Product specifications

Chapter 6 Setting up parameters
HA-680_V04 - 85 -
20: Rotary diection (The power must be turned on again after setting a change.)
(position / speed / torque)
Function
This function specifies the rotary direction of the actuator when responding to rotary direction commands
(FWD or REV) of “Command input signal”.
The relation among them is as follows:
Setting FWD command REV command
0 FWD rotation REV rotation
1 REV rotation FWD rotation
Setting
unit Lower limit Upper limit Default
- 0 1 0
Note: The power must be turned on again after setting a change. The previous value is effective until
you turn on the power again.
21: Allowable position deviation (position)
Function
The [deviation counter] calculates [deviation count] subtracting the [feedback count] from the [position
command]. A large position deviation may result in an abnormality.
When the position error exceeds the [Allowable position deviation], a [max. deviation alarm] occurs and
the servo power shuts off.
The relation among the allowable position deviation, position loop gain, command pulse input factor, and
pulse command speed is determined by the following formula in a stationary state. Set an appropriate
maximum pulse command value according to the speed.
Allowable position deviation =
Pulse command speed [p/s]
Position loop gain
×
Command pulse input factor (numerator)
Command pulse input factor (denominator)
For the actuator that tries rotation by command pulse input, an alarm is outputted when the deviation
pulse exceeds the allowable value when rotation is not possible due to failure of the mechanism.
Setting
unit Lower limit Upper limit Default
Pulse 0 32767 30000