HarmonicDrive H A - 800A, Manual

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8-2 Function extension parameter
8-6
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Appe
Syst
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p
aram
et
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m
ode
SP44 to 47: Electronic gear setting
This can be set to make the displacement of the driven actuator mechanism per input pulse an integer.
Use [SP14: Electronic gear selection input] to select electronic gear 1 or 2.
With the SHA-CG series, electronic gear selection is enabled when [SP67: Output shaft divide function
setting] is 0 (default value).For details, refer to [SP67: Output shaft divide function setting] (P8-13).
Rotary operation
360
1
resolution Actuator
mechanism load of ratio Reduction
pulse input per angle Travel
(SP45) 1 r denominato gear Electronic
(SP44) 1 numerator gear Electronic
× × =
Linear operation
1 resolution Actuator
mechanism load of pitch Feed
pulse input per distance Travel
(SP45) 1 r denominato gear Electronic
(SP44) 1 numerator gear Electronic
× × =
Set integers for both the denominator and numerator based on this formula: Electronic gear numerator
2 (SP46)/electronic gear denominator 2 (SP47) shall also conform to the above formula.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
Parameter No. Name Set value Default
44
Electronic gear 1
numerator
1 to 9999 1
45
Electronic gear 1
denominator
46
Electronic gear 2
numerator
47
Electronic gear 2
denominator
The electronic gear is a function that sets and changes the amount the actuator rotates for 1 operation
command pulse from the host device. In the factory status, the actuator output shaft rotates through
single revolution when the number of pulses for the output shaft resolution (depends on the actuator)
is input.
Ex
）
To set FHA-25C-100-E250 (output shaft resolution: 1000000 pls/r) to 360,000 pls/r (0.001
deg/pulse)
If [SP44: Electronic gear 1 numerator] is set to [25] and [SP45: Electronic gear 1 denominator] is set to
[9], the FHA-25C-100-E250 resolution can be used treated as [360,000 pls/r].
Also, set the output shaft rotation speed referencing command pulse frequency [Hz] = output shaft
rotation speed [r/min]/60 x number of output shaft divisions.
The permitted command pulse input frequency on the HA-800A is 1 MHz (for the line collector type;
200 kHz for the open collector type), so the max. motor rpm is restricted to max. motor rpm [r/min] = 1
x 106 / encoder resolution 217 x 60 x electronic gear ratio.
360000 (resolution)
1000000 (actuator resolution)
=
9
25