Specifications

Chapter 6 Setting up parameters
- 86 -
[Monitor mode]
Feedback pulse (Low) (position / speed mode)
● Function
The fundamental functions of servomotors are positioning
and rotation responding to a command signal. A block
diagram of servo motor control is shown as follows:
[Feedback pulse] indicates a feedback quadrate pulse
count (accumulated) that is reset to [0] position when the
HA-655 driver is powered. As the count will become a
large number, the count is divided in two parts: low 4th
digit part and high part (up to 4th digits).
[7: Feedback pulse (Low)] indicates the low part, and
[8:feedback pulse (high)] indicates the high part.
● Details of display
1st digit: [7: Feedback pulse (Low)]
2nd digit: no indication: positive (forward) position, [-]: negative (reverse) position
3rd to 6th digit: Indicates a feedback quadrate pulse count (accumulated) that is reset to the [0] position
when the HA-655 driver powered.
Feedback pulse (High) (position / speed mode)
● Function
This indicates the high part of a feedback quadrate pulse
count (accumulated).
Combining with the [6:feddback pulse (Low)], the whole
pulse count is indicated.
The high part of the example is “1932” and the low part
“8930”, therefore the feedback quadrate count is
“19328930.”
● Details of display
Same as [7: feedback pulse (Low)]
● Related functions
[Command pulse]: [Monitor mode]→[9: Command pulse
(Low)], [A: Command pulse (High)]
[Error pulse count]: [Monitor mode]→[3:Error pulse count
(Low)], [4:Error pulse count (High)]
D O W N U P A D J S E T
[Feedback pulse (High)]
High part of feedback q
uadrate pulse
count
Unit: 4 times of feedback pulse
(ex.) High part of feedback quadrate
pulses = 1932
HA-655
Command pulse+
Processing FHA
Feedback pulses
-
Error counter
D O W N U P A D J S E T
Feedback pulse (Low)
Low 4th digit part of feedback
quadrate pulse count
Unit: 4 times of feedback pulse
(ex.) Low 4th digit part of feedback
quadrate pulses = 8930
1st digit 6th digit
1st digit 6th digit