HarmonicDrive H A - 800A, Manual

Page: 131 / 314

5-3 Details of input signals
5-14
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
SP13 Torque limit
(TRQ-LMT)
The driver can limit the output torque to the value set
in [AJ11: Torque limit value] or less.
If this signal is assigned to CN2, the actuator's output
torque is limited according to the set operation based
on whether the signal is enabled or disabled.
Torque limit
input
Control
modes
Operation
Disable
Position
control
The torque is limited to
the external torque
limit.*
Speed
control
The torque is limited to
the external torque
limit.*
Torque
control
The torque is not
limited.
Enable
Position
control
The torque is limited to
the set torque limit
value.
Speed
control
The torque is limited to
the set torque limit
value.
Torque
control
The torque is limited to
the set torque limit
value.
*: This is the operation when [SP57: External torque
limit enable/disable] is set to 1 (enable).If this
parameter is set to 0 (disable), torque limit is not
performed.
0000 P.S
SP14 Electronic gear
selection
(G-SEL)
The driver has 2 types of built-in electronic gear
functions to allow the actuator resolution to be
changed electrically during position control. If this
signal is assigned to CN2, you can select one of 2
built-in electronic gears according to the set operation
or whether the signal is ON or OFF. The electronic
gear selection function is enabled even when the
signal is not assigned to CN2.
Electronic gear
selection input
Operation
Disable Electronic gear 1 is selected.
Enable Electronic gear 2 is selected.
Electronic gear 1 is determined by the values set in
system parameters SP44 and SP45.
Electronic gear 2 is determined by the values set in
system parameters SP46 and SP47.
For details, refer to [SP44 to 47: Electronic gear
setting](P8-6).
* With the SHA-CG series, [SP14: Electronic gear
selection] is only enabled when [SP67: Output
shaft divide function setting] is 0 (default value).For
details, refer to [SP67: Output shaft divide function
setting] (P8-13).
0000 P