HarmonicDrive H A - 800A, Manual

Page: 129 / 314

5-3 Details of input signals
5-12
1
2
3
4
5
6
7
8
9
10
11
Appe
I/O
si
gnal
s
P: Position control S: Speed control T: Torque control
Parameter
No.
Signal name
(Abbreviation)
Function
Default
setting
Applicable
control
mode
SP07 FWD selection
(FWD-SEL)
This parameter determines the operating status of the
actuator relative to the torque command value
according to the input status of FWD/REV selection
signals while the actuator is operating in the torque
control mode.
If FWD/REV selection is assigned to a CN2 input pin
with [SP07: FWD selection input setting] or [SP08:
REV selection input setting], the operating status of
the actuator is determined according to the set
operation or whether the signal is enabled or
disabled. (The table below is for when [SP50:
Command polarity] is 0; when SP50=1 or 2, the
polarities are the reverse of those in the table below.)
Signal input
External (analog)
torque command
input
Operation
directions
Operating
status
FWD
selection
SP07
REV
selection
SP08
Enabled Disabled
External torque command
(positive voltage) Zero
torque
External torque command
(negative voltage)
Enabled Disabled
External torque command
(positive voltage)
FWD
rotation
External torque command
(negative voltage)
REV
rotation
Disabled Enabled
External torque command
(positive voltage)
REV
rotation
External torque command
(negative voltage)
FWD
rotation
Disabled Disabled
External torque command
(positive voltage) Zero
torque
External torque command
(negative voltage)
0006 T
SP08 REV selection
(REV-SEL)
0007
SP09 Internal speed
command
selection 1
(SPD-SEL1)
The driver lets you select a rotation speed command
input proportional to an external command voltage
value or one of three internal speed command values
that have been set.
For internal speed commands, set desired motor
shaft rotation speeds (r/min) in [AJ8, 9 and 10:
internal speed commands 1, 2 and 3].
In the speed control mode, one of the external speed
command and internal speed commands 1, 2 and 3
shown in the table below is selected according to the
input status of internal speed command selections 1
and 2.
Internal speed
command
selection 1
Internal speed
command
selection 2
Selected
speed
command
Disable Disable
External speed
command
Enable Disable
Internal speed
command 1
Disable Enable
Internal speed
command 2
Enable Enable
Internal speed
command 3
0000 S
SP10 Internal speed
command
selection 2
(SPD-SEL2)
0000