HarmonicDrive H A - 800A, Manual

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8-2 Function extension parameter
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SP67: Output shaft divide function setting
When using for position control combined with an SHA-CG series unit, you can set the actuator
resolution.
The corresponding electronic gear value is set automatically from the output shaft divide function
setting and the applicable actuator.
For the operation commands and monitor signals affected by the output shaft divide function setting,
see the table on the next page.
The electronic gear (selected with SP44/SP45, SP46/SP47, SP14) and the output shaft divide function
cannot be combined. The electronic gear setting is only in effect when SP67=0.
Also, if you change the setting, the origin needs to be set again. Be sure to change the value before
setting the origin. For details on the origin setting, refer to [Origin setting] (P4-8).
When the output shaft divide function is set, set the output shaft speed referencing command pulse
frequency [Hz] = Output shaft speed [r/min]/60 x number of output shaft divisions.
Ex) With the SHA25A50CG (reduction ratio 50), to set SP67=2 and set the output shaft speed to 50
[r/min]
Command pulse frequency = 50 [r/min]/60 x 360000 = 300 [kHz]
* This is available for HA-800 software version 3.x or later.
* Changes to system parameter settings (SP00 to 79) are put into effect by changing the setting, then
turning control power supply OFF, then ON again.
Set value Function Unit Default
0
According to electronic gear settings (SP14,
SP44/SP45, SP46/SP47)
- 0
1
Division of single output shaft rotation into 36,000
parts (equivalent to 0.01 degree resolution)
2
Division of single output shaft rotation into 360,000
parts (equivalent to 0.001 degree resolution)
3
Division of single output shaft rotation into 3,600,000
parts (equivalent to 0.0001 degree resolution)