HarmonicDrive H A - 800A, Manual

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7-6 Details of tune mode
7-16
1
2
3
4
5
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7
8
9
10
11
Appe
Stat
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ode
AJ08 to 10: Internal speed command 1 to 3
Set the speed command for speed control without using any external speed command (analog voltage
speed command). This function is useful when performing a trial run or diagnosing the system using
the actuator alone. Set SP09 and SP10 to operate the actuator accordingly.(P5-12)
During position control, the value set here functions as the speed limit. During position control, the
speed can be limited by the internal speed command input 1 or 2. Set SP11 and SP12 to execute the
limit functions.(P5-13)
Set value Function Unit Default
1 to maximum rotational
speed of applicable
actuator x Reduction ratio
*
Set the internal speed
command.
r/min 500/1000/1500
Relational items SP09, SP10,SP11,SP12, SP20 to 26
*: No negative values are allowed.
AJ11: Torque limit
During position control or speed control, the torque is limited to the set torque limit when the internal
torque limit input is enabled. Set SP13 for internal torque limit input.(P5-14)
Set value Function Unit Default
1 to 100 Set the torque limit. % 100
Relational items SP13, SP20 to 26

If torque is limited during position control, depending on the set torque limit the
error pulses may increase and the actuator behavior may become unstable the
moment the torque limit input is cancelled. Carefully set the torque limit to be
applied during position control.