Product specifications

Chapter 6 Setting up parameters
HA-680_V04 - 79 -
09: Step correction switch range (position)
Function
This parameter specifies the amount of position deviation for the deviation counter where the following
will take effect: speed step correction ([Parameter] [07: Speed step correction]) and torque step
correction ([Parameter] [08: Torque step correction]).
The values of “Speed step correction” and “Torque step correction” become effective when the amount
of position deviation becomes bigger than those set values.
Setting
unit Lower limit Upper limit Default
Pulse 0 9999 4000
Note: For ordinary use, leave this parameter unchanged from 0.
10: Control mode (The power must be turned on again after setting a change.)
(position / speed / torque)
Function
The HA-680 driver can control the actuator in either the [position control], [speed control] or [torque
control]. This function selects an operating mode.
In the position control a command signal is composed of pulse trains, while in the speed mode or torque
mode it is composed of an analog voltage.
[0]: position control (factory default) [1]: speed control [2]: torque control
Setting
unit Lower limit Upper limit Default
- 0 5 0
Note 1: The power must be turned on again after setting a change. The previous value is effective until
you turn on the power again.
Note 2: The upper limit value is 5. However, do not use setting values 3, 4, and 5 because these are
reserved for the system.