HarmonicDrive H A - 800A, Manual

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4-2 17-bit absolute encoder
4-7
11
10
9
4
7
6
5
4
3
2
1
Encoder
s
yst
em
3
Setting the parameters
Set [SP61: Encoder monitor output pulses] and [SP67: Output shaft divide function setting*]
according to the method used, then turn the power OFF, then ON again to put the parameter
into effect. For details, refer to [SP61: Encoder monitor output pulses] (P8-11), [SP67: Output
shaft divide function setting] (P8-13), and [Output signal pulses] (P4-11).
*: If you change the setting, the origin needs to be set again. Be sure to change the value
before setting the origin.
4
Origin setting
Set the origin in order to link the actuator driver and the mechanical origin.
1. Using as an absolute encoder (SP66=0)
For the origin setting method, refer to [Origin setting] (P4-8).
2. Using as an incremental encoder (SP66=1)
In order to establish the relationship between the actuator driver and the machine origin, use the
return-to-origin function on the host controller to execute a return to origin and manage the
coordinates with the host controller.

When the control power supply is turned ON

When the driver has been replaced

When the actuator has been replaced