Chapter 8
Protective functions
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(2) If the alarm occurs when the servo is powered on:
Cause 1: The encoder connector (CN2) is not connected.
⇒
Action: Check whether the encoder connector (CN2) is connected properly.
(3) If the alarm occurs during operation of overload with the actuator:
Cause 1: Overloaded operation
⇒
Action: Reconsider the effective duty ratio of the actuator to decrease it.
(4) If the alarm occurs after the actuator continues hunting:
Cause 1: Hunting phenomenon occurs due to defect of gain adjustment
⇒
Action: Make the following adjustments so that the actuator matches the load: [Parameter setup
mode]
→
[02: Position loop gain], [03: Speed loop proportion gain], [04: Speed loop integral
gain], and [05: Speed loop derivative gain].
(5) If the alarm occurs when the actuator is in standalone mode (no load):
Cause 1: The motor or encoder is connected incorrectly
⇒
Action: Correct the connection according to the instructions in
“
Chapter 4, Installing the
HA-520 driver
”
.
Encoder failure
(Alarm clear: Impossible)
●
Description
This alarm occurs when the signal from the encoder stops. The only way to reset it is to examine the
cause, and shut off and then turn on the power.
●
Possible causes
(1) If the alarm occurs when the power is turned on:
Cause 1: The encoder connector (CN2) is not connected, or the connection is faulty or
disconnected.
⇒
Action: Reconnect the CN2 connector firmly, or check the wiring.
Cause 2: Noise is included on the encoder cable.
⇒
Action: Check whether the connection of the encoder cable shielded wire is separated, and
whether both the actuator and driver are grounded.
Cause 3: A component in the encoder broke, or the driver is broken.
⇒
Action: Contact a business office of Harmonic Drive System.
(Replacing the actuator or driver)
(2) If the alarm occurs during operation: (normally restored by cooling the actuator)
Cause 1: The encoder malfunctioned due to an actuator temperature rise.
⇒
Action: Reconsider the actuator instruction location and the cooling system.
