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Dedicated operation data configuration

software for HA-670/675

PSF-670 Manual

● Thank you for employing the data configuration software

PSF-670 for HA-670/675.

● Product specifications are subject to change without notice for

improvement purposes.

● Keep this manual safely.

● The end user of the driver should have a copy of this manual.

ISO certification obtained

Introduction

i486 and Pentium are trademarks or registered trademarks of Intel Corporation.

Microsoft, Windows, Windows NT are registered trademarks of Microsoft

Corporation in U.S.A and other countries.

HA-655, HA-675, PSF-670 and TBX-670 are trademarks or registered

trademarks of Harmonic Drive Systems.

Other company names and product names described are trademarks or

registered trademarks of their respective companies.

This manual may not be copied or duplicated in any format, in whole or in part,

without the prior written approval of Harmonic Drive Systems.

Information in this manual is subject to change without prior notice.

The copyright of this software is held by Harmonic Drive Systems.

This software may be copied and used by only those companies who have

purchased and use HA-670 or HA-675.

We accept your opinions and requests on this product through the following

means.

□ Harmonic Drive Homepage Move to the catalog request page from http://www.hds.co.jp, fill in your

opinion and requests in the correspondence column and click the send

button.

□ E-Mail Fill in your opinion and requests by e-mailing us at: [email protected].

□ FAX Send a form to the address of any office listed on the rear cover of this

manual.

Note that we do not respond to any individual questions.

Contact any branch office or our service division, listed on the rear cover of this

manual, for any questions and problems relating to this product.

Contents

Contents

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1 Required environment

2 Pre-installation check

2 Installation start

5 When you have installed the software

6 Deleting the program

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8 Creation of operation data screen

24 Parameter setting screen

38 Travel amount correction screen

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41 Examples of setting trapezoidal drive

42 Examples of setting mixed operation patterns

Setup

1

This chapter describes the required environment and notes in order to setup 670.

Required environment You must have the following environment in order to properly operate PSF-670.

You should use the software in the following environment; otherwise the system may not function

properly.

Operating environment

Computer PC equipped with i486TMDX4 [Pentium or better recommended] and a built-in RS-232C communication port (com1 used)*1

OS Windows 95/98/ME, Windows NT/2000 and Windows XP

Memory More memory space than is required by the respective OS

Hard disk 3MB or more available space (Additional space is required to save parameters.)

Display 256 or more colors

Microsoft Mouse, Microsoft IntelliMouse or compatible pointing device

A printer that can operate under the specified OS to print the created data

*1 com1 is used by default. If com1 is not available on a notebook PC, open Psf_670.ini file, which

is installed according to the installation procedure, with editor or other application and change

“port=” in the fifth line.

[System]

SysID='HA-670'

[SIO]

Port=1

Dlg=1

Log=1

Change this.

Setup

2

This chapter describes setup of PSF-670.

Pre-installation check

Start Windows.

You need to start Windows to start the installation program. If you have started your PC with

another OS, restart with Windows.

To set up the software on Windows NT

You need to log in with a user name belonging to the administrators’ group.

Check the detail with the system administrator who controls the network.

Exit from all active applications.

The setup may not successfully complete if there is an active application during the PSF-670

setup.

Installation start

You can download the PSF-670 from our website (http:www/hds.co.jp).

The downloaded files are compressed, so extract them into an appropriate folder. Thereafter, run

SETUP.EXE to set up the software according to the on-screen instructions.

(1)

The installation screen starts. Check the detail and click [Next] if everything is OK.

Setup

3

(2)

(3)

Enter a user name and organization name and click [Next].

Specify a destination directory. Click [Reference] to change the displayed directory.

Click [Next] if you have specified a destination.

Setup

4

(4)

(5)

(6)

The default folder name is displayed. Specify a folder name and click [Next] to change the name.

When the installation information is displayed, check it and click [Next].

The installation progress status is displayed.

Setup

5

(7)

When you finish the setup When you have finished setup, start PSF-670 and exit from it to check that it has been correctly set

up.

Starting PSF-670

Click the start menu of Windows, click [PSF-670] of the setup group name (the default is

H.D.Systems) among programs and check that the following startup screen starts.

If you fail to start it, delete the program (See deleting the program) and set it up again.

Terminating PSF-670 Click the check mark (X) on the top right corner of the start screen to terminate the program.

If the program does not terminate, press the [Ctrl], [Alt] and [Delete] keys on the keyboard

simultaneously to forcibly terminate PSF-670, delete the program (see the section on deleting the

program) and re-install it.

If you can successfully start and terminate the program after installation, you have set it up.

When the installation completion message is displayed. Click [Finish].

Setup

6

Deleting the program Follow the steps below to delete PSF-670 from the hard disk. Once you have deleted the program,

you will no longer be able to start PSF-670 from the computer. Follow the installation procedure to

install it to restart the program.

(1)

(2)

Start up the Control panel.

Click [Add/delete program], select PSF-670 and click the [Delete] button to delete PSF-670 from the hard disk of your computer.

Setup

7

MEMO

Operating program (Description of screen, Creation of operation data)

8

When you start PSF-670, [Operation data creation screen] starts to create operation data. PSF-670 provides [Travel correction screen] to fine adjust the preset travel data and [Parameter setting screen] to set parameters. The details are described below.

Operation data creation screen

Menu Menu icons Operation data setting frame


9

Menu

Select various types of operations of PSF-670 from the menu. The menu is shown in detail below. File menu

Discard the operation data under edit and create new data.

Read the operation data saved in the computer and display it in the operation data setting frame.

Save the operation data under edit on the disk of the computer.

Read the operation data under edit from the disk of the computer and save it in the same name.

Output the operation data under edit and parameters set on the parameter setting screen to a printer. They are outputted to two sheets of A4 paper.

Exit from the program.

Edit menu

Delete the data to be edited (yellow frame) in the operation data setting frame and copy it to the clipboard. Copy the data to be edited (yellow frame) in the operation data setting frame to the clipboard. Paste the data of the clipboard to the area to be edited (yellow frame) in the operation data setting frame. Delete the data to be edited (yellow frame) in the operation data setting frame. Receive the operation data set in HA-670 and display it in the operation data setting frame. HA-670 needs to be connected to the computer via the communication cable(*1) to perform this operation. Transfer the created data to HA-670/675. HA-670/675 need to be connected to the computer via the communication cable(*1) to perform this operation. As HA-675 recognizes the origin when it has returned to the origin and transferred the operation data, it handles the transferred operation data based on the recognized origin. Have it return to the origin again to have it recognize a new origin.

*1 Wiring the cross cable

PSF-670 supports the commercial RS-232C cross cable. Use the cross cable wired as shown below. Do not use a cross cable whose 7th and 8th pins are short-circuited and connected to the 1st pin.

File

New

Load

Save

Over Write

Print

Exit

Edit

Copy

Cut

Paste

Delete

Up Load

DownLoad

Wiring diagram Connector form

Commercial item: KRS-L09-2K (2m) or KRS-L09-4K (4m) (Made by Sanwa Supply)

Frame Frame D-sub9pin female

inch screw D-sub9pin female

inch screw


10

Other menu

Fine adjust the travel data set for HA-670.

Set parameters on the operation of HA-670 and PSF-670.

Display the version of PSF-670.

Clear the multi turn data when an absolute encoder is used.

Mtd_Clr

Execute Mtd_Clr in the other menu when you need to clear the multi turn data to use an absolute encoder.

(1)

(2)

(3)

When you execute Mtd_Clr, the window appears.

When you press the MTD CLR button for about five seconds, the status lamp lights up in green and the multi turn data has been cleared.

MTDCLR button

Status lamp

If you can’t clear the multi turn data, click the MTDCLR button. The status lamp will light up immediately.

MTD_Clr

Other

Correcting

Parameter table

Version


11

Menu icons

You can click menu icons to perform frequently used ones among various types of operation of PSF-670 besides selecting them from the menu. The menu icons are shown below.

Display area for editing

When you read the operation data from the disk of the computer, name the edited data and save it in the disk of the computer, the file name is displayed. Note that the file name is not correctly displayed if it contains a non-alphanumeric character.

Status display area

The status of the operation data being created is displayed. If the operation data being created is not saved in the disk of the computer, File Save is displayed in green. If the operation data being created is not downloaded to HA-670, DownLoad is displayed in blue.

Load

New

Save Display area for editing

Status display area

Print

UpLoad Correcting

Parameter table DownLoad


12

Operation data setting frame The created operation data is displayed.

Address

Max. revolution speed

Stop position

Speed change points

acceleration/deceleration

time

Delay time

Loop

Jump

Divi-de

Motion flag

Logic flag

END flag

NOP flag

CHP flag

INC flag

ABS flag


13

Maximum revolution speed

● Description of the function

Specify the operating speed of the actuator in the position specified by the “Stop Position” data of this address. Specify the speed in the unit set by the [Speed Unit] parameter on the parameter setting screen. P/S: pulse/second rpm: 1/100 r/min Specify the value in “SPU: speed unit” from “Parameter mode”. As this unit is set for all addresses, multiple units may not be used. The speed of the actuator changes depending on the unit for the same data value. Convert the unit with the conversion formula shown below. The actuator won’t operate unless you enter speed data. The minimum acceptable value of the speed data is 500P/S in P/S conversion. The maximum value is 1000000P/S in P/S conversion. However, the actuator won’t operate if the speed data is 500P/S or more and does not satisfy the following formula. SPD (speed data) > SLP (acceleration/deceleration time) x 5

● Operation procedure

(1) Double-click the address to be set. (2) The data creation screen as shown on the right. (3) When you check the Speed checkbox, the data

insertion BOX appears. Enter data. (4) When you click the OK button, the set value is

reflected in the operation data setting frame.

60resolutionActuatorvaluep/svaluespeedrpm ÷

＝ resolutionActuator60valuerpmvaluespeeds/p ×＝

Speed


14

Stop position


Set a stop position of the actuator. You can set either a relative value (incremental value) or an absolute value for the stop position. Set either a relative value (incremental value) or an absolute value when you program codes. The travel unit is the one set by the [Position Unit] parameter on the parameter setting screen. Pulse: Pulse unit 1/1000deg: In 1/1000° 1/100mm: In 1/100 mm When you have set the pulse unit, the set value is converted to an angle or distance by the following calculating formula. When you have set other units than the pulse unit, you don’t need to worry about the calculator. The actuator won’t operate unless you enter a distance or speed change point data. You can’t enter the “Stop Position” data and “Spd Chg Pos” data in the same address. If you enter one data, another data is deleted. The setting range is from +360.000 to -360.000 in 1/1000°, from 20,000,000 to -20,000,000 in the pulse unit and from 20,000,000 to -20,000,000 in 1/100 mm in pulse conversion. ● Operation procedure

(1) Double-click the address to be set. (2) The data creation screen starts as shown on the right. (3) When you check the POS/CHP checkbox, the data

insertion BOX appears. (4) Enter data in the Position data BOX. (5) Click Absolute if the entered data is absolute position

data. Click Incremental if the data is relative position data.

(6) When you click the OK button, the set value is reflected in the operation data setting frame.

Speed

POS

Speed

POSCHP CHP

valuepulseSettingresolutionActuator

360positiondeg ×＝ valuepulseSettingresolutionActuator

leadscrewBallpositionmm ×＝

Stop Position


15

Speed change points


Set a speed change position of the actuator for a compound speed pattern. This is a passing point during operation.

You can set either a relative value (incremental value) or an absolute value for the stop position. Set either a relative value (incremental value) or an absolute value when you program codes. The unit of the speed change point is the one set by the [Position Unit] parameter on the parameter setting screen. Pulse: Pulse unit 1/1000deg: In 1/1000° 1/100mm: In 1/100 mm When you have set the pulse unit, the set value is converted to an angle or distance by the following calculating formula. When you have set other units than the pulse unit, you don’t need to worry about the calculator. The actuator won’t operate unless you enter a distance or speed change point data. You can’t enter the “Stop Position” data and “Spd Chg Pos” data in the same address. If you enter one data, another data is deleted. ● Operation procedure

(1) Double-click the address to be set. (2) The data creation screen starts as shown on the right. (3) When you check the POS/CHP checkbox, the data

insertion BOX appears. (4) Enter data in the Spd chg Position data BOX. (5) Click Absolute if the entered data is absolute position

data. Click Incremental if the data is relative position data.

(6) When you click the OK button, the set value is reflected in the operation data setting frame.

Spd Chg Pos

Speed

POSCHP CHP

valuepulseSettingresolutionActuator

360positiondeg ×＝ valuepulseSettingresolutionActuator

leadscrewBallpositionmm ×＝


16

Acceleration/deceleration time


Set the time required for the actuator to reach the speed specified by the [Speed] data from the current speed. It is the time from speed “0” accelerating to reach the speed specified by [Speed] when it is specified by [Stop Position]. The same time applies for deceleration. The travelling time shown in the upper right velocity diagram is obtained by the following formula. However, the actuator starts to decelerate before it reaches the speed specified by [Speed] in the right diagram. The travelling time in this case is obtained by the following formula. The actuator won’t operate unless you enter acceleration/ deceleration time. It is the time from the current time to the time to reach the speed specified by [Speed] when it is specified by [Spd Chg Pos]. (See the lower right diagram.)


(1) Double-click the address to be set. (2) The data creation screen as shown on the right. (3) When you check the Slope checkbox, the data

insertion BOX appears. (4) Enter data in the data BOX. (5) The actual acceleration/deceleration time is indicated

by the set value times 10(mS). (6) When you click the OK button, the set value is


Slope

Stop position

Speed

POS

SPD

SLP SLP

When POS≧SPD×SLP×100 (in pulse)

Stop position

Speed

POS

SPD

SLP

When POS＜SPD×SLP×100 (in pulse)

100SLPSPDPOS(sec.)timeTravelling ×+＝

100SLPSPDPOS.)(sectimeTravelling ××＝

Speed

POS

SLP2 SLP1

CHP

SLP2


17

Delay time


Set the time required for the actuator to output “CN2-34: Operation complete FINISH” signal since it has located the position specified by [Stop Position]. Use this to wait until the drive mechanism becomes static before stopping and enter the next operation. The time is “0” when no entry is made. ● Operation procedure

(1) Double-click the address to be set. (2) The data creation screen starts as shown on the right. (3) When you check the Time checkbox, the data

insertion BOX appears. (4) Enter data in the data BOX. (5) The actual delay time is indicated by the set value

times 10(mS). (6) When you click the OK button, the set value is


Divide


This function operates the actuator by dividing signals equally like an index operation. It operates in series every time the “CN2-6: START” signal is received in the specified division number until it reaches the position specified by [Stop Position]. The remainder of the equal division is distributed in pulse unit. Remainders are not ultimately accumulated. It outputs “CN2-34 Operation complete: FINISH” and the current address at the position specified by [Stop Position]. The value is “0” when no entry is made. “TIME: Delay time” command may be combined to operate the actuator. When it receives a “CN2-6: START” signal in another specified address during equal division operation, it stops equal division operation and starts a new operation. ● Operation procedure

(1) Double-click the address to be set. (2) The data creation screen starts as shown on the right. (3) When you check the Divide checkbox, the data

insertion BOX appears. (4) Enter data in the data BOX. (5) When you click the OK button, the set value is


TIME

Divide


18

Jump


Jump to the specified address unconditionally. This command is valid only when you have set “programmed” with the [Motion profile] parameter on the parameter setting screen.


(1) Double-click the address to be set. (2) The data creation screen as shown in Fig1 starts. (3) Click the Control command button to display the data input screen as shown in Fig2. (4) When you check Jump, the data insertion BOX appears. (5) Enter the destination address in the data BOX. (6) When you click the OK button, the set value is reflected in the operation data setting frame.

Jump

1 Use the Jump command only to set program operation. If the operation moves to the address of this command when another operation pattern is set, this Jump command is neglected and the actuator performs unexpected operation.

2 Check that no set value is valid if you do not use Jump. Note that “0” indicates that the actuator jumps to “Address 0”. Delete the set value if it is valid. Press the “-“ key and “ENTER” to delete the set value.

CAUTION

Fig1 Fig2


19

Loop


The operation repeats the specified times from the specified address to the address immediately before this command. As this is a repetitive operation to the address immediately before this command, “LOP” may not be set at “Address No 00”. This command is valid only when you have set “programmed” with the [Motion profile] parameter on the parameter setting screen.


(1) Double-click the address to be set. (2) The data creation screen as shown in Fig1 starts. (3) Click the Control command button to display the data input screen as shown in Fig2. (4) When you check Loop, the data insertion BOX appears. (5) Enter the first address to start repetitive operation in the Start No data BOX. Start No should be

a smaller address than that to which Loop command is set. (6) Enter a repeat count in the Count data BOX. (7) When you click the OK button, the set value is reflected in the operation data setting frame.

Loop

1 Use the repetitive operation command to set program operation. If the operation moves to the address of this command when another operation pattern is set, this repetitive operation command is neglected and the actuator performs unexpected operation.

2 Check that no set value is valid if you do not use repetitive operation. “0” indicates meaningless setting. Delete the set value if it is valid. Press the “-“ key and “ENTER” to delete the set value.

CAUTION

Fig1 Fig2


20

NOP flag


The operation is not performed at the address to which this command is set and is passed to the next address. This command is valid only when you have set “programmed” with the [Motion profile] parameter on the parameter setting screen. This is useful when you set this command to an unwanted address and a jump part in a program to continue processing. ● Operation procedure

(1) Double-click the address to be set. (2) The data creation screen as shown in Fig1 starts. (3) Click the Control command button to display the data input screen as shown in Fig2. (4) Click NOP. (5) When you click the OK button, “1” is displayed in the NOP item in the operation setting frame

to indicate that the NOP command has been set.

NOP

Fig1 Fig2


21

END flag


Finish a series of program operations and output a “CN2-34: Operation complete FINISH” signal. This command is valid only when you have set “programmed” with the [Motion profile] parameter on the parameter setting screen. The operation repeats endlessly if the address of this operation complete command is not found when the program operation pattern is specified. ● Operation procedure

(1) Double-click the address to be set. (2) The data creation screen as shown in Fig1 starts. (3) Click the Control command button to display the data input screen as shown in Fig2. (4) Click END. (5) When you click the OK button, “1” is displayed in the END item in the operation setting frame

to indicate that the NOP command has been set.

END

Fig1 Fig2


22

Motion flag


Operation data of PSF-670 consists of Speed, Stop Positon, Spd Chg Pos, Slop, Time, Loop, Jump, Divide, END and NOP. These are divided into a group related to the direct actuator operation and a group not related to the actuator operation.

Related to the actuator operation Speed, Stop Positon, Spd Chg Pos, Slop, Time, Divide Not related to the actuator operation Loop, Jump, END, NOP

Data of two groups does not exist in one address at the same time. For example, [Speed] and [Loop] may not be set at the same address at the same time. When the data set at an address is the data of a group related to the actuator operation, “1” is displayed for the motion flag. When the data of a group not related to the actuator operation is set, nothing is displayed.

Logic flag


Operation data of PSF-670 consists of Speed, Stop Positon, Spd Chg Pos, Slop, Time, Loop, Jump, Divide, END and NOP. These are divided into a group related to the direct actuator operation and a group not related to the actuator operation.

Related to the actuator operation Speed, Stop Positon, Spd Chg Pos, Slop, Time, Divide Not related to the actuator operation Loop, Jump, END, NOP

Data of two groups does not exist in one address at the same time. For example, [Speed] and [Loop] may not be set at the same address at the same time. When the data set at an address is the data of a group not related to the actuator operation, “1” is displayed for the logic flag. When the data of a group related to the actuator operation is set, nothing is displayed.

Motion

Logic


23

CHP flag


The data to set the operation quantity of the actuator includes [Stop Position] and [Spd Chg Pos]. (See each description page for the detail. Either of these two must have been set to create an operation program to activate the actuator. When [Spd Chg Pos] is set, “1” is displayed for [CHP] while “1” is not displayed when [Stop Position] is set.

ABS flag


You can specify an absolute value and a relative value for the data of [Stop Position] and [Spd Chg Pos] to set the operation quantity of the actuator. “1” is displayed in [ABS] when an absolute value is specified.

、

INC flag


You can specify an absolute value and a relative value for the data of [Stop Position] and [Spd Chg Pos] to set the operation quantity of the actuator. “1” is displayed in [INC] when a relative value is specified.

CHP

ABS

INC

Operating program (Description of screen, Parameter setting screen)

24

Parameter setting screen

The parameter setting screen allows you to set parameters related to the HA-670 operation and

PSF-670 operation.

Normally, when you start PSF-670 to create an operating program, you should start the parameter

setting screen first to set required information and create an operating program.

To set parameters, click the tool icon ( ) or select Parameter table from Other on the menu.

When the following parameter setting screen appears, set your desired parameters.

No. of pulse rotation Originating speed 1 Originating speed 2

Software origin Backlash offset

Position unit

Speed unit

Originating acceleration/deceleration

time

Ball screw lead

Motion profile

Originating direction

Encoder resolution

Actuator acceleration/

deceleration ratio

Shortcut motion Acceleration/deceleration profile


25

■ Description of the menu You can transfer changed parameters to HA-670 and store them in HA-670. You can also read

parameters stored in HA-670 and display them on the parameter setting screen.

Perform these operations from the menu of the parameter setting screen.

Loading

Your computer needs to be connected to HA-670 with RS-232C cross cable(*1) in advance before

operation.

Performing UpLoad reads all parameters. However, [Encoder resolution] and [Gear ratio] are not

transferred to HA-670 by DwnLoad.

*1 Wiring the cross cable

PSF-650 supports the commercial RS-232C cross cable. Use the cross cable wired as shown

below. Do not use a cross cable whose 7th and 8th pins are short-circuited and

connected to the 1st pin.

Upload parameters set in HA-670 and display them on the parameter setting screen of PSF-670. Be sure to upload data before changing

parameters with Upload.

Transfer parameters set on the parameter setting screen of PSF-670 to HA-670.

Upload

DwnLoad

Wiring diagram Connector form

Commercial item: KRS-L09-2K (2m) or KRS-L09-4K (4m) (Made by Sanwa Supply)

Frame Frame

D-sub9pin female inch screw

D-sub9pin female inch screw


26

■ Detailed description of parameters

Number of pulse rotation


Set the number of pulses per one rotation of the actuator.

To install an additional reduction gear to the FH2000-C actuator, multiply the gear ratio by the

number of pulses per rotation of the actuator. The number of pulses per rotation of the actuator is

as follows.

Model FHA-•C-50 FHA-•C-100

Stop position 500,000 1,000,000


(1) Enter data in the Stop position data BOX on the

parameter setting screen.

(2) Click OK button.

* The set data will not be effective unless they

are transferred to HA-670.

Be sure to transfer the parameters to HA-670

after you have finished setting them.

* This is the reference data for a shortcut operation. When you do not use a shortcut operation (SHC＝0), the data do

not have an effect on the actual operation even if the data is changed.

Stop position


27

Originating speed 1


Set the speed of the first operation to return to the origin. Return to the origin according to the

following steps for the HA-670/675 driver.

(1) The first operation to detect the origin sensor

(2) The second operation to turn around from the overrun

position and detect the origin sensor in low speed

again

(3) The third operation to turn around again and detect

the Z-phase signal of the encoder

● Details of the set value

The setting range of the value is “500-1,000,000”. The meaning of the value varies depending on

the setting of [Sped unit] on the parameter setting screen.

◆ For p/s


Actuator resolution 500,000 1,000,000

◆ For 1/100 r/min


(1) Enter data in the Originating speed 1 Data BOX

on the parameter setting screen.


The set data will not be effective unless they




This parameter has no effect on the actual

operation if you use an absolute encoder.

Originating speed 1

turnperpulsesof.No

)mm(LeadvalueSetting(mm/sec.) speed travel Straight ＝

turnpulsesof.No

60

100

valueSetting/min)r(speedRotating ＝

First operation

Second operation

Origin sensor Z-phase signal

turnperpulsesof.No

360valueSetting/sec.)(speed Rotating ＝


28

Originating speed 2


Set the speed of the second operation to return to the origin. Return to the origin according to the

following steps for the HA-670/675 driver.



position and detect the origin sensor at low speed

again




The setting range of the value is “500-1,000,000”. The meaning of the value varies depending on

the setting of [Sped unit] on the parameter setting screen.

◆ For p/s



◆ For 1/100 r/min


(1) Enter data in the Originating speed 2 Data BOX

on the parameter setting screen.








Originating speed 2

First operation

Second operation


turnperpulsesof.No

)mm(LeadvalueSetting(mm/sec.) speed travel Straight ＝

turnpulsesof.No

60

100

valueSetting/min)r(speedRotating ＝

turnperpulsesof.No

360valueSetting/sec.)(speed Rotating ＝


29

Originating acceleration/deceleration time


The HA-670 river returns to the origin in the following order.



position and detect the origin sensor at low speed

again



Set the acceleration/deceleration time of the first

operation to return to the origin here. Set the time

from “0” speed to the time to reach the speed set for

[Originating speed 1].


(1) Enter data in the Originating acceleration time

data BOX on the parameter setting screen.


The set data will not be effective unless they are

transferred to HA-670.

Be sure to transfer the parameters to HA-670 after

you have finished setting them.

Originating

acceleration time

First

operation Second

operation



30

Software origin


It may be useful to set an origin on the program besides the machine datum, for example, when

the position of the machine is out of alignment with that of the encoder Z-phase signal. If the

machine datum (Z-phase signal) is assumed to be the origin of the program, the positions of all

addresses must be modified. However, if you set the origin of this software, you can modify the

position by adjusting the set value of the software origin without modifying the program.

In the actual operation to return to the origin, return to the machine datum first by the operation to

return to the origin and move to the software origin.


(1) Enter data in the Software origin data BOX on

the parameter setting screen.








Backlash offset


If you find a backlash in the driving mechanism of the

actuator, correct the backlash by adding and subtracting

the set value every time the moving direction of the

actuator is inverted and improve the positioning

accuracy.

To move in the opposite direction as that to return to the

origin, add the backlash correction value to the number

of command pulses.

To move in the same direction as that to return to the

origin, subtract the backlash correction value from the

number of command pulses.


(1) Enter data in the Software origin data BOX on







Software origin

Backlash offset

Direction to return to

the origin

Backlash Add to the

command

Subtract from the

command


31

Ball screw lead


When you set “1/100mm” to [Position unit] for the straight operation mechanism using a ball screw,

specify the code corresponding to the lead of the ball screw. When you set a value other than

“1/100mm”, you don’t need to specify the lead of the ball screw.


Set value Lead (mm)

Set value Lead (mm)

Set value Lead (mm)

Set value Lead (mm)

Set value Lead (mm)

0 0.5 4 2.5 8 6.0 12 16.0 16 40.0

1 1.0 5 3.0 9 8.0 13 20.0 17 50.0

2 1.5 6 4.0 10 10.0 14 25.0 18 64.0

3 2.0 7 5.0 11 12.0 15 32.0 19 80.0

If the lead is not listed in the table above, enter “Pulse” in “MQU: distance/position unit” and enter

“Pulse” in “POS: stop position” of the program mode. The relation between the distance and the

lead is shown in the formula below.


Stop position 500,000 1,000,000


(1) Enter data in the Ball screw lead data BOX on



The set data will not be effective unless

they are transferred to HA-670.

Be sure to transfer the parameters to

HA-670 after you have finished setting

them.

Ball screw lead

turnperpulsesof.No

Leadpulsescommandof.NoamountTravel ＝


32

Position unit


Specify a unit of the set value to set the stop position to the address in the program mode. As this

unit is set for all addresses, multiple units may not be used. The stop point of the actuator changes

depending on the unit for the same data value.

Pulse: Pulse

1/1000deg: Angle (In 1/1000°)

1/100mm: Distance (In 1/100mm)


(1) Select one from the pull down menu of the Position

unit on the parameter setting screen.


This parameter has an effect on the operation of

PSF-670.

As it does not have a direct effect on the

operation of HA-670, you don’t need to transfer

the set value to HA-670. However, when you

start PSF-670 next time and set the operation

data in the same condition, we recommend that

you transfer the set value to HA-670.

Position unit


33

Speed unit


Specify a unit of the set value to set a speed to the address in the program mode. As this unit is set

for all addresses, multiple units may not be used. The speed of the actuator changes depending on

the unit for the same data value.

p/s: Pulse/sec

1/100 r/min: 1/100 r/min

The following relation stands for the straight and rotation operation.




(1) Select one from the pull down menu of the Speed

unit on the parameter setting screen.


This parameter has an effect on the operation of

PSF-670.

As it does not have a direct effect on the

operation of HA-670, you don’t need to transfer

the set value to HA-670. However, when you start

PSF-670 next time and set the operation data in

the same condition, we recommend that you

transfer the set value to HA-670.

Speed unit

turnperpulsesof.No

)mm(Lead.sec/pulsescommandof.No(mm/sec.) speed travel Straight ＝

turnperpulsesof.No

360.sec/pulsescommandof.No/sec.)(speed Rotating ＝


34

Motion profile


Set an operation pattern of the actuator.

◆ Individual:Individual positioning operation

The actuator directly moves to the address position specified by an input signal “CN2-9～14:

Address specification” with the address specification “START” address and moves to the address

position of the stop position command “POS” for positioning. It outputs an output signal

“CN2-34:Operation complete FINISH” and the current address after positioning.

After completing the operation, it waits for the next address specification and a “START” signal.

Addresses are independent from each other and have no relationships to one another.

◆ Sequential:Sequential positioning operation

The actuator directly moves to the address position specified by an input signal “CN2-9～14:

Address specification” with the “START” address and moves to the address position of the stop

position command “POS” for positioning. Then, it perform a series of positioning operations from

the next address for every “START” signal followed by the next positioning operation.

When it comes across an address with no command data, it returns to the first address position

and continues repetitive operation. It outputs an output signal “CN2-34:Operation complete

FINISH” and the current address every time it finishes positioning.

◆ Programmed:Program operation

The actuator continuously operates in the order of address number and the specified logical

command from the address specified by an input signal “CN2-9～14: Address specification” with

the “START” signal. It performs jump and repetition at the address including them.

The actuator stops operation when It reaches the address including an “END” command and

outputs an output signal “CN2-34:Operation complete FINISH” and the current address. If an

“END” command has not been set, it returns to the first address at the address without a command

data and continues repetitive operation.

● Operation procedure (1) Select one from the pull down menu of the Motion

profile on the parameter setting screen.


The set data will not be effective unless they are




Motion profile

Individual positioning operation

Host devic

e

No.05 POS

No.07 CHP No.08 CHP No.09 POS

No.23 CHP No.24 POS

Address

Start

Address

Start

Address

Start

Sequential positioning operation

Host devic

e

No.05 POS

No.06 CHP No.07 CHP No.08 POS

No.09

Address

Start

Start

Start

Program operation

Host devic

e

No.05 POS No.06 JMP

No.23 CHP No.24 POS No.25 LOP

No.26 END

Address

Start

Repeat


35

Shortcut motion


When the driving mechanism of the actuator rotates, inverse rotation can determine the position in

a short period of time depending on the moving angle. This is called a shortcut motion.

However, it could lead to damage to the wire through the hollow shaft of the FH2000-C series

actuator if the shortcut motion is repeated.

Specify whether to use a shortcut motion in this section.

Set “0:No shortcut operation” for a straight operation of the actuator.


(1) Select one from the pull down menu of the

Shortcut motion on the parameter setting screen.

(2) Click the OK button.





Acceleration/deceleration profile


Two types of patterns are prepared for acceleration and deceleration for the HA-670 driver; Straight

acceleration/deceleration and S acceleration/deceleration.

Usually, straight acceleration/deceleration is used. However, S acceleration/deceleration dampens

vibration and accelerates smoothly to lay rubber at high speed.

However, S acceleration/deceleration is applied to acceleration/deceleration for the single speed

pattern setting and is not applied to a combined speed pattern using [Spd Chg Pos].


(1) Enter data in the Acceleration profile data BOX on



* The set data will not be effective unless they are




Shortcut motion

Acceleration profile


36



Specify the rotation direction when the actuator returns to the machine origin.

CW: Clockwise direction viewed from the output side

CCW: Counter-clockwise direction viewed from the output side


(1) Enter data in the Originating direction data BOX on



* The set data will not be effective unless they are




Encoder resolution


PSF-670 internally converts the Speed unit to p/s and stores it when it is set to 1/100r/min to create

operation data. It converts to Pulse and store it when the Position unit is set to other than Pulse.

The set value of the encoder gear ratio is used for conversion.

If you create operation data on-line, you don’t need to set the encoder resolution data if you upload

parameters from HA-670 before creating operation data. However, when you create data off-line,

you need to set the resolution of the encoder installed on the used actuator using the data in

advance.

However, if the Speed Unit and the Position unit are used with p/s and Pulse, the set value of the

encoder resolution is neglected.


(1) Enter data in the parameter setting screen.


* This set value is used by PSF-670. Even if you

transfer it from the Loading menu, this parameter

is not transferred.


CW CCW

Encoder resolution


37

Actuator acceleration/ deceleration ratio


PSF-670 internally converts the Speed unit to p/s and stores it when it is set to 1/100r/min to create

operation data. It converts to Pulse and store it when the Position unit is set to other than Pulse.

The set value of the actuator gear ratio is used for conversion.

If you create operation data on-line, you don’t need to set the encoder resolution data if you upload

parameters from HA-670 before creating operation data. However, when you create data off-line,

you need to set a gear ratio of the HarmonicDrive® installed on the used actuator using the data in

advance.

However, if the Speed Unit and the Position unit are used with p/s and Pulse, the set value of the

actuator gear ratio is neglected.


(1) Enter data in the Gear ratio data BOX on the

parameter setting screen.


* This set value is used by PSF-670. Even if you

transfer it from the Loading menu, this parameter is

not transferred.

Gear ratio

Second operation First operation

Operating program (Description of screen, Travel amount correction screen)

38

Travel amount correction screen

HA-670 sets the position according to the operation data created by PSF-670. However, the travel amount set by PSF-670 is not always the desired travel amount for the actual machine. In this case, it is very ineffective to take a cut-and-try method, that is, to set new data and test it. Therefore, PSF-670 is equipped with the travel amount correction function to determine the final travel amount by operating the preset travel amount and then fine adjusting it.

Select “Correcting” from “Other” on the menu or click the menu icon ( ) to start the travel amount correction screen to correct the travel amount. You need to terminate all connections and connect your computer to HA-670 to which operation data has been transferred with RS-232C cross cable.

Address to be corrected

Correction address selection

Travel amount set value

Correction set button

Enable button

Start origin return button

Actuator operation start button

Correct button L

Correct button R

Correction value set button

Correction end button

Information

Absolute position data request


39

Travel amount correction procedure (1)

(2)

(3)

1. Click the correction address selection button to select the address to be corrected. The travel amount set in the address displayed in the correction address display area is displayed in the travel amount set value display area. This is not displayed when no travel amount is set in the address.

2. Select the correction address and click the correction set button.

1. Click the ENABLE button if the actuator is not excited. Click the absolute position data request button and click ENABLE to use an absolute encoder. (You don’t need to click it again once you have clicked it.)

2. If you find the actuator not returned to the origin, click the origin return button to start returning to the origin. Keep pressing the origin return button until “Origin Decided!!” is displayed in Information if you do not need to return to the origin and set the current position to the origin.

3. When you click the actuator operation start button, the actuator operates according to the operation data set in the correction address.

1. When you click the correction button L and correction button R, the actuator operates. Move it to the desired position for the actual machine.

2. Clicking the correction button L moves the actuator to the CCW direction by one pulse. If you keep pressing the button for more than one second, the actuator moves to CCW in the speed of about 2000pps.

3. Clicking the correction button R moves the actuator to the CW direction by one pulse. If you keep pressing the button for more than one second, the actuator moves to CW at the speed of about 2000pps.


40

(4)

The corrected operation data is not enabled unless it is transferred to HA-670. As HA-675 recognizes the origin when it has returned to the origin and transferred the operation data, it handles the transferred operation data based on the recognized origin. Have it return to the origin again to have it recognize a new origin.

1. When you finish correction, click the correction value set button.

2. When you click the correction value set button, the correction value is displayed in Information and the corrected travel amount is displayed in the travel amount set value display area.

3. Repeat the process from (1) to correct the travel amount in another address.

4. If you click the correction end button after finishing all corrections, the corrected travel amount is displayed in the operation data setting frame on the operation data creation screen.

Operating program (Description of screen, Operation data setting examples)

41

Operation setting examples

An example of setting the operation data is shown below. Example of setting 1

The following operation takes place. Setting procedure

(1) Start PSF-670. (2) Start the parameter setting screen. (3) Execute UpLoad from the Loading menu if the

actuator can communicate with HA-670. Set values of Encoder resolution and Gear ratio to 2500 and 50 respectively and set Stop position to 500000 in off- line.

(4) Set Position unit to 1/1000deg and Speed unit to 1/100r/min respectively.

(5) Click OK on the parameter setting screen. (6) Assuming setting the address-1, click the line on the

address-1 to start the data input screen. (7) Enter the data described above. (8) Click OK to reflect the set value in the operation data

setting frame.

Time

Speed

100mS 100mS

90°30rpm


42

Example of setting 2

Applicable actuator: FHA-40C-50-E250 Description of the operation: Shown below

A summary of this operation is shown in the table below.

Step Outline of operation Speed Target value

Speed change point

Acceleration/deceleration

1

Accelerate up to 5000p/s in 100mS from the stop condition of the actuator and change the speed when the actuator has reached 6000pls.

5000pls 6000pls 100mS

2

Accelerate from 5000p/s up to 50000p/s in 70mS and change the speed when the actuator has reached 100000pls.

50000p/s 100000pls 70mS

3

Decelerate from 50000p/s to 10000p/s in 50mS and change the speed when the actuator has reached 200000pls.

10000p/s 200000pls 50mS

4 Decelerate from 10000p/s to 2000p/s in 100mS and stop when the actuator has reached 220000pls.

2000p/s 220000p/s 100mS

In fact, you need to prepare 4 addresses to perform this operation. You can use up to 5 addresses for HA-670 in these combined operation patterns. The actual setting is described in the next page in an orderly sequence.

100mS 70mS 50mS 100mS 100mS

5000p/s

6000pls

50000p/s

100000pls

10000p/s

200000p/s

2000p/s

220000pls


43

Setting procedure

(1) Start PSF-670. (2) Start the parameter setting screen. (3) Execute UpLoad from the Loading menu if the actuator can communicate with HA-670. Set

values of Encoder resolution and Gear ratio to 2500 and 50 respectively and set Stop position to 500000 in off-line.

(4) Click OK on the parameter setting screen. (5) Set the operation data described in step-1 of the table of the previous section to the address-1

of PSF-670. (6) Click OK to reflect the set value in the operation data setting frame. (7) Set the operation data described in step-2 through 4 of the table of the previous section to the

address-2 through 4 of PSF-670.

Address 1 Address 2

Address 3 Address 4

Operation data setting frame

The equipment listed in this document is warranted as follows:

■ Warranty period

Under the condition that the actuator are handled, used and maintained properly followed each item of the documents and the manuals, all the applicable products are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or 2,000 hours of operation time.

■ Warranty terms

All the applicable products are warranted against defects in workmanship and materials for the warranted period. This limited warranty does not apply to any product that has been subject to:

(1) user's misapplication, improper installation, inadequate maintenance, or misuse.

(2) disassembling, modification or repair by others than Harmonic Drive Systems, Inc.

(3) imperfection caused by a non-applicable product.

(4) disaster or others that does not belong to the responsibility of Harmonic Drive Systems, Inc.

Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive Systems, Inc. to be defective. Harmonic Drive Systems, Inc. shall not be liable for consequential damages of other equipment caused by the defective products, and shall not be liable for the incidental and consequential expenses and the labor costs for detaching and installing to the driven equipment

Warranty Period and Terms

No.1502-2R-RSF670-E

Head Office／Believe Omori 7F 6-25-3Minami-Ohi,Shinagawa-ku,Tokyo,Japan 〒140-0013 TEL+81(0)3-5471-7800 FAX+81(0)3-5471-7811 Overseas Division／1856-1 Hotakamaki Azumino-shi Nagano,Japan 〒399-8305 TEL+81(0)263-83-6935 FAX+81(0)263-83-6901

HOTAKA Plant／1856-1 Hotakamaki Azumino-shi Nagano,Japan 〒399-8305 TEL+81(0)263-83-6800 FAX+81(0)263-83-6901

Harmonic Drive AG／Hoenbergstraβe 14,65555 Limburg,Germany

TEL06431-5008-0 FAX06431-5008-18

Harmonic Drive L.L.C／247 Lynnfield Street, Peabody, MA, 01960, U.S.A. TEL+1- 978-532-1800 FAX+1- 978-532-9406

Certified to ISO14001／ISO9001 (TÜV Management Service GmbH) All specifications and dimensions in this manual subject to change without notice. This manual is correct as of February 2015.

http://www.hds.co.jp/

Harmonic Drive® is a registered trademark of Harmonic Drive Systems Inc. The academic or general nomenclature of our products "Harmonic Drive®" is "strain wave gearing."

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