HarmonicDrive H A - 800A, Manual

Page: 282 / 314

A-1 Default settings
A-5
A
ppendi
x
Apx
FHA-C 4-wire, wire-saving incremental series (voltage: 200V)
Actuator model No. FHA-17C FHA-25C FHA-32C FHA-40C
Actuator reduction ratio
50 100 160 50 100 160 50 100 160 50 100 160
Combined driver HA-800A-3C-200 HA-800A-3C-200 HA-800A-6C-200 HA-800A-6C-200
d13
Applicable actuator
Code
5217 5237 5247 5417 5437 5447 5617 5637 5647 5717 5737 5747
AJ00
Position loop gain
(default)
40 40 40 40 40 40 40 40 40 40 40 40
AJ01
Speed loop gain
(default)
25 25 25 50 50 50 80 80 80 120 120 120
AJ02
Speed loop integral
compensation
(default)
40 40 40 40 40 40 40 40 40 40 40 40
AJ04
In-position range
(default)
10 10 10 10 10 10 10 10 10 10 10 10
SP49
Allowable position
deviation (default)
100 100 100 100 100 100 100 100 100 100 100 100
SP51
Speed input factor
(default)
4800 4800 4800 4500 4500 4500 4000 4000 4000 3500 3500 3500
SP60
Automatic gain
(default)
0 0 0 0 0 0 0 0 0 0 0 0
SP61
Encoder monitor
Output pulses (default)
1 1 1 1 1 1 1 1 1 1 1 1
SP69
Feed-forward control
function setting
0 0 0 0 0 0 0 0 0 0 0 0
FHA-C 4-wire, wire-saving incremental series (voltage: 100V)
Actuator model No.
FHA-17C FHA-25C FHA-32C
Actuator reduction ratio
50 100 160 50 100 160 50 100 160
Combined driver HA-800A-3C-100 HA-800A-6C-100 HA-800A-6C-100
d13
Applicable actuator
Code
5117 5137 5147 5317 5337 5347 5517 5537 5547
AJ00
Position loop gain
(default)
40 40 40 37 37 37 50 50 50
AJ01
Speed loop gain
(default)
50 50 50 50 50 50 120 120 120
AJ02
Speed loop integral
compensation
(default)
40 40 40 40 40 40 40 40 40
AJ04
In-position range
(default)
10 10 10 10 10 10 10 10 10
SP49
Allowable position
deviation (default)
100 100 100 100 100 100 100 100 100
SP51
Speed input factor
(default)
4800 4800 4800 4500 4500 4500 4000 4000 4000
SP60
Automatic gain
(default)
0 0 0 0 0 0 0 0 0
SP61
Encoder monitor
Output pulses (default)
1 1 1 1 1 1 1 1 1
SP69
Feed-forward control
function setting
0 0 0 0 0 0 0 0 0
FHA-C absolute series (voltage: 200V)
Actuator model No.
FHA-17C FHA-25C FHA-32C FHA-40C
Actuator reduction ratio
50 100 160 50 100 160 50 100 160 50 100 160
Combined driver HA-800A-3A-200 HA-800A-3A-200 HA-800A-6A-200 HA-800A-6A-200
d13
Applicable actuator
Code
5218 5238 5248 5418 5438 5448 5618 5638 5648 5718 5738 5748
AJ00
Position loop gain
(default)
40 40 40 40 40 40 40 40 40 40 40 40
AJ01
Speed loop gain
(default)
25 25 25 50 50 50 80 80 80 120 120 120
AJ02
Speed loop integral
compensation
(default)
40 40 40 50 50 50 40 40 40 70 70 70
AJ04
In-position range
(default)
10 10 10 10 10 10 10 10 10 10 10 10
SP49
Allowable position
deviation (default)
100 100 100 100 100 100 100 100 100 100 100 100
SP51
Speed input factor
(default)
4800 4800 4800 4500 4500 4500 4000 4000 4000 3500 3500 3500
SP60
Automatic gain
(default)
0 0 0 0 0 0 0 0 0 0 0 0
SP61
Encoder monitor
Output pulses (default)
1 1 1 1 1 1 1 1 1 1 1 1
SP69
Feed-forward control
function setting
0 0 0 0 0 0 0 0 0 0 0 0