HarmonicDrive H A - 800A, Manual

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8-2 Function extension parameter
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SP40: CN9-CP3 output signal setting
Set the monitor output signal to pin 3 of CN9.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
Set value Description Default
01
Operation preparation
complete
00
02 Alarm output
03 In-position output
04 Attained speed output
05 Attained torque output
06 Zero speed output
07 Control mode output
SP41: Control mode switching setting
You can switch between 2 control modes among position control, speed control and torque control.
The control mode to switch to is determined according to the input signal for control mode selection
CON-SEL.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
Set value
Input signals
Status of control mode selection input
setting SP15
Default
Enable Disable
0 Speed control Position control
0 1 Torque control Position control
2 Torque control Speed control

Switching from the position control mode to another mode or from another control
mode to the position control mode is prohibited unless the motor rpm is equal to or
below the value set in [AJ07 zero speed judgment value].
The zero speed judgment function can be assigned to an output signal of CN2 via a
system parameter.