Specifications

Chapter 2 Functions
- 27 -
2-3 Speed mode
The HA-655 driver makes use of either the position control or the speed control. This section describes
the speed mode. (※ The default setting is the [position mode].
Before running, set the control mode by [parameter mode] → [0: control mode].
2-3-1 Speed conversion factor
In the speed mode, the command is sent from a host with an analog voltage signal. The [speed
conversion factor] converts the [speed command] voltage to motor speed.
The [speed conversion factor] is the motor speed when the [speed command voltage] is [10V]. The
actual motor speed is obtained by the following formula:
The [speed monitor] (SPD-MON: CN2-23pin) output voltage as follows:
● Setting
[Parameter mode]→[9: speed conversion factor]
2-3-2 Voltage of speed command
Input the voltage converted by the [speed conversion factor] into [CN2-31: speed command] and
[CN2-32: speed command common] pins. The [speed command voltage] is obtained by [parameter
mode]→[9: speed conversion factor].
◆ FWD enable and REV enable
The HA-655 driver provides [FWD enable] and [REV enable] input ports. The rotary direction of the
actuator is decided by the polarity of [CN2-31: speed command SPD-CMD] and ON/OFF states of [FWD
enable] and [REV enable] as shown in the table below:
CN2-31 Speed cmd.: SPD-
CMD
＋Command −Command
CN2-4 FWD enable: FWD-EN ON OFF ON OFF
ON Zero clamp, zero speed REV rotation Zero clamp, zero speed FWD rotation
CN2-5 REV enable:
REV-EN
OFF FWD rotation Zero clamp, zero speed REV rotation Zero clamp, zero speed
● Relating input pins
CN2-31: speed command, CN2-32: speed command common, CN2-4: FWD enable,CN2-5:REV enable
◆ Speed command offset
In the speed mode, the motor may rotate slightly in spite of a [0V] speed command voltage. This problem
may occur when the speed command voltage has an offset of a few milli-volts. This function removes the
slight rotation compensating the command voltage offset.
While inputting a [OV] command voltage adjust the speed command offset until the actuator stops
rotating.
[Speed command automatic offset] function is also provided.
● Setting
[Tune mode]→[9: speed command offset], [test mode]→[So: Speed command automatic offset]
10.0V
factorconversionSpeed
voltageCommandspeedMotor ×=
factorconversionSpeed
speedMotorvoltagemonitorSpeed
10.0V
×=
factorconversionSpeed
speedMotorvoltagecommandSpeed
10.0V
×＝