HarmonicDrive H A - 800A, Manual

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6-1 Operating display panel
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6-1 Operating display panel
The front display panel has a 5-digit LED display and 4 operation keys. You can perform all display,
tuning, setting and other operations on this display panel.
Overview of modes
The display panel is operated in the 5 modes specified below.
Status display mode (d00 to d15)
Position/speed commands to the driver, current position information from the motor encoder,
condition of cumulative pulses in the deviation counter and code number of the actuator to be
combined are shown.
For details, refer to [Status display mode] (P7-1).
Alarm mode (AL, A1 to A8, AHcLr)
Present alarms and up to 8 most recent alarm histories are shown. Also, the alarm history can
be deleted in the alarm mode. We recommend to clear the alarm history after the system is
complete.
When an alarm occurs, the display panel switches to the alarm mode, regardless of the present
mode, and shows the present alarm code.
Various parameters can be displayed or changed even when an alarm is present.
For details, refer to [Alarm mode] (P7-9).
Tune mode (AJ00 to AJ59)
You can display or change the parameters for servo gains, internal speed commands, etc.
Tune mode parameters can be changed even when the actuator is operating. Changes are
reflected in real time.
For details, refer to [Chapter 7 Tune mode].
System parameters

Input signals (SP00 to SP19)
These parameters set the functions associated with the driver's input signals and their
assignments to CN2. The set values will become effective when the driver power supply is
reconnected.
For details, refer to [Input signals: System parameter SP00 to SP16] (P5-3).

Output signals (SP20 to SP39)
These parameters set the functions associated with the driver's output signals and their
assignments to CN2. The set values will become effective when the driver power supply is
reconnected.
For details, refer to [Output signals: System parameter SP20 to SP26] (P5-23).

Function extension signals (SP40 to SP79)
These parameters set switching in the control mode, electronic gear, extension of functions, etc.
The set values will become effective when the HA-800A driver power supply is reconnected.
For details, refer to [Function extension parameter] (P8-3).
Test modes (T00 to T11)
In the test mode, you can monitor I/O signals, operate output signals, initialize parameters, and
perform multi revolution clear and auto-tuning. You can also check the connection with the host
controller and operating status without having to drive the actuator.
For details, refer to [Chapter 9 Test mode].