HarmonicDrive H A - 800A, Руководство пользователя

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5-7 Monitor output
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Appe
I/O
si
gnal
s
Analog waveform monitoring
Monitored analog speed/current waveforms can be output from the CN9 connector.
An optional monitor cable is available for observing waveforms using an oscilloscope.
Model code: EWA-MON01-JST4
Speed monitor: SPD-MON
The port outputs a voltage signal proportional to the motor rotation speed (speed input factor
per 10V). The relationship of output voltage and rotation speed is determined by the value set in
[SP51: Speed input factor] (For details, refer to P8-9). Take note that the output remains
unstable after the power is input until the [Servo-ON input enable: S-READY] signal is output. (A
maximum of approx. ±15V may be output.)

Specifications
Output voltage range: -10 to +10V
Output impedance: 1kΩ

Connection method
Plug the connector for the optional monitor cable (EWA-MON01-JST4) into CN9 and check the
waveform between [CN9-1 speed monitor: SPD-MON] and [CN9-4 monitor ground: GND] using
an oscilloscope.
Current monitor: CUR-MON
The motor current is output as voltage. The voltage is output based on the maximum motor
current being +10V. Take note that the output remains unstable after the power is input until the
[Servo-ON input enable: S-READY] signal is output. (A maximum of approx. ±15V may be
output.)

Specifications
Output voltage range: -10 to +10V
Output impedance: 1kΩ

How to connect
Plug the supplied connector into CN9 and check the waveform between [CN9-2 current monitor:
CUR-MON] and [CN9-4 monitor ground: GND] using an oscilloscope.
SPD-MON
GND
1
4
Ω
CN9
CUR-MON
GND
2
4
Ω
CN9
10.0V
Speed input factor
Speed monitor output voltage
Motor rotation speed (r/min) =
×
Max. current
Actuator current Current monitor output voltage (V) =
×
10.0V