Harmonic Drive HA-680 Series Manual Download Page 97 | Manualshive

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Chapter 6 Setting up parameters

-

91

-

22: In-position ready range

(position)

●

Function

When the difference between “command pulse count” and “returned pulse count,” which is “deviation

pulse count,” decreases below the setting value of “in-position ready range,” the signal is outputted to

“CN2 In-position ready output: IN-POS” as completion of positioning.
This value only monitors the state of position deviation and does not directly affect the rotation control of

the servo actuator.

●

Setting

unit

Lower limit

Upper limit

Default

Pulse

0

9999

10

23: Command pulse input factor-numerator

(The power must be turned on again after setting a change.)

24: Command pulse input factor-denominator

(The power must be turned on again after setting a change.)

(position)

●

Function

Use each parameter in conjunction with [Command pulse input factor-Numerator] and [Command pulse

input factor-Denominator] as the electronic gear function. It is used to have integral number for the

relationship of the input pulse number and the amount of moment of the machine that the actuator

drives.
The formula of the relationship of “numerator and denominator” as follows:



For rotary operation:



For linear operation:

* Actuator resolution = Encoder resolution (4 times) x Actuator duty factor
On the basis of this formula, set the parameter value so that both the numerator and denominator will be

integers.

●

Setting

unit

Lower limit

Upper limit

Default

Numerator

－

1

999

1

Denominator

－

1

999

1

Note 1: The power must be turned on again after setting a change. The previous value is effective until

you turn on the power again.

Note2: By default, the internal pulse is performed with the encoder resolution (4 times). The amount of

movement of the actuator will thus be the one corresponding to the encoder resolution (4 times).

Angle of movement per input pulse =

command pulse input factor -numerator

command pulse input factor -denominator

×

360

*Actuator resolution

×

1

Reduction ratio of load mechanism

Amount of feed per input pulse =

command pulse input factor -numerator

command pulse input factor -denominator

×

Load mechanism feed pitch

*Actuator resolution

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99
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Summary of Contents for HA-680 Series

Page 1: ...nloaded from our website at http www hds co jp Be sure to use sufficient safety measures when installing and operating the equipment so as to prevent an accident resulting in a serious physical injury damaged by a malfunction or improper operation Product specifications are subject to change without notice for improvement purposes Keep this manual in a convenient location and refer to it whenever ...

Page 2: ... the encoder and may cause uncontrollable operation Avoid handling of actuators by cables Failure to observe this caution may damage the wiring causing uncontrollable or faulty operation CAUTIONS FOR DRIVERS AT APPLICATION DESIGNING Always use drivers under followings conditions Mount in a vertical position keeping sufficient distance to other devices to let heat generated by the driver radiate fr...

Page 3: ...ons 12 Chapter 2 I O ports 15 2 1 Assignment of I O signals 15 2 1 1 Assignment of input signals 15 2 1 2 Assignment of output signals 16 2 1 3 Type of I O signal connector CN2 16 2 2 Position control 17 2 2 1 I O port layout 17 2 2 2 I O port connections in the position control 18 2 2 3 I O port functions in the position control 19 2 2 4 Connection examples in the position control 27 2 3 Speed co...

Page 4: ...7 3 9 Connecting cables for the encoder and the I O 69 3 9 1 Preparing the encoder cable and the I O cable 69 3 9 2 Pin layout of encoder connector CN1 69 3 9 3 Pin layouts of the I O signal connector CN2 71 3 9 4 Connecting cables for the encoder and I O signals 72 3 9 5 EIA 232C RS 232C cable specifications 72 3 10 Power ON and OFF sequences 73 3 10 1 Power ON OFF sequence circuit 73 3 10 2 Freq...

Page 5: ...diagnostic tips 109 7 2 Troubleshooting for improper actuator motions 121 7 2 1 Improper motions in position control 121 7 2 2 Improper motions in speed and torque control 125 Chapter 8 Options 129 8 1 Relay cables 129 8 2 Connectors 130 8 3 Dedicated communication software RSF 520 free 130 ...

Page 6: ...HA 680 series servo driver manual MEMO ...

Page 7: ...time Easy function setting Parameters can be set easily using dedicated communication software PSF 520 Wide range of operation state display I O signals rotation speed and deviation can be monitored using dedicated communication software PSF 520 Up to eight previous alarms are also indicated as alarm history that is helpful for diagnosis The main circuit power supply and the control power supply a...

Page 8: ...able Extension cables For RSF B mini series optional Require for connecting actuator and driver for HA 680 for a motor EWC MB A06 TN2 for an encoder pole sensor EWB F M0809 3M14 for EIA 232C HDM RS232C cable length 1 5m means cable length 03 3m 05 5m 10 10m three kinds of length are available Connectors optional CNK HA68 S1 CNK HA68 S2 Dedicated communication software provided free of charge PSF 5...

Page 9: ...peed limiting current Phase Z open collector output Speed control range 1 1000 or more Position control Command pulse interface Line driver 500kp s max open collector 200kp s max Command configuration 2 pulse FWD REV pulse train 1 pulse method sign pulse train 2 phase pulse method 90 degree phase difference 2 phase pulse train Input signal FWD inhibit REV inhibit clear Deviation clear Speed limiti...

Page 10: ...led in a cabinet leave enough ventilation space for cooling as shown below Air Air Control cabinet Cooling fan Wall mount 30mm or more 30mm or more 30mm or more 50mm or more 50mm or more Driver Air Air filter Air Cover Ground mark Specification indication plate Software version No seal 2 washer cross pan head machine screw brass round M3x6 Heat sink Regenerative resistance internal external switch...

Page 11: ... line of the actuator and an external regenerative resistance are connected here CN1 Encoder connector The position detection encoder cable of the actuator is connected here CN2 Control I O connector This connector is for receiving control signals from the host controller CN5 Not available on the side CN4 CAN connector CN3 EIA 232C serial port connector CAN terminal resistance switch jumper TB2 Po...

Page 12: ...t Ground connection terminal This terminal is for grounding Connect the ground earth line here to prevent electric shock CAN terminal resistance switch jumper Enables or disables the terminal resistance for CAN Note Currently the CAN function is not installed Therefore setting this jumper is meaningless Regenerative resistance switch jumper Switches between the internal regenerative resistance and...

Page 13: ...tion 1 Vcc The power is supplied from the inside of the servo amplifier with the 5 V power supplied to the encoder 2 NC Do not connect 3 4 5 SD Input terminal for the encoder data input signal from the actuator 6 NC Do not connect 7 SD Input terminal for the encoder data input signal from the actuator 8 GND Common terminal of the 5 V power supplied to the encoder 9 NC Do not connect 10 11 12 13 14...

Page 14: ...hase A signal input LD 10 U Phase Z signal input LD 11 V Phase A signal input LD 12 V Phase B signal input LD 13 W Phase A signal input LD 14 W Phase Z signal input LD 1 7 4 CN3 Serial port connector Pin No Signal name Description 1 FG Frame ground 2 RXD Transmission data 3 TXD Reception data 4 DTR Data terminal ready 5 GND Signal ground 6 DSR Data set ready 7 NC Do not connect 8 NC Do not connect...

Page 15: ...Input 10 Input 4 Input 11 Input 5 Input 11 Input 5 Input 12 Input signal common IN COM Input 12 Input signal common IN COM Input 13 Encoder monitor GND MON GND Output 13 Encoder monitor GND MON GND Input 14 FWD pulse FWD Input 14 15 FWD pulse FWD Input 15 16 REV pulse REV Input 16 17 REV pulse REV Input 17 18 24v 24v Input 18 19 19 Speed command SPD CMD Input 20 20 Speed command ground SPD GND Inp...

Page 16: ... common IN COM Input 13 Encoder monitor GND MON GND Output 14 15 16 17 18 19 Torque command TRQ CMD Input 20 Torque command ground TRQ GND Input 21 Phase A Output LD A Output 22 Phase A Output LD A Output 23 Phase B Output LD B Output 24 Phase B Output LD B Output 25 Phase Z Output LD Z Output 26 Phase Z Output LD Z Output Note 1 OC indicates the open collector LD indicates the line driver Note 2 ...

Page 17: ...lectronic thermal detected an overload state 1 Available 1 Deviation counter overflow The value of the deviation counter exceeded the parameter setting value 2 Available 1 Encoder break detection The encoder line was broken 3 Not available 2 Encoder reception error Serial encoder data could not be received 10 times in a row 4 Not available 2 Serial encoder data could not be received over an extend...

Page 18: ...owable continuous current of the actuator flows for about 170 seconds 2 The alarm occurs when a current of 3 times the allowable continuous current of the actuator flows for about 16 seconds RSF supermini series RSF 5B 1 The alarm occurs when a current of more than 1 2 times the allowable continuous current of the actuator flows for about 35 45 seconds 2 The alarm occurs when a current of 2 times ...

Page 19: ... Encoder reception error This alarm occurs when data cannot be received from the encoder successfully or encoder signal output cannot be performed UVW error An alarm occurs if encoder or pole sensor phase UVW signals become abnormal To reset the alarm you must shut down the power and turn it on again after diagnosing the cause To clear the alarm after troubleshooting shut off the control power onc...

Page 20: ...es and the temperature sensor trips To reset the alarm you must shut down the power and turn it on again after diagnosing the cause System error This alarm occurs when an error of the motor current detection circuit is detected To reset the alarm you must shut down the power and turn it on again after diagnosing the cause Overcurrent This alarm occurs when overcurrent is detected by the motor curr...

Page 21: ...N FWD inhibit REV inhibit Clear Alarm clear Deviation clear Speed limiting Current limiting 0 7 8 9 10 11 1 7 8 9 10 11 2 7 8 9 10 11 3 7 8 9 10 11 Note The setting value 0 is the initial setting value Speed control input signal assignment parameter CN2 Pin No Setting value Servo ON FWD start REV start Alarm clear External Internal command Speed limiting Current limiting 0 7 8 9 10 11 1 7 8 9 10 1...

Page 22: ...ote The setting value 0 is the initial setting value Speed control output signal assignment parameter CN2 Pin No Setting value Attained speed Alarm Operation ready Limiting speed Limiting current Phase Z OC output 0 1 2 3 4 5 1 1 2 3 4 5 2 1 2 3 4 5 Note The setting value 0 is the initial setting value Torque control output signal assignment parameter CN2 Pin No Setting value Attained speed Alarm ...

Page 23: ... 12 Input signal common IN COM Input 25 Phase Z output LD Z Output 13 Encoder Monitor ground MON GND Output 26 Phase Z output LD Z Output Note 1 OC open collector port LD line driver port Note 2 Function assignment can be performed for the input signals other than servo on 8 to 11 pin and the output signals of Outputs 3 and 4 3 4 pin Note 3 Logic change can be performed for the I O signals other t...

Page 24: ... provides five ports for outputs as shown in the figure to the right Specifications Port Open collector Voltage DC24V or less Current 40mA or less per port Every port is insulated by an photocoupler Connections Connect output signals between their respective output ports and CN2 6 output signal common port 12 3 3kΩ 0 1μF IN COM PC354 IN COM S ON DC24V External power Servo ON 3 3k 7 3 3k 8 3 3k 9 1...

Page 25: ...nge setting value Connection 1 The figure to the right is a connection example of CN2 1 in position ready IN POS port 2 Configure the output circuit for the ports as follows Supply voltage 24V or less Signal current 40mA or less per port Function CN2 2 Alarm ALARM output The output turns OFF when HA 680 driver senses an alarm The output is NC contact b contact signal Logic change can be performed ...

Page 26: ...peed Logic change can be performed with 14 Output pin logic setting in Parameter With the fault value the transistor is turned on while the speed is limited Connection 1 Speed limited to CN2 3 An example of connection when SPD LTM M is set is shown 2 Configure the output circuit for the ports as follows Supply voltage 24V or less Signal current 40mA or less per port Function Can be set to CN2 4 Cu...

Page 27: ...s follows Supply voltage 24V or less Signal current 40mA or less per port Funtions CN2 6 Output signal common OUT COM output signal The common terminal for output signals CN2 1 2 3 4 and 5 Function CN2 7 Servo ON S ON input This turns the servo power for the HA 680 driver ON and OFF After turning the input ON the servo power of the HA 680 driver is ON and the actuator can be driven When OFF the se...

Page 28: ...s the command count and the feedback count At the same time the command pulse count is set to the same value as the returned pulse count Logic change can be performed with 13 Input pin logic setting in Parameter With the fault value the clear function works at the edge of the input signal ON Connection Connect NO a contact contact signal Connect 24 V of the input signal external power supply to CN...

Page 29: ... in Parameter With the fault value the speed limit state occurs when the input signal is on Connection Connect NO a contact contact signal Connect 24 V of the input signal external power supply to CN2 12 Input signal common Function Can be set to CN2 11 Current limiting CUR LMT input This signal limits the current below the value set in 17 Forward rotation current limit and 18 Reverse rotation cur...

Page 30: ... HA 655 driver does not have an internal power supply for inputs Note 2 Three types of command configurations of 2 pulse 1 pulse 2 phase pulse are available by setting parameter 25 command pulse input configuration This has no effect on the connection specifications Note 3 The host circuitry for the command pulses should be negative logic circuitry in which a lower voltage OFF is used as a logic 1...

Page 31: ...age 5V 10 Signal current 16mA less than 20mA Note Use resistances to suppress rush current to command circuits FWD and REV Connections for Line driver system 1 Connect FWD command to CN2 14 FWD and CN2 15 FWD 2 Connect REV command to CN2 16 REV and CN2 17 REV 3 Open CN2 18 24V Note Use line drivers of EIA 422A standard If you want to use line drivers of other standard technical arrangement with us...

Page 32: ...B output CN2 25 Phase Z LD Z output Function CN2 26 Phase Z LD Z output These ports transmit encoder signals of Phase A B Z through the line driver 26LS31 Connection Receive the signals using a line receiver AM26LS32 or equivalent Note Use EIA 422A standard for line receiver Phase A Phase A Phase B Phase Z Phase B Phase Z 26LS31 44 45 48 49 46 47 25 Monitor ground ...

Page 33: ... 55 SD 7 Black Yellow Blue E Red Shell Use shield pair cable Clamp the end of shield surely to the cable clamp of the connector Incremental encoder 235 14 15 235 16 17 2 2k 18 2 2k 24V IN COM S ON FWD IH REV IH ALM CLR DC24V Servo ON FWD inhibit REV inhibit Alarm clear 3 3k 7 3 3k 8 3 3k 9 12 3 3k 10 0V 3 3k 11 DEV CLR Deviation clear 5 6 READY OUT COM Ready Speed limiting 4 Z 1 ALARM Alarm 2 3 IN...

Page 34: ...remental encoder FWD inhibit REV inhibit Alarm clear Ready Speed limiting Alarm In position Phase A Phase Z Output common FWD pulse REV pulse 5V power supply external resistance R1 R2 are user s responsibility Signal current should be 16mA AC Power input Transformer Line filter AC DC power supply Red Servo ON Deviation clear Shell Shield 7 red 5V 8 black 0V 1 white A 2 green B 3 yellow Z 4 brown U...

Page 35: ...Actuator RSF B mini series White Black Green Ground always Shield Shell Incremental encoder FWD inhibit REV inhibit Alarm clear Ready Speed limiting Alarm In position Phase A Phase Z Output common FWD pulse REV pulse 5V power supply external resistance R1 R2 are user s responsibility Signal current should be 16mA AC Power input Transformer Line filter AC DC power supply Red Servo ON Deviation clea...

Page 36: ...Red Use shield pair cable Clamp the end of shield surely to the cable clamp of the connector Incremental encoder 235 14 15 235 16 17 2 2k 18 2 2k 24V FWD FWD REV REV Always keep at least 3 5V Vin Vin IN COM S ON FWD IH REV IH ALM CLR DC24V Servo ON 3 3k 7 3 3k 8 3 3k 9 12 3 3k 10 0V 3 3k 11 DEV CLR Deviation clear 5 6 READY OUT COM 4 Z 1 ALARM 2 IN POS SPD LMT M 21 22 23 24 Phase A 25 26 26LS31 13...

Page 37: ... Alarm clear Ready Speed limiting Alarm In position Phase A Phase Z Output common FWD pulse REV pulse AC Power input Transformer Line filter AC DC power supply Red Servo ON Deviation clear 7 red 5V 1 white A 3 yellow Z 5 blue V 9 FG Phase A Encoder Monitor ground Always keep at least 3 5V Am26LS31 EIA422A or equivalent 8 black 0V 2 green B 4 brown U 6 orange W Shield Shell Shell Shield Phase B Pha...

Page 38: ...RSF B mini series White Black Green Ground always Shield Shell Incremental encoder FWD inhibit REV inhibit Alarm clear Ready Speed limiting Alarm In position Phase A Phase Z Output common FWD pulse REV pulse Always keep at least 3 5V AC Power input Transformer Line filter AC DC power supply Red Servo ON Deviation clear Shield Red Black White Green Yellow Brown Blue Orange Phase A Phase B Phase B P...

Page 39: ... 3 REV enable REV EN Input 22 Phase A LD A Output 10 Input 4 Input 23 Phase B LD B Output 11 Input 5 Input 24 Phase B LD B Output 12 Input signal common IN COM Input 25 Phase Z LD Z Output 13 Encoder Monitor ground MON GND Output 26 Phase Z LD Z Output Note 1 OC open collector port LD line driver port Note 2 Function assignment can be performed for Inputs 4 and 5 10 11 pin and Outputs 3 and 4 3 4 ...

Page 40: ... provides five ports for outputs as shown in the figure to the right Specifications Voltage DC24V 10 Current 40mA or less per port All ports are insulated by photocouplers Connections Connect output signals between their respective output ports and CN2 6 output common port 12 Input signal 3 3kΩ Voltage DC24V 10 Current 20mA or less for each terminal DC24V External power 0 1μF IN COM PC354 IN COM S...

Page 41: ...figure to the right shows an example of the CN2 1 attained speed HI SPD port connection 2 Configure the output circuit for the ports as follows Supply voltage DC24V or less Signal current 40mA or less per port Function CN2 2 Alarm ALARM output The output turns OFF when the HA 680 driver senses an alarm This signal is normal close NC b contact Logic change can be performed with 14 Output pin logic ...

Page 42: ... pin logic setting in Parameter With the default value the transistor is turned on while the speed is limited Connection 1 The figure to the right shows an example of the CN2 3 or 4 Speed limiting SPD LMT M port connection 2 Configure the output circuit for the port as follows Supply voltage DC24V or less Signal current 40mA or less per port Function Can be set to CN2 4 Current limiting CUR LMT M ...

Page 43: ... ports as follows Supply voltage DC24V or less Signal current 40mA or less Function CN2 6 Output common OUT COM output This is the common port for the CN2 1 2 3 4 5 ports Function CN2 7 Servo ON S ON input This turns the servo power for the HA 680 driver ON and OFF After about 100ms from turning the input ON the servo power of the HA 680 driver is ON and the actuator can be driven When OFF the ser...

Page 44: ... ON S ON is ON state Otherwise the actuator may move rapidly falling into dangerous situation Logic change can be performed with 13 Input pin logic setting in Parameter With the default value rotation starts at signal on CN2 19 Speed command SPD CMD Command Command CN2 8 FWD enable FWD EN ON OFF ON OFF CN2 9 REV enable REV EN ON Zero clamp zero speed REV rotation Zero clamp zero speed FWD rotation...

Page 45: ... Input pin logic setting in Parameter With the default value the operation is as follows Open external command value Close internal command value Connection Connect 24 V of the input signal external power supply to CN2 12 Input signal common Function Can be set to CN2 10 or 11 Speed limit SPD LMT input This signal limits the speed to the value set in 16 Speed limit in Parameter Logic change can be...

Page 46: ...ble FWD EN and CN2 9 REV enable REV EN While the FWD enable is ON the actuator rotates forward when the CN2 19 Speed command SPD CMD is In contrast the actuator rotates in reverse for the CN2 19 is While the REV enable is ON the actuator rotates in reverse the CN2 19 Speed command SPD CMD is In contrast the actuator rotates forward when the CN2 19 is When both signals FWD enable and REV enable are...

Page 47: ...ohms for reasons of the system adjust the difference using the parameters 35 Analog command A D value Mid 36 Analog command A D value Max and 37 Analog command A D value Min For adjustment methods refer to 4 1 3 Parameter instructions in the separate volumes HA 680 Dedicated Communication Software and RSF 520 Operation Manual Plan the speed command input circuit referring to the examples below Exa...

Page 48: ...B output CN2 25 Phase Z LD Z output Function CN2 26 Phase Z LD Z output These ports transmit encoder signals of Phase A B Z from the line driver 26LS31 Connection Receive the signals using a line receiver AM26LS32 or equivalent Note Use EIA 422A standard for line receiver 26LS31 Phase A 21 22 25 26 23 24 13 Phase A Phase B Phase B Phase Z Phase Z Monitor ground ...

Page 49: ...14 15 235 16 17 19 20 20k Speed command SPD CM SPD GN 5 6 READY OUT COM 4 Z 1 ALARM 2 3 HI SPD SPD LMT M 21 22 23 24 25 26 26LS31 13 IN COM S ON FWD EN REV EN CLEAR DC24V 3 3k 7 3 3k 8 3 3k 9 12 3 3k 11 3 3k 10 0V SPD LMT AC Power Transformer NFB CP AC DC power supply L F Line filter VM R GND DC24V Speed command common External power Servo ON FWD enable REV enable Clear Speed limit Red White Black...

Page 50: ... Line filter Speed command common External power Servo ON FWD enable REV enable Clear Speed limit Always ground Incremental encoder Attain speed Alarm Speed limiting Current limiting Phase Z Phase A Phase A Phase B Encoder Monitor ground Output common Relay cable EWA EXX JST09 3M14 Red White Black Green only RSF 5B Shield Shell Shell Shield Phase B Phase Z Phase Z 7 red 5V 1 white A 3 yellow Z 5 b...

Page 51: ...xternal power AC Servo Actuator RSF B mini series White Black Green Ground always Shield Shell Incremental encoder FWD enable REV enable Clear Current limiting Speed limiting Alarm Attain speed Phase A Phase Z Output common Speed command Speed command common AC Power input Transformer Line filter AC DC power supply Red Servo ON Speed limit Shield Red Black White Green Yellow Brown Blue Orange Phas...

Page 52: ...e FWD EN Input 21 Phase A LD A Output 9 Input 3 REV enable REV EN Input 22 Phase A LD A Output 10 Input 4 Input 23 Phase B LD B Output 11 Input 5 Input 24 Phase B LD B Output 12 Input signal common IN COM Input 25 Phase Z LD Z Output 13 Encoder Monitor ground MON GND Output 26 Phase Z LD Z Output Note 1 OC open collector port LD line driver port Note 2 Function assignment can be performed for Inpu...

Page 53: ...e ports for outputs as shown in the figure to the right Specifications Voltage DC24V 10 Current 40mA or less per port All ports are insulated by photocouplers Connection Connect output signals between their respective output ports and CN2 6 output common port IN COM S ON DC24V 3 3k 7 3 3k 8 3 3k 9 12 3 3k 11 3 3k 10 0V FWD EN REV EN External power Servo ON Input 2 Input 3 Input 4 Input 5 12 3 3kΩ ...

Page 54: ...e to the right shows an example of the CN2 1 attained speed HI SPD port connection 2 Configure the output circuit for the ports as follows Supply voltage DC24V or less Signal current 40mA or less per port Function CN2 2 Alarm ALARM output The output turns OFF when the HA 680 driver senses an alarm This signal is normal close NC b contact Logic change can be performed with 14 Output pin logic setti...

Page 55: ...ic setting in Parameter With the factory shipped value the transistor is turned on during the current limiting Connection 1 The figure to the right shows an example of the CN2 4 Current limiting CUR LMT M port connection 2 Configure the output circuit for the port as follows Supply voltage DC24V or less Signal current 40mA or less per port Function CN2 5 Phase Z OC Z output The port outputs phase ...

Page 56: ...ontrast the actuator rotates in reverse for the CN2 19 is command While the REV enable is ON the actuator rotates in reverse when the CN2 19 Torque command TRQ CMD is command Conversely the actuator rotates forward when the CN2 19 is command When both signals of FWD enable and REV enable are ON or OFF the actuator is holding the position or zero speed depending on the setting of parameter 38 zero ...

Page 57: ...40 Internal torque command value in Parameter inside the HA 680 driver Logic change can be performed with 13 Input pin logic setting in Parameter With the factory shipped value the operation is as follows Open external command value Close internal command value Connection Connect 24 V of the input signal external power supply to CN2 12 Input signal common Function Can be set to CN2 11 Current limi...

Page 58: ...en the CN2 19 Torque command TRQ CMD is In contrast the actuator rotates in reverse for the CN2 19 is While the REV enable is ON the actuator rotates in reverse the CN2 19 Torque command TRQ CMD is In contrast the actuator rotates forward when the CN2 19 is When both signals FWD enable and REV enable are ON or OFF the motor is free to rotate CN2 19 Torque command input TRQ CMD Torque command Torqu...

Page 59: ...w 1 Kohms for reasons of the system adjust the difference using the parameters 35 Analog command A D value Mid 36 Analog command A D value Max and 37 Analog command A D value Min For information on how to make adjustment refer to 4 1 3 parameter manual section of separate volume of PSF 520 User s Manual Dedicated communication software HA 680 Plan the torque command input circuit referring to the ...

Page 60: ...tput CN2 25 Phase Z LD Z output Function CN2 26 Phase Z LD Z output These ports transmit encoder signals of Phase A B Z from the line driver 26LS31 Connection Receive the signals using a line receiver AM26LS32 or equivalent Note Use EIA 422A standard for line receiver 26LS31 Phase A 21 22 25 26 23 24 13 Phase A Phase B Phase B Phase Z Phase Z Encoder Monitor ground ...

Page 61: ...4 15 235 16 17 19 20 20k Torque command TRQ CMD TRQ GND 5 6 READY OUT COM 4 Z 1 ALARM 2 3 HI SPD CUR LMT M 21 22 23 24 25 26 26LS31 13 IN COM S ON FWD EN REV EN CLEAR DC24V 5 6k 7 5 6k 8 5 6k 9 12 5 6k 11 5 6k 10 0V CUR LMT Current limit NFB CP AC DC power supply L F VM R GND DC24V Torque command common External power Servo ON Clear FWD enable REV enable Line filter Transformer AC power Red White ...

Page 62: ... ON Clear FWD enable REV enable Line filter Transformer AC power Red Black Green only RSF 5B Always ground Attained speed Alarm Ready Phase Z Current limiting AC power supply Output common Relay cable EWA EXX JST09 3M14 White 7 red 5V 8 black 0V 1 white A 2 green B 3 yellow Z 4 brown U 5 blue V 6 orange W 9 FG Phase A Phase A Phase B Phase B Phase Z Phase Z Encoder Monitor ground Shell Shell Shiel...

Page 63: ... AC Servo Actuator RSF B mini series White Black Green Ground always Shield Shell Incremental encoder FWD enable REV enable Clear Current limiting Ready Alarm Attain speed Phase A Phase Z Output common Torque command Torque command common AC Power input Transformer Line filter AC DC power supply Red Servo ON Current limit Shield Red Black White Green Yellow Brown Blue Orange Phase A Phase B Phase ...

Page 64: ...opriate driver 4 The input voltage for the HA 680 driver is identified with the last code of the model code in the INPUT VOL frame on the label 24 24VAC power supply If the voltage to be supplied is different from the voltage on the label immediately contact the dealer whom it was purchased from Only connect the actuator specified on the driver label The HA 680 driver has been tuned for the actuat...

Page 65: ...emperature is from 20 C to 85 C Do not expose it to sunlight for long periods of time and do not store it in areas where temperatures are likely to fluctuate greatly 6 The allowable storage relative humidity is less than 95 Do not store it in highly humid place or in areas where temperatures are likely to fluctuate greatly 7 Do not store the HA 680 driver in areas where in corrosive gas or particl...

Page 66: ...ere is a great deal of vibration near the driver attach a shock absorber under the base to dampen the vibration Impact The location should be free from impact Make sure that dust water condensation metal powder corrosive gas water water drops or oil mist is not exposed to the HA 680 driver Do not install the driver in a corrosive gas environment because the gas may cause damage to connecting parts...

Page 67: ...se incorrect motion of other equipment or radio noise interference due to poor cabling or poor grounding In addition it is necessary to provide proper cable management in order to suppress incorrect motion of the HA 680 driver by external noise from hosts which contain electronic components such as a CPU To prevent troubles by noise emissions always install cabling and grounding described below 3 ...

Page 68: ...ilters are listed in the figure below driver Model Manufacturer All models SUP P8H EPR 4 Okaya electric Install the noise filters and the HA 680 driver as near as possible with one another Install the noise filters to the lines of the electric devices other than the HA 680 driver in the same way Always install the noise filters to the source of high frequency noise such as electric welders and ele...

Page 69: ... conductivity is less than 0 04 ohm m Optional cables of 3m 5m 10m long are available 3 Install surge protector devices to magnetic relays coils magnetic switches conductor and solenoids 4 Separate power cables power source cables and motor cables and I O signal cables in 30cm or more Do not encase both cables in one pipe or duct and do not bundle them 5 Do not open the end of analog signal cables...

Page 70: ...dling wires or encasing into conduits plastic or metal pipes use the wire of one upper size Note2 In hot environments such as the temperature in a cabinet use heat resistant cable IV or HIV Note3 We provide the following relay cables 3 m 5 m 10 m for the motor and encoder Note that the model varies depending on the actuator used For FHA CminiAC24V type for a motor EWC MB A06 TN2 for an encoder EWC...

Page 71: ... power input type Use the power supply with the following power supply capacity Power supply capacity W Driver Actuator Continuous rating Instantaneous FHA 8C 40 120 HA 680 4 FHA 11C 80 240 HA 680 6 FHA 14C 120 360 RSF 3C RSF 5B 20 50 HA 680 4B RSF 8B 40 120 RSF 11B 60 HA 680 6B RSF 14B 80 320 The following products are recommended Driver Actuator Recommended AC DC power supply Manufacturer FHA 8C...

Page 72: ...driver as shown in the figure below Refer to the phase order of the motor cable in the actuator manual and connect the end terminal of cables to the driver terminal that have the same symbol No alarms are provided for wrong phase order or for open phases In addition refer to 3 5 3 Connecting power cable for working on the both sides of cable Wrong phase order and connection or disconnection of the...

Page 73: ...he external resistance capacitor to be connected 1 If an external capacitor is connected when the load inertia ratio is 2 or less Driver Actuator Recommended capacitor mode Capacity quantity Manufacturer FHA 8C UPJ1H102MHH 1000μF 1 HA 680 4 FHA 11C UPJ1H222MHH 2200μF 1 HA 680 6 FHA 14C UPJ1H222MHH 2200μF 4 HA 680 4B RSF 8B UPJ1H102MHH 1000μF 1 RSF 11B UPJ1H222MHH 2200μF 1 HA 680 6B RSF 14B UPJ1H22...

Page 74: ...e resistance internal external switch terminal of the HA 680 driver as shown below The external resistance is not effective unless the setting is changed Regenerative resistance internal external switch terminal U V W VM R Terminal block model MC1 5 6 G 3 81 Phoenix contact GND VM R GND U V W External resistance Regenerative resistance internal external switch terminal Default setting internal reg...

Page 75: ...ables and motor cables and I O signal cables in 30cm or more Do not encase both cables in one pipe or duct nor bundle them 4 Do not open the end of analog signal cables as speed signal cables Terminals Connectors Symbol Allowable Wire Sizes mm 2 Encoder connectors CN1 0 3mm 2 twist pair shielded cable External I O connector CN2 0 35mm 2 twist pair cable twist pair whole shielded cable 3 9 2 Pin la...

Page 76: ...SF B mini series The models and the pin layout of the encoder connectors are as follows Note that pin layout may vary depending on the actuator Connector Model 10114 3000PE Manufacturer 3M Cover Model 10314 52F0 008 Manufacturer 3M Encoder connector Viewed from soldering side ...

Page 77: ...nput 4 8 Input 2 FWD EN 18 16 14 20 SPD COM 19 SPD CMD 17 15 26 Z 24 B 22 A 25 Z 23 B 21 A Viewed from soldering side Viewed from soldering side 5 Output 5 Z 3 Output 3 1 Output 1 IN POS 7 Input 1 S ON 6 OUT COM 4 Output 4 2 Output 2 ALARM 11 Input 5 9 Input 3 12 IN COM 8 Input 2 18 24V 16 REV 14 FWD 20 19 17 REV 15 FWD 26 Z 24 B 22 A 25 Z 23 B 21 A 13 MON GND 10 Input 4 5 Output 5 Z 3 Output 3 RE...

Page 78: ...RS 232C dedicated cable HDM RS232C cable length 1 5 m is provided If you provide cables separately refer to the following specifications 1 Applicable terminal type for cables driver side Socket terminal DF11 2428 SCF Mfg by Hirose Socket DF11 8DS 2C Mfg by Hirose 2 Applicable line for cables 0 2mm2 shield line 3 Maximum wiring length within 10m Pin assignments refer the figure to the right Encoder...

Page 79: ...ransient current flows at every operation of main power switch If the switching operation is too frequent resisters for suppressing the transient current may deteriorate The switching frequency should not exceed 5 times in an hour and 30 times in a day Furthermore the interval between turning OFF and ON should keep more than 30 seconds 3 10 3 Power on and off sequences Program the sequence on the ...

Page 80: ...or details and operation methods refer to a separate document PSF 520 User s Manual Status display Displays basic information such as the software version of the HA 680 driver State display Displays the operation state such as rotation speed Parameter setting Allows you to set change and save parameters I O signal monitoring Displays the states of the I O signals Alarm display Displays the current...

Page 81: ...run disconnect the actuator from the driven mechanism or load CAUTION When electric power is active do not make any wiring works In advance of wiring work shut off electric power supply to be free from electric shock WARNING 1 Inspect the cabling before turning the power ON and correct poor cabling if necessary 1 Is the cabling correct 2 Is there any temporary cabling Are all wires connected to th...

Page 82: ...tuator code matches The next operation is turning the servo power ON Start with the procedure 3 Turning on the main circuit power If the actuator code set in the driver and the actuator that is actually connected do not match The green LED of the HA 680 driver blinks As a result of auto identification the actuator code does not match 2 Shut down the control circuit power supply Check the adjustmen...

Page 83: ...fer to Chapter 6 Parameter Setting and the user s manual of dedicated communication software PSF 520 Parameter setting 10 Open the Parameter Setting window of dedicated communication software PSF 520 11 Click the Read from the servo button to read the parameters 12 Select the parameter you want to change and enter a value 13 To cancel the changed value to the original setting value click the Read ...

Page 84: ...ctric shock 2 Do not touch terminals for at least five minutes after power OFF stage Even with power OFF electric charge remains in the driver Do not touch terminals at least five minutes after power OFF to avoid electric shock 3 Do not perform insulation resistance or high voltage breakdown tests The test causes damage to the HA 680 driver circuit that results in abnormal motion WARNING 1 Do not ...

Page 85: ...n control related 21 Allowable position deviation 0 32767 22 In position ready range 0 9999 23 Command pulse input factor numerator 1 999 24 Command pulse input factor denominator 1 999 25 Command pulse input form 0 2 26 Multiplication at 2 phase input 1 2 4 27 Servo on deviation clear 0 1 28 Angle correction 0 1 29 Auto gain setting at positioning 0 1 Speed control related 30 Speed command input ...

Page 86: ...ng unit Lower limit Upper limit Default 10 9999 note Note The actual setting varies with the AC servo actuator model When changing the value consider the defaults shown in Section 6 3 Default parameters as the standard guide setting 01 Speed loop proportional gain position speed Function This parameter specifies the proportional gain of the speed loop Determine the value based on the moment of ine...

Page 87: ... with the AC servo actuator model When changing the value consider the defaults shown in Section 6 3 Default parameters as the standard guide setting 03 Speed loop derivative gain position speed Function This parameter specifies the speed loop derivative gain Usually set this factor to 0 High setting If the setting is too high the servo system will be unstable and hunting and overshoot will easily...

Page 88: ...on This parameter specifies the factor used to give the second order derivative value to a torque command Usually set this factor to 0 This setting is usually required to improve the speed Setting unit Lower limit Upper limit Default 0 9999 0 06 Torque command filter position speed torque Function For the purpose of suppressing the self excited oscillation with the mechanical system this parameter...

Page 89: ...limit Upper limit Setting 0 9999 0 The setting relates to the one in 09 Step correction switching range of Parameter 08 Torque step correction position Function This parameter specifies the torque command correction amount that is to be added to the torque command depending on the positive or negative amount in the command Usually set this parameter to 0 It should be set when the speed is to be im...

Page 90: ...eter unchanged from 0 10 Control mode The power must be turned on again after setting a change position speed torque Function The HA 680 driver can control the actuator in either the position control speed control or torque control This function selects an operating mode In the position control a command signal is composed of pulse trains while in the speed mode or torque mode it is composed of an...

Page 91: ...2 pin no Setting Servo ON FWD enable REV enable Clear Internal external command Speed limit Current limit 0 7 8 9 10 11 1 7 8 9 10 11 2 7 8 9 10 11 3 7 8 9 10 11 4 7 8 9 10 11 5 7 8 9 10 11 Torque control input signal assignment parameter CN2 pin no Setting Servo ON FWD enable REV enable clear Internal external command Current limit 0 7 8 9 10 11 1 7 8 9 10 11 2 7 8 9 10 11 Setting unit Lower limi...

Page 92: ...output signal assignment parameter CN2 pin no Setting Attained speed Alarm Ready Limiting speed Limiting current Phaze Z OC output 0 1 2 3 4 5 1 1 2 3 4 5 2 1 2 3 4 5 Torque control output signal assignment parameter CN2 pin no Setting Attained speed Alarm Ready Limiting current Phaze Z OC output 0 1 2 3 4 5 Setting unit Lower limit Upper limit Default 0 20 0 Note 1 The upper limit value is 20 How...

Page 93: ... 32 Setting unit Lower limit Upper limit Default 0 31 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 14 Output pin logical setting The power must be turned on again after setting a change position speed torque Function This function sets the logic to determine the function operation state of the external output sign...

Page 94: ... speed at which the speed limit becomes effective when the speed limit function is assigned to the signal input in the parameter 13 Input pin logical setting A value from 1 to Motor maximum rotation speed can be entered Setting unit Lower limit Upper limit Default r min 0 Motor maximum rotation speed Motor maximum rotation speed Note 1 Motor rotation speed Actuator rotation speed x reduction ratio...

Page 95: ... formula based on the values listed in the catalogue and manual of the AC servo actuator The rated torque is 100 Maximum current Allowable continuous current 100 Upper limit value Note 2 The setting value varies depending on the model of the actuator When you change the value use the 6 3 Default parameter list as the standard values Note 3 The power must be turned on again after setting a change T...

Page 96: ...acting 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 st...

Page 97: ...the relationship of the input pulse number and the amount of moment of the machine that the actuator drives The formula of the relationship of numerator and denominator as follows For rotary operation For linear operation Actuator resolution Encoder resolution 4 times x Actuator duty factor On the basis of this formula set the parameter value so that both the numerator and denominator will be inte...

Page 98: ...e previous value is effective until you turn on the power again 26 Multiplication at 4 phase input The power must be turned on again after setting a change position Function When command pulse input form is set at 2 phase pulse it is possible to make the motion command pulse count two or four times greater than the command pulse count 1 Same as the command count 2 Two times the command count 4 Fou...

Page 99: ... inputted 1 The deviation counter is cleared when the servo on signal is inputted Setting unit Lower limit Upper limit Default 0 1 0 Note When the deviation counter is cleared the command pulse count becomes the same value as the returned pulse count 28 Angle correction The power must be turned on again after setting a change position Function The HA 680 drivers with 4 line specifications provide ...

Page 100: ...t positioning Setting unit Lower limit Upper limit Default 0 1 The specific value varies depending on the actuator model Refer to 6 3 Default parameter list 30 Speed command input factor The power must be turned on again after setting a change speed Function This function sets the motor s rotation speed when the input command voltage is 10 V The relation between the input voltage and motor rotatio...

Page 101: ...ctuator rotation speed reduction ratio 32 Internal speed command speed Function The function can operate the actuator without an input signal This is convenient for test operations without hosts and for system diagnosis Actuator motion at the interion speed starts with the input to CN2 external internal command CMD CHG and stops when input is OFF To reverse an actuator with an internal speed comma...

Page 102: ...elerated from the motor maximum rotation speed to 0 r min during speed control For external speed commands when a speed command faster than the setting value is entered the setting value has higher priority when a speed command slower than the setting value is entered the speed command has higher priority For internal speed commands deceleration is performed based on the setting value Setting unit...

Page 103: ... 10V to the analog command and set the analog command A D value in the value monitor of the state display window of communication software PSF 520 For details refer to a separate document PSF 520 User s Manual Setting unit Lower limit Upper limit Default 0 8192 0 38 Zero clamp speed Function During speed control the motor stops when both FWD enable FWD EN and REV enable REV EN are on or off When t...

Page 104: ...per limit Default 0 note 1 Note The setting value varies depending on the model of the actuator The upper limit value is calculated using the following formula based on the values listed in the catalogue and manual of the AC servo actuator The allowable continuous torque is 100 Maximum current Allowable continuous current 100 upper limit 41 Torque command input factor torque Function This function...

Page 105: ...tion Setting unit Lower limit Upper limit Default ms 1 9999 500 44 JOG operation feed pulse count position Function When position control is set it can be moved for the amount of movement set in this parameter Setting unit Lower limit Upper limit Default Pulse 0 9999 100 45 JOG operation S shape selection position Function This function allows you to select S shape acceleration deceleration during...

Page 106: ...Remark Motor rotation speed Actuator rotation speed ratio 47 Communication setting Function This function selects whether the end code of the communication data is in uppercase or lowercase 0 Lowercase 1 Uppercase Setting unit Lower limit Upper limit Default 0 1 0 This setting does not affect PSF 520 and HA 680 Use the default value without changing it 48 CAN ID 49 CAN Communication speed This par...

Page 107: ...and pulse input factor numerator 1 1 1 24 Command pulse input factor denominator 1 1 1 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 1 1 1 30 Speed command input factor r min 6000 6000 6000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command v...

Page 108: ...nput factor numerator 1 1 1 24 Command pulse input factor denominator 1 1 1 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 1 1 1 30 Speed command input factor r min 6000 6000 6000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min ...

Page 109: ...nput factor numerator 1 1 1 24 Command pulse input factor denominator 1 1 1 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 1 1 1 30 Speed command input factor r min 6000 6000 6000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min ...

Page 110: ...nput factor numerator 1 1 1 24 Command pulse input factor denominator 1 1 1 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 0 0 0 30 Speed command input factor r min 10000 10000 10000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r m...

Page 111: ... 1 1 24 Command pulse input factor denominator 1 1 1 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 1 1 1 30 Speed command input factor r min 10000 10000 10000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min 1 1 1 33 Acceleratio...

Page 112: ...put factor numerator 1 1 1 24 Command pulse input factor denominator 1 1 1 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 0 0 0 30 Speed command input factor r min 6000 6000 6000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min 1...

Page 113: ...nput factor numerator 1 1 1 24 Command pulse input factor denominator 1 1 1 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 0 0 0 30 Speed command input factor r min 6000 6000 6000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min ...

Page 114: ...nput factor numerator 1 1 1 24 Command pulse input factor denominator 1 1 1 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 0 0 0 30 Speed command input factor r min 6000 6000 6000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min ...

Page 115: ...ata could not be received over an extended time period and encoder monitor could not be outputted successfully 5 UVW error All UVW signals of the encoder became the same level 6 Not available 2 Regenerative error The main circuit voltage detection circuit detected overvoltage 7 Not available 2 Operating temperature error The temperature of the HA 680 main unit tripped the temperature rise sensor 8...

Page 116: ...sons are working on the equipment make sure all are alerted and safe before power is restored to the machine CAUTION Do not make wiring works after powering the driver for troubleshooting The troubleshooting while power is active may result in getting electric shocks Shut off the electric power source before any wiring changes are made WARNING ...

Page 117: ...urrent of 2 times the allowable continuous current of the actuator flows for about 5 6 seconds RSF 8B 1 The alarm occurs when a current of more than 1 2 times the allowable continuous current of the actuator flows for about 13 seconds 2 The alarm occurs when a current of 1 5 times the allowable continuous current of the actuator flows for about 6 seconds HA 680過負荷アラーム検出時間 0 5 10 15 20 25 30 35 40 ...

Page 118: ...al to the load 4 Alarm does not occur when driving the actuator only no load but alarm occurs with load Cause 1 Wrong connection of motor and encoder cables Remedy Connect cables correctly referring to chapter 3 Installing the HA 680 driver in this manual 5 Alarm occurs when driving the actuator only no load Cause 1 Wrong connection of motor and encoder cables Remedy Connect cables correctly refer...

Page 119: ... to the load Cause 2 Parameters of the Command pulse input factor are wrong Remedy Set the parameter correctly in parameter 23 Command pulse input factor numerator 24 Command pulse input factor denominator again Cause 3 Command pulse frequency is too large Remedy Decrease the Command output pulse frequency setting of the higher level system The appropriate frequency is normal rotation speed of act...

Page 120: ...the actuator temperature rises Remedy Review the actuator operating load duty cycle and its cooling system Encoder reception error Alarm clear not available Description This alarm occurs when the driver fails to receive data from encoder The alarm also occurs when the driver fails to output the encoder signal To release the alarm after troubleshooting shut off the control power and turn it on agai...

Page 121: ... by shutting down the control circuit power and turning it on again However this alarm may occur every time under the same load conditions Connect a regenerative resistance to the external regenerative resistance connection terminal or extend the acceleration deceleration time If a regenerative resistance is connected you must switch the regenerative resistance switching jumper to the external sid...

Page 122: ... ambient temperature around the HA 680 driver is over 50 C Remedy Review the installation location and cooling system of the HA 680 driver System error Alarm clear not available Description This alarm occurs when an error of the current detection circuit is detected To release the alarm after troubleshooting shut off the control power and turn it on again Diagnostic tips 1 Alarm occurs when the co...

Page 123: ...ction in the motor cable Remedy Verify the connection of the motor cable and correct it or replace it if necessary Cause 2 Short connection in the motor winding Remedy Contact Harmonic Drive Systems Inc Replace actuator 4 Alarm occurs during acceleration or deceleration Cause 1 Excessive load inertia and the accelerating or decelerating time is too short Remedy 1 Reduce the load inertia Remedy 2 S...

Page 124: ...tion in the motor cable Remedy Verify the connection of the motor cable and correct it or replace it if necessary Cause 2 Short connection in the motor winding Remedy Contact Harmonic Drive Systems Inc Replace actuator 4 Alarm occurs during acceleration or deceleration Cause 1 Excessive load inertia and the accelerating or decelerating time is too short Remedy 1 Reduce the load inertia Remedy 2 Se...

Page 125: ... control power and turn it on again Diagnostic tips 1 Alarm occurs when the control power is turned on Cause 1 The control circuit of the HA 680 driver may have failed Remedy Contact Harmonic Drive Systems Inc Replace the HA 680 driver 2 Alarm occurs during running Cause 1 Malfunction of a control circuit element of the HA 680 driver Remedy Contact Harmonic Drive Systems Inc Replace the HA 680 dri...

Page 126: ...ulse frequency in the host device Set it to a frequency lower than the maximum rotation speed r min of the actuator Cause 2 Speed control Speed command input voltage is too high Remedy Lower the speed command output voltage in the host device Cause 3 Speed command input factor is too high Remedy Lower 30 Speed command input factor in Parameter Cause 4 Wrong setting of analog voltage command gain R...

Page 127: ...N Driver failure Y N N Turn NFB and MS ON Is an alarm indicated Refer section 7 1 alarm and diagnostic tips Y Y Y Note NFB No fuse breaker MS Main power switch N Is parameter 17 18 current limit correct Correct parameter 17 18 current limit Y N N N Loose screws in connection broken wire Y Y N Is voltage of driver s UVW correct Y N Is phase order correct between motor and driver Y Y Is command conf...

Page 128: ...ding in motor Y Y Y Unlock the actuator shaft N Is CN2 CLEAR ON N Y Previous page Turn OFF CN2 CLEAR Correct the phase order between them Check motor cable connection Actuator fault Is the actuator shaft locked Actuator fault Is the power supply voltage normal Apply the proper voltage N Is the power supply voltage fluctuation within its allowance Y N Y Start To next page Check the power capacity i...

Page 129: ... actuator revolution speed below the allowance N Y Set the gain to the proper value Is the load fluctuation normal Has the load fluctuation decreased Use a large actuator N Y Does gain adjustment succeed N Y Set the gain to the proper value N Y N Y N Y Next page Is load inertia proper Decrease the load inertia N Y Does gain adjustment succeed N Are motor wiring from driver and phase order correct ...

Page 130: ...cluded in the encoder signal Securely shield and ground the encoder cable Replace the actuator Replace the actuator or driver Is the higher level system program normal Amend the program N Is the command pulse normal Correct the pulse count Check the noise Y N Y Start Next page Is the input command pulse timing normal Y N Is the command pulse input factor valid N Reconsider the command pulse circui...

Page 131: ...ure AC DC Power failure Wrong wiring N N Y Is AC DC Power off with power on sequence N Driver failure Y Y N Turn NFB and MS AC DC Power ON Is an alarm indicated Refer to section 7 1 alarm and diagnostic tips Y N Y Note NFB No fuse breaker MS Main power switch N Is parameter 17 18 current limit correct Correct parameter 17 18 current limit Y N N Loose screws in connection broken wire Y Y N Y Next p...

Page 132: ...der the cooling system N Y N Is voltage of driver s UVW correct N Is phase order correct between motor and driver Y Y Actuator failure Previous page A Previous page B Y Is phase order correct between motor and driver Y Motor rare short circuited Is the motor grounded N Is the actuator shaft locked N Y Y N Correct the phase order between them Actuator failure Unlock the actuator shaft Are motor wir...

Page 133: ... the load fluctuation decreased Use a large actuator N Y Does gain adjustment succeed N Y Set the gain to the proper value N Verify motor cable connections Y N Y To next page Is the load inertia proper Decrease the load inertia N Y Does gain adjustment succeed N N Is the encoder signal normal Y N Is there a noise included in the encoder signal Y Is motor wiring from driver disconnected or it the p...

Page 134: ...Chapter 7 Troubleshooting H 128 Previous page N Does rattle or resonance occur in the mechanical system Y Improve the mechanical system Replace the actuator or driver ...

Page 135: ...cates the cable length 3m 5m or 10 m 1 For motors EWA M JST04 TN2 Cable length 03 3m 05 5m 10 10m 2 For encoders EWA E JST09 3M14 Cable length 03 3m 05 5m 10 10m 3 For EIA 232C HDM RS232C Cable length 1 5m When you use an actuator with a brake a relay cable for the brake is required in addition to the relay cables described above In addition a separate power supply is required for releasing the br...

Page 136: ...to a separate document PSF 520 User s Manual Dedicated communication software PSF 520 can be downloaded from our website at http www hds co jp If you do not have an environment to download it from the Internet please ask one of our branch offices Model PSF 520 Supported OS Windows Me NT 2000 Xp Note Windows is a registered trademark of Microsoft Corporation Items to be provided EIA 232C cross cabl...

Page 137: ...ct 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 the other than the FHA C series actuator and the HA 655 servo driver 4 Disaster or others that does not belong to the responsibility of Harmonic Drive Systems Inc Our liability shall be limited exclusively to ...

Page 138: ...Drive AG Hoenbergstrasse 14 D 65555 Limburg a d Lahn Germany TEL 49 6431 5008 0 FAX 49 6431 5008 18 Harmonic Drive L L C 247 Lynnfield Street Peabody Massachusetts 01960 U S A TEL 1 978 532 1800 FAX 1 978 532 9406 No 1705 15R THA680 E 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...

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