
T09: Auto-tuning
○ ○
Program operation
× ×
SP05: FWD enable
○ ○
d00: Motor rpm
× ×
Auto-tuning
○ ○
SP06: REV enable
○ ○
d01,02: Error pulse
× ×
Status display
Motor rotation speed
× ×
SP07: FWD
selection
○ ○
d03: Output torque
× ×
Status display
Torque
× ×
SP08: REV
selection
○ ○
d05,06: Feedback pulse
× ×
Status display
Feedback pulse
× ×
Pulse command
pulse
○ ○
d07,08: Command pulse
× ×
Status display
Command pulse
× ×
Speed command
input
○ ○
d11: Speed command
voltage
× ×
Status display
Error pulse
× ×
Torque command
input
○ ○
d12: Torque command
voltage
× ×
Waveform monitoring
Feedback speed
× ×
Waveform monitoring
Command speed
× ×
Output signals
Waveform monitoring
Error pulse
× ×
SP50
1 2
FWD inhibit input in
effect
× ×
REV inhibit input in
effect
× ×
Current value data
output *1
× ○
Encoder monitor *2
× ×
13bitABS Current
value data output *3
× ×
Analog speed
monitor
× ×
Analog current
monitor
× ×
*1: Refer to [Outputting the current value data from the pins CN2-40 and 41] (P4-9).
*2: Refer to [Encoder phase A, B and Z signal outputs] (P4-11) (P4-21) (P4-28)
*3: For details, refer to [Outputting the current value data from the pins CN2-42 to 47 (HA-655 driver mode)]
(P4-19).