Chapter 8
Protective functions
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63
CPU failure
(Alarm clear: Impossible)
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Description
This alarm occurs due to a driver CPU failure. It cannot be reset.
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Possible causes
(1) If the alarm occurs when the power is turned on:
Cause 1: While the actuator is rotating, the driver is powered on due to an unknown cause.
⇒
Action: Configure the system so that the actuator cannot rotate when the driver is powered on.
Cause 2: HA-520 driver control circuit failure
⇒
Action: Contact a business office of Harmonic Drive System.
(Replacing the HA-520 driver)
(2) If the alarm occurs during operation:
Cause 1: Malfunction caused by external noise
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Action: Suppress the noise according to the instructions in
“
Section 4-4, Suppressing noise
”
.
Cause 2: HA-520 driver control circuit failure
⇒
Action: Contact a business office of Harmonic Drive System.
(Replacing the HA-520 driver)
Over-current
(Alarm clear: Impossible)
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Description
This alarm occurs when the maximum current, depending on the AC servo actuator model, is detected for
1ms or longer. The only way to reset it is to examine the cause, and shut off and then turn on the power.
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Possible causes
(1) If the alarm occurs when the power is turned on:
Cause 1: HA-520 driver control circuit failure
⇒
Action: Contact a business office of Harmonic Drive System.
(Replacing the HA-520 driver)
(2) If the alarm occurs when the input signal [CN1-5: S-ON] is input (ON):
Cause 1: HA-520 driver control circuit failure
⇒
Action: Contact a business office of Harmonic Drive System.
(Replacing the HA-520 driver)
