Specifications

Chapter 6 Setting up parameters
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6-4-2 Functions of the monitor mode
Error counter state (position / speed mode)
● Function
The fundamental functions of servomotors are for
positioning and rotation responding to command signals. A
block diagram of servo motor control is shown as follows:
Position commands in the position mode are inputted into
the HA-655 driver from a host as the “command pulse
count.” The HA-655 driver outputs rotation commands to
the actuator proportional to the command pulses. When
the actuator starts rotation, the position sensor (encoder)
feeds back a current position the HA -655 driver as the
"feedback pulse count.”
The HA-655 driver continues outputting rotation
commands to the actuator until there is no difference (error
pulse count) from command pulse count to feedback pulse
count.
The error counter calculates this error pulse count.
The error counter state indicates either speed or position
mode. In addition to the position mode, the current position
is inside or outside of the in-position range.
● Details of display
1st digit: [0:Error counter state]
2nd to 5th
digit: No indication
6th digit [P]: Indicates the current position is inside of the “in-position range” in the position mode.
[o]: Indicates the current position is outside of the “in-position range” in the position mode.
[S]: Indicates the current state in the speed mode.
● Related functions
[Command pulse]: [Monitor mode]→[9:Command pulse(Low)], [A: Command pulse(High)]
[Feedback pulse]: [Monitor mode]→[7:Feedback pulse(Low)], [8:Feedback pulse(High)]
[Error pulse count]: [Monitor mode]→[3:Error pulse count(Low)], [4:Error pulse count(High)]
[In-position range]: [Tune mode]→[In-position range]
HA-655
Command pulse+
Processing
FHA
Feedback pulses
-
Error counter
D O W N U P A D J S E T
Error counter state
Current posi
tion is inside the
“in-position range”
in the
position mode.
Current position is outside the
“in-position range”
in the
position mode.
Current state is in the speed
mode.
1st digit 6th digit