Specifications

Chapter 6 Setting up parameters
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[Monitor mode]
Command pulse (Low) (position mode)
● Function
The fundamental functions of servomotors are for
positioning and rotation responding to a command signal.
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 command is accumulated from the time of
powering. 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).
[9: Command pulse (low)] indicates the low part, and [A:
Command pulse (high)] indicates the high part.
● Details of display
1st digit: [9: Command pulse (Low)]
2nd digit: no indication: positive (forward) position, [-]: negative (reverse) position
3rd to 6th digit: Indicates a command count (accumulated) that is reset to the [0] position when the
HA-655 driver is powered.
Command pulse (High) (position mode)
● Function
This indicates the high part of the command pulse count
(accumulated).
Combining with the [9: command pulse (Low)], the whole
pulse count is indicated.
The high part of the example is “31” and the low part
“6802”, therefore the feedback quadrate count is
“316802.”
● Details of display
Same as [9: command pulse (Low)]
● Related functions
[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)]
HA-655
D O W N U P A D J S E T
Command pulse (Low)
Low 4th digit part of command pulse
count
Unit: pulse (accumulated)
(ex.) Low 4th digit part of comma
nd
pulses = 6802
D O W N U P A D J S E T
[Command pulse (High)
High part of command pulse count
Unit: pulse
(ex.) High part of
command pulses = 31
Command pulse+
Processing
FHA
Feedback pulses
-
Error counter
1st digit 6th digit
1st digit 6th digit