HarmonicDrive H A - 800A, Manual

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A-1 Default settings
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A-1 Default settings
The standards parameter values set as a default for each applicable actuator are shown below.
SHA series (voltage: 200V)
Actuator model No. SHA20-SG SHA25-SG/HP
Actuator reduction ratio
51 81 101 121 161 11 51 81 101 121 161
Combined driver HA-800A-3D/E-200 HA-800A-3D/E-200
d13
Applicable actuator
Code
5311 5321 5331 5341 5351 5801 5011 5021 5031 5041 5051
AJ00
Position loop gain
(default)
40 40 40 40 40 40 40 40 40 40 40
AJ01
Speed loop gain
(default)
20 20 20 20 20 25 25 25 25 25 25
AJ02
Speed loop integral
compensation
(default)
20 20 20 20 20 20 20 20 20 20 20
AJ04
In-position range
(default)
150 150 150 150 150 150 150 150 150 150 150
SP49
Allowable position
deviation (default)
1500 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500
SP51
Speed input factor
(default)
6000 6000 6000 6000 6000 5600 5600 5600 5600 5600 5600
SP60
Automatic gain
(default)
0 0 0 0 0 0 0 0 0 0 0
SP61
Encoder monitor
Output pulses (default)
8192 8192 8192 8192 8192 8192 8192 8192 8192 8192 8192
SP69
Feed-forward control
function setting
0 0 0 0 0 0 0 0 0 0 0
Actuator model No. SHA32-SG/HP
Actuator reduction ratio
11 51 81 101 121 161
Combined driver HA-800A-6D/E-200
d13
Applicable actuator
Code
5811 5111 5121 5131 5141 5151
AJ00
Position loop gain
(default)
40 40 40 40 40 40
AJ01
Speed loop gain
(default)
56 56 56 56 56 56
AJ02
Speed loop integral
compensation
(default)
70 70 70 70 70 70
AJ04
In-position range
(default)
150 150 150 150 150 150
SP49
Allowable position
deviation (default)
1500 1500 1500 1500 1500 1500
SP51
Speed input factor
(default)
4800 4800 4800 4800 4800 4800
SP60
Automatic gain
(default)
0 0 0 0 0 0
SP61
Encoder monitor
Output pulses (default)
8192 8192 8192 8192 8192 8192
SP69
Feed-forward control
function setting
0 0 0 0 0 0
Actuator model No. SHA40-SG SHA40-SG
Actuator reduction ratio
51 81 101 121 161 51 81 101 121 161
Combined driver HA-800A-6D/E-200 HA-800A-24D/E-200
d13
Applicable actuator
Code
5211 5221 5231 5241 5251 5211 5221 5231 5241 5251
AJ00
Position loop gain
(default)
40 40 40 40 40 40 40 40 40 40
AJ01
Speed loop gain
(default)
80 80 80 80 80 8 8 8 8 8
AJ02
Speed loop integral
compensation
(default)
60 60 60 60 60 60 60 60 60 60
AJ04
In-position range
(default)
150 150 150 150 150 150 150 150 150 150
SP49
Allowable position
deviation (default)
1500 1500 1500 1500 1500 1500 1500 1500 1500 1500
SP51
Speed input factor
(default)
4000 4000 4000 4000 4000 4000 4000 4000 4000 4000
SP60
Automatic gain
(default)
0 0 0 0 0 0 0 0 0 0
SP61
Encoder monitor
Output pulses (default)
8192 8192 8192 8192 8192 8192 8192 8192 8192 8192
SP69
Feed-forward control
function setting
0 0 0 0 0 0 0 0 0 0