HarmonicDrive H A - 800A, Manual

Page: 114 / 314

4-4 Incremental encoder
4-27
11
10
9
4
7
6
5
4
3
2
1
Encoder
s
yst
em
Startup
Parameters that must be set
Nothing in particular.
Startup procedures
1
Initializing the incremental encoder system
With incremental encoder systems using FHA-Cmini, FHA-C or RSF/RKF series actuators,
driver feedback pulses are reset to 0 (initialized) when the driver power supply is turned ON.
2
Checking originating operation
In order to link the actuator driver and the mechanical origin to each other, either perform
originating using the originating function of the host controller, or manage the coordinate data at
the host controller.
Set the origin in the following situations even if it's not during a start-up.

The control power supply has been turned ON

The driver has been replaced

The actuator has been replaced