HarmonicDrive H A - 800A, Manual

Page: 168 / 314

7-1 Status display mode
7-1
1
2
3
4
5
6
7
8
9
10
11
Appe
Stat
us di
spl
ay m
ode/
al
ar
m
m
ode/
tune m
ode
7-1 Status display mode
In the status display mode, position/speed commands to the driver, current position information from
the motor/encoder, condition of cumulative pulses in the deviation counter, I/O signal statuses, load
condition and code number of the actuator to be combined are shown, among others. These items
help diagnose errors and troubles.
Status display mode list
If the driver is normal when the power supply is turned ON, [d00: Motor rotation speed indication] is
shown.(Default setting)
To change the displayed items, set desired items by referring to [SP54: Status display setting] (P8-10).
Mode No. Name Description Default Unit Details
d00
Motor rotation speed
indication
The current rotation speed of the motor
shaft is shown. The rotation speed of the
actuator's output shaft is obtained by
dividing the displayed value by the
reduction ratio of the actuator.
Rotation direction signal
None: FWD
- : REV
-- r/min --
d01
Error pulse count
display (Low)
The number of error pulses in position
control is shown.
Deviation direction symbol
None: Deviation in REV rotation
- : Deviation in FWD rotation
-- pulse P7-3
d02
Error pulse count
display (High)
d03 Output torque monitor
The value of the output torque currently
generated by the actuator is shown.
100% indicates the specified maximum
output torque of the actuator.
Torque direction symbol
None: FWD torque
- : REV torque
-- % --
d04 Overload rate display
Current overload status of the actuator is
shown.
-- %
d05
Feedback pulse display
(Low)
The encoder feedback pulses are shown.
Absolute encoder:
The current encoder value is shown.
Incremental encoder:
Cumulative feedback pulses since the
power ON, multiplied by 4
-- pulse P7-5
d06
Feedback pulse display
(High)
d07
Command pulse display
(Low)
Command pulses to the driver are shown.
Absolute encoder:
Current encoder value upon power
ON, plus command pulses:
Incremental encoder
Cumulative command pulses since the
power ON corresponding to 0 pulses
-- pulse P7-5
d08
Command pulse display
(High)
d09
Command pulse
frequency display
The command pulse frequency input to
the command pulse input port is shown.
-- kHz --
d10
Main circuit power
voltage
The rectified main circuit power voltage is
shown.
-- V --
d11 Speed command voltage The speed command input voltage
currently input to the driver is shown.
-- V P7-6
d12
Torque command
voltage
The torque command input voltage
currently input to the driver is shown.
-- V P7-6
d13 Applicable actuator code The actuator code number is shown. -- -- P7-7