Specifications

Chapter 1 Outlines of the HA -655 driver
- 9 -
1-8-3 Functions in modes
Each mode individually provides the following functions of the position mode and the speed mode.
Mode Code Position mode Setting
Code
Speed mode Setting
0 Error counter state 0 Error counter state
1 Motor revolutions 1 Motor revolutions
2 ―――
2
Speed command voltage
3 Error pulse count (Low) 3 Error pulse count (Low)
4 Error pulse count (High) 4 Error pulse count (High)
5 Torque monitor 5 Torque monitor
6 Overload rate 6 Overload rate
7 Feedback pulse (Low) 7 Feedback pulse (Low)
8 Feedback pulse (High) 8 Feedback pulse (High)
9 Command pule (Low)
9
―――
A Command pulse (High)
A
―――
b Command pulse frequency
b
―――
c I/O monitor c I/O monitor
d Alarm history d Alarm history
E Actuator code E Actuator code
Monitor mode
F ―――
Impossible
F
―――
Impossible
0 Speed loop gain 0 Speed loop gain
1 S-loop integral compensation 1 S-loop integral compensation
2 Position loop gain 2 Position loop gain
Possible
3 Feed-forward gain
3
――― ―――
4 In-position range
Possible
4
――― ―――
5 ――― ―――
5
Attained speed
6 ――― ―――
6
Internal speed command
7 ――― ―――
7
Acceleration time constant
8 ――― ―――
8
Deceleration time constant
Tune mode
9 ――― ―――
9
Speed command offset
Possible
0 Control mode 0 Control mode Possible
1 Command configuration
1
――― ―――
2 Multiplication of 2-phase pulse
2
――― ―――
3 Electronic gear - denominator
3
――― ―――
4 Electronic gear - numerator
4
――― ―――
5 Error count cleared by S-ON
5
――― ―――
6 Position error allowance
Possible
6
――― ―――
7 ――― ―――
7
Zero clamp
8 Rotary direction 8 Rotary direction
9 Speed conversion factor 9 Speed conversion factor
A Speed limit A Speed limit
b Torque limit b Torque limit
c Alarm logic
Possible
c Alarm logic
Possible
d ――― ――― d ――― ―――
E ――― ――― E ――― ―――
Parameter mode
f ABS multi-turn data clear Impossible f ABS multi-turn data clear Impossible
Jo JOG operation Possible Jo JOG operation Possible
SP JOG speed SP JOG speed
Ac JOG acceleration
Possible
Ac JOG acceleration
Possible
InP Output port operation Possible InP Output port operation Possible
c I/O monitor Impossible c I/O monitor Impossible
An Analog monitor manual output Possible An Analog monitor manual output Possible
Test mode
So Speed command auto-offset Possible So Speed command auto-offset Possible