Chapter 8
Protective functions
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66
Over-speed
(Alarm clear: Possible)
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Description
The alarm occurs when the motor revolution speed exceeds the motor speed limit plus 10rpm for 0.5s.
This alarm can be reset.
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Possible causes
(1) If the alarm occurs when the power is turned on:
Cause 1: The forcible rotation to the actuator output shaft is faulty.
⇒
Action: If the rotation takes place with the external force applied to the actuator output shaft,
modify the equipment so that this rotation cannot take place.
Cause 2: Disconnection or wiring failure of encoder cable
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Action: Check the encoder cables and their wiring.
Cause 3: HA-520 driver control circuit failure
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Action: Contact a business office of Harmonic Drive System.
(Replacing the HA-520 driver)
(2) If the alarm occurs when input of a rotation command causes high-speed rotation of
the actuator:
Cause 1: Rapid raising of [Command pulse frequency]
⇒
Action: Set an earlier raising time point.
Cause 2: Large overshoot caused by improper gain adjustment
Make the following adjustments so that the raising time 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].
コメント
[R1]:
Please check this.
