Specifications

Chapter 6 Setting up parameters
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[Monitor mode]
Error pulse count (low) (position / speed mode)
● Function
The fundamental functions of servomotors are for
positioning and rotation responding to a command signals.
A block diagram of servo motor control is shown as
follows:
Position commands in the position mode are input into the
HA-655 driver from a host as the “command pulse count.”
The HA-655 driver outputs rotation commands to the
actuator proportioning to the command pulses. When the
actuator starts rotation, the position sensor (encoder)
feeds back a current position into 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.”
This indicates the lower part of the current error pulse count.
● Details of display
1st digit: [3: error pulse count (low)]
2nd digit: No indication means positive counts, and [-] indicates negative counts.
3rd to 6th digit: Indicates current quadrate error pulse counts in pulse unit.
● 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 (Low)]
[Error counter state]: [Monitor mode]→[0:Error counter state]
Error pulse count (high) (position / speed mode)
● Function
This indicates the high part of an error quadrate pulse
count.
Combining with the [4:error pulse count (high)], the whole
quadrate error pulse count is indicated.
● Details of display
1st digit: [4: error pulse count (high)]
2nd digit: No indication means positive counts, and [-]
indicates negative counts.
3rd to 6th digit: Indicates current quadrate error pulse
counts in pulse unit.
HA-655
Command pulse+
Processing
FHA
Feedback pulses
-
Error counter
D O W N U P A D J S E T
Error pulse count (low)
Current
quadrate
error
pulse
co
unts
Unit: pulse
(ex.) Quadrate error pulse = 8
1st digit 6th digit
D O W N U P A D J S E T
Error pulse count (high)
1st digit 6th digit