Specifications

Chapter 6 Setting up parameters
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[Monitor mode]
Command pulse frequency (position mode)
● Function
The fundamental functions of the 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
[CN2 26-30] pin of the HA-655 driver from a host as the
“command pulse count.”
The monitor indicates the command pulse frequency in
kp/s unit. The limit of the frequency is as follows:
Line driver command: 500 kp/s
Open collector command: 200 kp/s
Note: The maximum actuator speed limits the frequency also.
● Details of display
1st digit: [b: Command pulse frequency]
2nd digit: No indication
3rd to 6th digit: Command pulse frequency (unit: kp/s)
● Related functions
[Command pulse]: [Monitor mode]→[9: Command pulse (Low)], [A: Command pulse (High)]
HA-655
D O W N U P A D J S E T
Comm
and pulse
frequency
Command pulse frequency
Unit: kp/s
(ex.) Command pulse frequency
= 30kp/s
Command pulse+
Processing
FHA
Feedback pulses
-
Error counter
1st digit 6th digit