HarmonicDrive H A - 800A, Manual

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4-3 13-bit absolute encoder
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Encoder
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yst
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4-3 13-bit absolute encoder
If AL53 (system failure), AL54 (multi revolution counter overflow) or AL55 (multi
revolution data error) generates due to a loss of absolute position or error, be
sure to reset the origin. Failure to do so may result in unexpected operations.
Features
The FHA-C series is equipped with a multi revolution-type 13-bit optical absolute encoder. It consists
of a detector (13 bits/revolution) for detecting the position after one motor shaft revolution and a
cumulative counter (13 bits) for detecting the number of motor revolutions.
This encoder constantly detects the absolute machine position and stores it by means of the backup
battery, regardless of whether the power supply for driver or external controller is turned ON/OFF.
Accordingly, once the origin is detected when the machine is installed, originating is not required after
subsequent power ON operations. This facilitates the recovery operation after a power failure or
breakdown.
A backup capacitor is also provided in the encoder. (Internal backup. Take note that the retention time
is short.)

The backup time is 30 minutes when a new capacitor has been charged for at
least 3 hours by supplying power to the actuator. This backup time becomes
shorter if the power is supplied for a shorter period or the capacitor deteriorates
over time.
CAUTION
Actuator
Single
revolution
detection
part
Multi
revolution
detection
part
Communication
control part
HA-800A driver
Backup
capacitor
Backup battery
Block diagram of actuator/encoder and driver
Communication
control part
Data calculation
part