HarmonicDrive H A - 800A, Руководство пользователя

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7-6 Details of tune mode
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AJ05: Attained speed judgment value
Set the speed condition for outputting an attained speed output signal.
An attained speed judgment signal is output when the actuator's motor shaft rotation speed rises to the
attained speed judgment value or above. Output signals are assigned by SP20 to 26.(P6-10)
Set value Function Unit Default
1 to 9999
Set the condition for outputting an
attained speed output signal.
r/min 2000
Relational items SP20 to 26
AJ06: Attained torque judgment value
Set the torque condition for outputting an attained torque output signal.
An attained torque judgment signal is output when the actuator's output torque rises to the attained
torque judgment value or above. Output signals are assigned by SP20 to 26.(P6-10)
Set value Function Unit Default
1 to 100
Set the condition for outputting an
attained torque output signal.
% 50
Relational items SP20 to 26
AJ07: Zero speed judgment value
A zero speed output signal is output when the actuator's motor shaft rotation speed drops to the zero
speed judgment value or below. Output signals are assigned by SP20 to 26.(P6-10)
Set value Function Unit Default
0 to 100 Set the zero speed judgment value. r/min 10
Relational items SP20 to 26

Switching from the position control mode to other control mode, or from other
control mode to the position control mode, is prohibited unless a zero speed
output signal is output.