Harmonic Drive HS-360 Series, Руководство пользователя

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Chapter 7 Parameter details
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7-2 Parameter details
Position error allowance
●
Function
This parameter specifies the allowable range of the difference (i.e., position error) between the
command and feedback pulses in the control system.
If the position error exceeds this setting, [07: Excessive error alarm] is displayed. In this case, the
servo shuts off, and the “ALARM” (CN1-10 pin) is output.
The relationship between the position error allowance, position loop gain, and electronic gear, and
pulse command speed is determined by the following formula in the stationary state; a value
matching the speed must be set for the maximum pulse command:
In addition, rotary operation is no longer enabled due to a mechanical failure against the actuator
that attempts rotary operation by the command pulse input, and an alarm is output when the error
pulse exceeds the allowance.
●
Setting
Unit Lower limit Upper limit Default
Pulses 0 32767 15000
In-position range
●
Function
When the difference (i.e., position error) between the command and feedback pulses decreases
below this setting, the in-position signal “IN-POS” (CN1-11 pin) is output.
This value is only used to monitor the position error state.
It does not directly relate to rotational control of the DC servo actuator.
●
Setting
Unit Lower limit Upper limit Default
Pulses 0 9999 20
Electronic gear - denominator
Electronic gear - numerator
Position loop gain
Pulse command speed
Position error allowance
 
(p/s)