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.