HarmonicDrive H A - 800A, Manual

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4-2 17-bit absolute encoder
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Encoder
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Startup
Parameters that must be set
Parameter
No.
Name Function
SP61
Encoder monitor output
pulses
Set the phase A and B pulses to be output to the encoder monitor
output terminals (CN2-42 to 48) when the motor shaft of the 17-bit
absolute encoder turns one revolution.
Setting range: 1 to 8,192 (Default: 8192)
If this parameter is set to the maximum value of 8,192, the
resolution becomes 32,768 pulses (8,192 x 4). This corresponds to
one-fourth the resolution 131,072 of the 17-bit encoder.
SP66
Absolute encoder function
setting
A 17-bit absolute encoder can be set to be used as an incremental
encoder.
Setting range: 0, 1
0: Use as an absolute encoder.
(Default value on HA-800A-*D)
1: Use as an incremental encoder.
(Default value on HA-800A-*E)
SP67
Output shaft divide function
setting*
When using for position control combined with an SHA-CG series
unit, you can set the actuator resolution.
Setting range: 0 to 3 (Default value: 0)
0: According to electronic gear settings (SP14, SP44/SP45,
SP46/SP47)
1: Division of single output shaft rotation into 36,000 parts
(equivalent to 0.01 degree resolution)
2: Division of single output shaft rotation into 360,000 parts
(equivalent to 0.001 degree resolution)
3: Division of single output shaft rotation into 3,600,000 parts
(equivalent to 0.0001 degree resolution)
*: If you change the setting, the origin needs to be set again. Be sure to change the value before setting the
origin.
Startup procedures
1
Absolute encoder function setting (checking the backup battery
Set [SP66: Absolute encoder function setting] according to the method used, then turn the
power OFF, then ON again. For details, refer to [SP66: Absolute encoder function setting]
(P8-12).
When setting [SP66: Absolute encoder function setting] to 0 (default value on HA-800A-*D) and
using as an absolute encoder, open the operation panel cover and confirm that the backup
battery is installed.
If not, set one by referring to [How to replace the backup battery] (P3-24).
When setting [SP66: Absolute encoder function setting] to 1 (default value on HA-800A-*E) and
using as an incremental encoder, the backup battery is not required.
2
Initializing the absolute encoder system
When the power supply is turned ON for the first time, [AL81: System failure], [AL82: Single
revolution data error], [AL83: Multi revolution data error] and [UA91: Battery voltage low
warning] generate. It is necessary to initialize (multi revolution data clear) the errors. For details,
refer to [T08: Multi revolution clear] (P9-10).
When setting [SP66: Absolute encoder function setting] to 1 and using as an incremental
encoder, the backup battery is not required.
* UA91 will not occur on the SHA20 and FHA-Cmini series absolute type if the battery is
normal. If UA91 occurs, replace the battery.