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HarmonicDrive H A - 800A, Manual

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Summary of Contents for H A - 800A

Page 1: ...00V power supply AC Servo Driver H A 8 0 0 A s e r i e s m a n u a l for SHA FHA Cmini FHA C RSF RKF series ISO14001 Hotaka plant ISO9001 This operation manual covers the following software versions V...

Page 2: ...product Read this document carefully and use the product correctly so that the product can be used safely for many years Product specifications are subject to change without notice for improvement pur...

Page 3: ...ed to prevent non operation or malfunction of the product or negative effects on its performance or function LIMITATION OF APPLICATIONS The equipment listed in this document may not be used for the ap...

Page 4: ...ion resulting in damage of output elements CAUTION FOR ACTUATORS IN OPERATIONS Never connect cables directly to a power supply socket Each actuator must be operated with a proper driver Failure to obs...

Page 5: ...ales office if you intent to apply products for inverse load Use a fast response type ground fault detector designed for PWM inverters Do not use a time delay type ground fault detector Safety measure...

Page 6: ...its by means of power ON OFF switching Start stop operation should be performed via input signals Failure to observe this caution may result in deterioration of electronic parts DISPOSAL OF AN ACTUATO...

Page 7: ...he status display mode and alarm mode Operations and details of servo loop gains various judgment criteria and acceleration deceleration time setting during speed control performed in the tune mode ar...

Page 8: ...river model 1 5 Driver model 1 5 Option 1 5 1 5 Actuator and extension cable combinations 1 6 1 6 Driver ratings and specifications 1 7 1 7 Function list 1 11 1 8 External drawing 1 13 1 9 Name and fu...

Page 9: ...eration check 3 10 3 4 Operation check with the actual system 3 13 Troubleshooting at actual operation check 3 14 3 5 Manual gain adjustment method 3 15 Position control 3 15 Speed control 3 16 Applie...

Page 10: ...onnection circuit 5 24 Output signal list 5 25 5 6 Details of output signals 5 26 5 7 Monitor output 5 28 Encoder output 5 28 Current value data output 5 28 Analog waveform monitoring 5 29 Digital sig...

Page 11: ...mpensation 7 14 AJ03 Feed forward gain 7 14 AJ04 In position range 7 14 AJ05 Attained speed judgment value 7 15 AJ06 Attained torque judgment value 7 15 AJ07 Zero speed judgment value 7 15 AJ08 to 10...

Page 12: ...7 Output shaft divide function setting 8 13 SP69 Feed forward control function setting 8 16 Chapter 9 Test mode 9 1 Test mode 9 1 9 2 Details of test mode 9 2 T00 I O signal monitor 9 2 T01 Output sig...

Page 13: ...ng list 11 14 Remedial action for warning 11 15 Chapter 12 Option 12 1 Option 12 1 Extension cables 12 1 Dedicated communication cable 12 2 Connectors 12 2 Servo parameter setting software 12 3 Backup...

Page 14: ...re explained AC Servo Actuator FHA C series manual The specifications and characteristics of FHA 17C to FHA 40C actuators are explained AC Servo Actuator FHA Cmini series manual The specifications and...

Page 15: ...E250 200 6C 200 FHA 40C xx E250 200 6C 200 FHA 8C xx 12S17b 200 17 bit absolute 1D E 200 FHA 11C xx 12S17b 200 1D E 200 FHA 14C xx 12S17b 200 1D E 200 FHA 17C xx S248 200 13 bit absolute 3A 200 FHA 25...

Page 16: ...xxxx A21x200 xxS17bA 200 24D E 200 SHA25Axxxx B09x100 xxS17bA 100 6D E 100 Compatible standards Motor Actuator UL 1004 1 Rotating Electrical Machines General Requirements UL 840 Insulation Coordinatio...

Page 17: ...asy for you to comply with EMC Directives when incorporating and using this product Standard related to EMC Directives Motor driver EN55011 2009 A1 2010 Group 1 Class A EN61800 3 2004 A1 2012 Category...

Page 18: ...luding ground may be valid For details refer to the next page 5 Motor cable encoder cable Use shield cables for the motor cable and encoder cable Clamp ground the shield of the motor cable and encoder...

Page 19: ...Electric Co Ltd HF3030 SZC Rated voltage AC500V Rated current 30A Soshin Electric Co Ltd SUP P5H EPR Rated voltage AC250V Rated current 5A Okaya Electric Industries Co Ltd Enable the 4 turn input to...

Page 20: ...s have an enough noise tolerance though it doesn t use the insulation transformer Driver Model No of phase Power capacity kVA HA 800A 1 3 FHA 8 11C 0 15 FHA 14C 0 25 HA 800A 3 3 FHA 17C RSF 17 0 4 SHA...

Page 21: ...s chapter 1 1 Overview of drivers 1 1 1 2 Function block diagram 1 2 1 3 Device configuration diagram 1 3 1 4 Driver model 1 5 1 5 Actuator and extension cable combinations 1 6 1 6 Driver ratings and...

Page 22: ...tions and assigned to I O signals according to specific applications Also multiple functions can be assigned to a single input terminal for an input signal which adds to usability Auto tuning function...

Page 23: ...encoder is used Gate drive Input signal I F ENC monitor I F Analog command Pulse command I F Encoder I F Control calculation Operation I F Control power supply Control part Power amplifier Overcurren...

Page 24: ...f 3 phase AC200V is shown here Depending on the actuator model the driver can be used with single phase AC200V or AC100V Refer to P2 6 for the connection example Encoder cable CN1 Host device 1 CN2 TB...

Page 25: ...3 phase Main circuit power Refer to P2 7 for the connection example Encoder cable CN1 Host device 1 CN2 Drive cable CN3 For I O signals Servo actuator Power supply 1 Circuit breaker 1 Surge absorber 1...

Page 26: ...S1 A CNK HA80A S2 A Servo parameter setting software PSF 800 Downloadable from our website http www hds co jp Backup battery for absolute encoder HAB ER17 33 attached to the shipped driver Model AC S...

Page 27: ...0A 1D E 200 14 200 HA 800A 1D E 200 8 100 HA 800A 1D E 100 11 100 HA 800A 1D E 100 14 100 HA 800A 1D E 100 FHA C series 17 200 4 wires wire saving type Incremental HA 800A 3C 200 Motor wire EWC MB M08...

Page 28: ...modes Position control speed control torque control Switchable using I Os Position command pulse Line collector type Maximum response frequency 2 pulse train 1 pulse train 1MHz 2 phase pulse train 200...

Page 29: ...ions Status display function self diagnosis electronic gear JOG and other operations dynamic brake multi revolution data backup battery Surge current prevention function Incorporated CPU control based...

Page 30: ...rnal speed limit 2 torque limit electronic gear selection control mode INHIBIT Output signals Operation preparation complete alarm in position complete attained speed attained torque speed limiting to...

Page 31: ...f diagnosis electronic gear JOG and other operations dynamic brake multi revolution data backup battery Surge current prevention function Incorporated CPU control based on monitoring of main circuit v...

Page 32: ...3 15 Auto tuning The driver can estimate the load in the JOG mode and automatically set an appropriate servo gain All P9 11 Regenerative processing If the regenerated power exceeds the value permitted...

Page 33: ...tation continues in just one direction for example indexing All P8 13 A 5 Output shaft divide function You can select a setting of 36 000 360 000 or 3 600 000 divisions for the output shaft and can se...

Page 34: ...10 11 Appe Functions and configuration 1 8 External drawing The following shows the external drawing of this driver HA 800A 1 3 Mass 1 kg HA 800A 6 Mass 1 2kg Regenerative resistor Regenerative resist...

Page 35: ...8 External drawing 1 14 1 10 9 8 7 6 5 4 3 2 1 Appe Functions and configuration HA 800A 24 Mass 5 5 kg Installation direction Top Regenerative resistor Cooling fan Wind direction Terminal symbol layou...

Page 36: ...nector Connect the servo motor drive wire Wiring the driver and motor P2 17 A ground terminal for protection against electric shock Be sure to connect this terminal Connecting a ground wire P2 8 Contr...

Page 37: ...resistor Connect an external regenerative resistor if the regeneration capacity is not enough Regenerative resistor PA 7 A terminal for connecting the main circuit power supply Connecting power cables...

Page 38: ...1 9 Name and function of each part of a display panel 1 17 1 2 3 4 5 6 7 8 9 10 11 Appe Functions and configuration...

Page 39: ...ing noise suppression and connector wiring are explained in this chapter 2 1 Receiving inspection 2 1 2 2 Installation location and installation 2 2 2 3 Connecting power cables 2 5 2 4 Suppressing noi...

Page 40: ...the supplier or store where you purchased your driver Do not combine the actuator other than the one specified on the nameplate The characteristics of this driver have been adjusted according to the...

Page 41: ...ach in the X Y and Z directions Others Free from dust dirt condensation metal powder corrosive gases water water droplets oil mist etc Avoid using the driver in an environment subject to corrosive gas...

Page 42: ...be made of an iron sheet of 2mm or more in thickness 1 Screw a M4 screw into the middle of the tapped hole provided at the bottom of the mounting surface 2 Hook the mounting hole cut hole provided at...

Page 43: ...or the wall on which to install the driver 1 Screw an M5 screw into the middle of the mounting hole U shaped provided at the bottom of the driver 2 Securely tighten an M5 screw through the mounting ho...

Page 44: ...ut 1 We provide extension cables 3m 5m 10m for motor cables including brake cables and encoder cables For the combinations of HA 800A drivers actuators and extension cables refer to Actuator and exten...

Page 45: ...is used its phases can be arranged in any order Terminal block for power connection for TB2 Manufacturer Phoenix Contact Model FKC2 5 5 ST 5 08 HA 800 1 3 6 3 phase power supply 200V Single phase powe...

Page 46: ...R1 25 4 J S T Mfg Co Ltd The power receiving part of the driver adopts a surge current suppress circuit Although this circuit prevents extreme voltage drops when the power is input avoid daisy chain w...

Page 47: ...0 15 0 25 0 4 0 8 0 8 1 5 1 8 2 5 3 5 5 5 Surge curre nt upon main circuit power ON A 2 15 15 15 15 8 15 15 15 15 15 1 The values are for allowable continuous output of the actuator 2 The values are...

Page 48: ...wn below The chart below shows a power ON sequence based on a 17 bit absolute encoder system I O outputs and monitor output remain indeterminable for approximately 10 seconds after turning the control...

Page 49: ...nal Operation preparation complete ON OFF Input signal CN2 2 servo ON S ON Dynamic brake DB disabled SP55 0 Dynamic brake disabled Disable Enable 5ms typ 2ms typ Motor excitation Excitation ON Excitat...

Page 50: ...ch the power terminals until the main circuit charge monitor LED on the front panel turns OFF approximately 15 minutes Power ON servo ON sequence HA 800A 24 Create a sequence program for the host devi...

Page 51: ...main circuit DC voltage and activates the dynamic brake However if regenerative resistances such as regenerative overheat alarm AL41 and overregeneration alarm AL42 are under high load the discharge f...

Page 52: ...N during motor excitation the motor excitation is continued until the servo ON input enable signal SREADY turns OFF main circuit DC voltage drop If the main circuit DC voltage does not drop due to reg...

Page 53: ...ilters refer to Installing noise filters P2 15 2 FHA 17C to 40C actuators come with a shield connected to the body Grounding motor frame When the actuator is grounded on the driven machine side throug...

Page 54: ...LECTONICS LTD RF3030 DLC Rated voltage Line Line 440 to 550V rated current 30A RF3040 DLC Rated voltage Line Line 440 to 550V rated current 40A HF3010A UN Rated voltage 250VAC rated current 10A Soshin...

Page 55: ...uct or bundle them together Do not daisy chain ground wires but connect one ground wire separately to each device or to a single point on the control cabinet or ground plate Be sure to install surge p...

Page 56: ...for motor connection Screw size Crimp terminal outer diameter Reference M4 8mm Round crimp terminal R type 3 5 R4 J S T Mfg Co Ltd 5 5 4NS J S T Mfg Co Ltd If the phase order of the motor cable is wro...

Page 57: ...cturer 3M 3M Model 10114 3000PE 10314 52F0 008 Pin layout of encoder connector CN1 The pin layout shown below is viewed from the soldered side 4 wire wire saving incremental encoder 13 bit absolute en...

Page 58: ...8 and output signals OUT1 to OUT7 using system parameters for input output signals Refer to Chapter 5 I O signals for the functions that are assigned by default Keep the I O signal cable to 3m or shor...

Page 59: ...computer side D sub 9 pin female Socket Hood Jack screw Manufacturer OMRON Corporation OMRON Corporation OMRON Corporation Model XM2D 0901 XM2S 0913 XM2Z 0073 Pin layout of PSF 800 communication conn...

Page 60: ...2 6 Wiring the host device 2 21 4 2 2 1 9 8 7 6 9 8 Installation wiring...

Page 61: ...g inspection to operation of the actual system are explained in this chapter 3 1 Startup procedures 3 1 3 2 Turning ON the power for the first time 3 3 3 3 Operation check with the actuator alone 3 9...

Page 62: ...s correct Are there temporarily wired lines Are there any loose terminal connections Are the wires grounded properly 2 Clean around the devices In particular thoroughly inspect the interior of the sys...

Page 63: ...power for the first time P3 3 Refer to Operation check with the actuator alone P3 9 Refer to Operation check with the actual system P3 13 Refer to Normal operation P3 22 Operation check with the actua...

Page 64: ...er wire and I O signal cables Refer to Connecting power cables P2 5 Turn ON the control power supply The sequence of the driver s LED display varies depending on the encoder equipped in the actuator F...

Page 65: ...motor rotation speed If multiple alarms or warnings have occurred the applicable alarms warnings are displayed one by one If the actuator combination is wrong As shown on the right UA99 Wrong actuator...

Page 66: ...he applicable alarms warnings are displayed one by one Absolute multi revolution data error This error occurs when the power is turned ON for the first time or the actuator has been disconnected from...

Page 67: ...d If multiple alarms or warnings have occurred the applicable alarms warnings are displayed one by one If the actuator combination is wrong UA99 Wrong actuator connected is displayed Action to be take...

Page 68: ...on speed If multiple alarms or warnings have occurred the applicable alarms warnings are displayed one by one Wrong wiring faulty wiring If there are any problems in wiring the phase A B and Z signals...

Page 69: ...ed Insufficient input voltage or poor power connection Defective driver The situation does not improve even after unplugging the CN1 and CN2 connectors and wires Insufficient input voltage or poor pow...

Page 70: ...logics the signal assignments and logics must be changed Refer to Input signals System parameter SP00 to SP16 P5 3 The factory default values of output signals are shown in Chapter 5 To change other...

Page 71: ...wire connected correctly Wrong motor wire UVW connection P2 17 Check the command pulse in the status display mode explained in Chapter 6 1 Pulse pattern setting error 2 2 pulse train signal logic err...

Page 72: ...age in the status display mode The speed command voltage is 0V P5 20 Monitor the I O statuses using PSF 800 software Input signal is incorrect P5 9 Are the internal speed command value and related ite...

Page 73: ...ted correctly Wrong motor wire UVW connection P2 17 Check the d12 torque command voltage in the status display mode The torque command voltage is 0V P5 20 Monitor the I O statuses using PSF 800 softwa...

Page 74: ...orm auto tuning in the offline test mode to set an appropriate gain Refer to Chapter 9 Test mode Issue operation commands from the host controller and check how the machine moves If the machine moveme...

Page 75: ...too short Host controller setting error P9 11 Is the load inertia too big Actuator selection error An alarm generates Refer to Chapter 11 Troubleshooting Chapter 11 Manual gain adjustment Vibration d...

Page 76: ...pplicable actuator that are the targets of Appendix Default setting A 1 Adjustment procedure 1 Perform rough adjustment via auto tuning Refer to T09 Auto tuning P9 11 2 Set a smaller position loop gai...

Page 77: ...o small a setting induces vibration Accordingly adjust the integral vibration to an appropriate level Position loop gain AJ00 By increasing the position loop gain you can improve the control response...

Page 78: ...the set value of this parameter improves the response but increasing the value excessively causes the mechanical system to vibrate easily On the other hand a lower response of the speed loop eliminate...

Page 79: ...ameters AJ03 AJ20 AJ21 AJ22 AJ23 0 Feed forward control previous compatible function 1 Feed forward control 2 Feed forward control simple adjustment version stable operation mode 3 Feed forward contro...

Page 80: ...ed reducer in the actuator and the load inertia moment AJ21 Load inertia moment ratio When SP69 Feed forward control function setting is 0 1 or 5 AJ20 Feed forward filter can be set to any desired val...

Page 81: ...occur In order to make feed forward control function effectively it is necessary to set a value larger than the value of AJ00 Position loop gain While checking the response gradually raise the settin...

Page 82: ...ting has an effect Effect of factor Although the reference value of the spring constant compensation factor is 100 set an appropriate compensation factor depending on the variation in the actuator s s...

Page 83: ...ements inside the driver Daily maintenance inspection Perform maintenance inspection according to the maintenance inspection standards for electronic devices specified by the department introducing th...

Page 84: ...less The life of the cooling fan assumes that this driver is operated 24 hours a day in an environment of 40 in average temperature throughout the year The life of the battery assumes that the driver...

Page 85: ...cing it in the battery holder with the positive side facing down 4 Push the battery all the way in and close the panel cover With a 13 bit absolute encoder or a 17 bit absolute encoder SHA20 and FHA C...

Page 86: ...3 6 Normal operation 3 25 4 3 3 1 9 8 7 6 9 8 Startup...

Page 87: ...r configuration is different depending on the actuator model Details of each actuator are explained in this chapter 4 1 Overview of encoders 4 1 4 2 17 bit absolute encoder 4 4 4 3 13 bit absolute enc...

Page 88: ...w for each encoder type Check the section corresponding to your actuator Encoder type Actuator model Driver model Details 17 bit absolute encoder 17 bit encoder incremental model SHA series FHA Cmini...

Page 89: ...16 bits 32768 to 32767 13 bits 4096 to 4095 Not limited Not limited Not limited Encoder monitor output pulses Parameter setting can be changed Up to 8 192 pulses are output per motor shaft rotation P...

Page 90: ...rent value 9 600 bps data refresh cycle 100 ms 33 bit data transmission output of signed current value 9 600 bps data refresh cycle 100 ms Alarm Encoder disconnection MEMORY error System failure Singl...

Page 91: ...s a machine that only moves the index table in one direction When the machine continues to rotate in just one direction the absolute encoder eventually exceeds the number of revolutions that can be de...

Page 92: ...17 bit absolute encoder CN1 AC Servo Actuator R2 R3 U V W Red White Black Green Yellow Be sure to connect to the ground terminal R1 and R3 are shorted When using an external regenerative resistor keep...

Page 93: ...ft rotation into 3 600 000 parts equivalent to 0 0001 degree resolution If you change the setting the origin needs to be set again Be sure to change the value before setting the origin Startup procedu...

Page 94: ...gin needs to be set again Be sure to change the value before setting the origin 4 Origin setting Set the origin in order to link the actuator driver and the mechanical origin 1 Using as an absolute en...

Page 95: ...ode For details refer to d05 06 Feedback pulses display P7 5 4 Manage the coordinates set the origin with the host controller with the read out current value of the absolute encoder as the origin data...

Page 96: ...of the output shaft For details on the current value data output range refer to the table below For the current value data reception sequence sample ladder is available for the Mitsubishi Electric Q S...

Page 97: ...ed angle values of the multi revolution detection range The output range is from 2 32 2 17 x speed reduction ratio x number of output divisions to 2 32 1 2 17 x speed reduction ratio x number of outpu...

Page 98: ...CN2 48 Monitor ground Output signal pulses The output pulses per motor shaft revolution are set by the parameter SP61 Encoder monitor output pulses Output pulses per motor shaft revolution Phase A sig...

Page 99: ...forms delay with respect to the value of the absolute encoder for the signal processing time within the driver due to the rotation speed of the actuator Signal input method Each phase signal is output...

Page 100: ...ution data error 1 Turned the power ON for the first time 2 Malfunction due to external noise 3 Encoder failure 1 Perform T08 Multi revolution clear to reconnect the power 2 Provide noise suppression...

Page 101: ...l noise 4 Check the ground line or other ground Remedial action for warning Name Description Cause Action UA91 Battery voltage low The backup battery voltage has dropped to DC3 1V or below 1 Voltage d...

Page 102: ...p 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 af...

Page 103: ...open and connect the regenerative resistor between R1 and R2 If you are not using an external regenerative resister and R1 and R3 are kept open the built in regenerative resister will not operate Mak...

Page 104: ...replace the backup battery P3 24 2 Initializing the absolute encoder system When the power supply is turned ON for the first time AL53 System failure generates It is necessary to initialize multi rev...

Page 105: ...ulses display P7 5 d The current value output data from the pins CN2 42 to 47 HA 655 driver mode is used For customers who have been using the HA 655 driver position data is output from the phase A B...

Page 106: ...put Z LD CN2 48 Monitor ground Multi revolution data Multi revolution data is output by 2 phase signals having a phase difference of 90 If the multi revolution data of the encoder counter installed on...

Page 107: ...e to the phase B signal For REV rotation the phase A signal is output with a delay of 90 relative to the phase B signal Output signal sequence An example of signal output where the multi revolution da...

Page 108: ...evolution Note that for phase Z signal 1 pulse is output per motor shaft rotation but the width is indeterminable CN2 42 Phase output A LD CN2 43 Phase output A LD CN2 44 Phase output B LD CN2 45 Phas...

Page 109: ...encoder and phase A and B waveforms are shown below Signal input method Each phase signal is output by a line driver 26LS31 Receive the signals using a line receiver AM26LS32 or equivalent Use an EIA...

Page 110: ...r the voltage of the backup capacitor in the encoder or HA 800 driver battery whichever is higher has become 2 3V or below 4 Encoder error 1 Execute test mode T08 to perform multi revolution clear and...

Page 111: ...A91 Battery voltage low The backup battery voltage has dropped to DC2 8V or below 1 Voltage drop due to consumption of backup battery 2 Short circuit the encoder battery wire 3 HA 800A driver control...

Page 112: ...ator FHA C series FHA Cmini series R2 R3 U V W Red White Black Green Yellow Be sure to connect to the ground terminal Shield R1 R1 and R3 are shorted When using an external regenerative resistor keep...

Page 113: ...ray white Yellow Yellow white Brown Brown white Blue Blue white Orange Orange white HA 800A B AC Servo Actuator RSF RKF series R2 R3 U V W Red White Black Green Yellow Be sure to connect to the ground...

Page 114: ...are reset to 0 initialized when the driver power supply is turned ON 2 Checking originating operation In order to link the actuator driver and the mechanical origin to each other either perform origi...

Page 115: ...advance of 90 relative to the phase B signal For REV rotation the phase A signal is output with a delay of 90 relative to the phase B signal To obtain the resolution in the quadrupled mode utilize th...

Page 116: ...AL51 Encoder counter receiving error Encoder serial data could not be received accurately 1 Electrical discontinuity of encoder signal wire 2 Poor contact connection of encoder signal connector CN1 3...

Page 117: ...ter 5 1 I O signal list 5 1 5 2 Input signals System parameter SP00 to SP16 5 3 5 3 Details of input signals 5 9 5 4 Inputs in each control mode 5 16 5 5 Output signals System parameter SP20 to SP26 5...

Page 118: ...N6 Input 32 Speed command ground SPD GND Input 8 Input signal common IN COM Input 33 Torque command input TRQ CMD Input 9 Input 7 REV enable selection IN7 Input 34 Torque command ground TRQ GND Input...

Page 119: ...O signal list 5 2 1 2 3 4 5 6 7 8 9 10 11 Appe I O signals Models of I O signal connector CN2 The models of CN2 connector are shown below Connector Cover Manufacturer 3M 3M Model 10150 3000PE 10350 52...

Page 120: ...pin numbers 3 to 7 9 and 10 CN2 connector input Pin No Signal 1 Input signal common 2 Servo ON 3 Input 2 alarm reset 4 Input 3 deviation counter clear 5 Input 4 FWD inhibit 6 Input 5 REV inhibit 7 Inp...

Page 121: ...for input signals to CN2 1 Input signal common The required current capacity is calculated by multiplying the minimum number of ports used by 20 mA IN COM S ON IN2 RESET IN3 CLEAR IN4 FWD IH DC24V Ext...

Page 122: ...signal status from host Opt isolator ON Opt isolator OFF Circuit status Logic setting 0 Normally open contact A Logic NO Enable Disable 1 Normally closed contact B Logic NC Disable Enable Enable The...

Page 123: ...nable FWD EN S CN2 7 NO 0006 6 P5 11 SP06 REV enable REV EN S CN2 9 NO 0007 7 P5 11 SP07 FWD selection FWD SEL T CN2 7 NO 0006 6 P5 12 SP08 REV selection REV SEL T CN2 9 NO 0007 7 P5 12 SP09 Internal...

Page 124: ...003 3 If IN3 CN2 4 ON input signal is enabled FWD rotation is inhibited when IN3 ON opt isolator ON Electronic gear selection is enabled when IN3 ON 0103 259 If IN3 CN2 4 OFF input signal is enabled F...

Page 125: ...SF 800 items show the values displayed in the PSF 800 communication software parameter window For details on the method for setting input signals using the PSF 800 refer to Assigning I O signals P10 1...

Page 126: ...turned OFF and AL01 Emergency stop is generated If this signal is assigned to an input pin of CN2 the system operates according to the operation set by the ON OFF state of the signal If SP55 DB enabl...

Page 127: ...responds to the input signal stops The rotary drive corresponding to the input inhibit signal is turned OFF If pulse signals continue to be input in the inhibited direction an AL60 Excessive deviation...

Page 128: ...forcibly stopped so that the position deviation becomes zero current value is maintained Perform position control positioning at the position where the speed command value is zero When zero clamp SP5...

Page 129: ...ltage Enabled Disabled External torque command positive voltage FWD rotation External torque command negative voltage REV rotation Disabled Enabled External torque command positive voltage REV rotatio...

Page 130: ...imit selections 1 and 2 Selected statuses of internal speed limit selections 1 and 2 and internal speed commands 1 2 and 3 Internal speed limit selection 1 Internal speed limit selection 2 Selected sp...

Page 131: ...ration when SP57 External torque limit enable disable is set to 1 enable If this parameter is set to 0 disable torque limit is not performed 0000 P S SP14 Electronic gear selection G SEL The driver ha...

Page 132: ...ol mode selection function is enabled even when the signal is not assigned to CN2 SP41 Set value of control mode selection Control modes selection Operation 0 Disable Position control Enable Speed con...

Page 133: ...power supply built in for input signals Provide an external power supply Line collector type Use a line driver conforming to the EIA 422A standard If a line driver conforming to other standard is used...

Page 134: ...Pulse input system 3 input command signal patterns of 2 pulse train single pulse train and 2 phase pulse train are available Set a desired pattern according to SP42 Command pulse input pattern setting...

Page 135: ...r the FWD command the pulse input to the FWD port has a phase advanced by 90 relative to the pulse input to the REV port For the REV command the pulse input to the REV port has a phase advanced by 90...

Page 136: ...or open collector is selected Input command pulses within a duty range of 50 10 If the single pulse train is selected command pulses in the specified direction should be input at least 400 ns after th...

Page 137: ...ng and SP50 Command polarity The default setting for the value of SP51 Speed input factor is set according to the max rotational speed of the actuator combined with the driver The permissible max rota...

Page 138: ...sing voltage values The motor output torque and torque command voltage are determined according to the value set in SP53 Torque input factor The motor torque direction is specified with the polarity o...

Page 139: ...5 22 1 2 3 4 5 6 7 8 9 10 11 Appe I O signals FWD torque Torque FWD selection is enabled FWD torque Torque REV selection is enabled command voltage V REV torque command voltage V REV torque command v...

Page 140: ...Available parameter No parameter No Default setting PSF 800 16 Output 1 operation preparation complete SP20 0001 1 17 Output 2 servo ON input enable SP21 0002 2 18 Output 3 alarm output SP22 0103 259...

Page 141: ...on of the output signal is enabled Disabled The function of the output signal is disabled How to change function logic Input signal functions can be changed using system parameters or servo parameter...

Page 142: ...value Signal name Abbreviation Applicable control mode Default setting Logic specification Signal specification Assigned pin Logic 00 01 00 No assignment 00 01 01 Operation preparation complete READY...

Page 143: ...attained speed and this signal does not affect the servo control directly P S T 06 Attained torque HI TRQ This signal indicates that the actuator s output torque has reached or exceeded the value set...

Page 144: ...T 17 Cooling fan stopped FAN STP This signal indicates that the cooling fan is stopped for some reason If operation is continued with the cooling fan stopped the HA 800 driver temperature may rise an...

Page 145: ...r FHA C series HA 800A C 100 200 P4 28 4 wire wire saving incremental encoder FHA Cmini series HA 800A C 100 200 14 wire incremental encoder RSF RKF series HA 800A B 100 200 Current value data output...

Page 146: ...0 to 10V Output impedance 1k Connection method Plug the connector for the optional monitor cable EWA MON01 JST4 into CN9 and check the waveform between CN9 1 speed monitor SPD MON and CN9 4 monitor gr...

Page 147: ...d 3 3V for High Take note that the output remains unstable after the power is input until the Servo ON input enable S READY signal is output Signal monitor SIG MON Specifications Output voltage range...

Page 148: ...on complete FWD enable 2 2k 2 2k FWD EN 7 REV EN 9 IN POS READY 18 17 Servo ON input enable S READY 16 TLMT OUT 19 Output signal common OUT COM Torque limiting output Z OC WARNING ZERO SPD ALARM 24 25...

Page 149: ...e to ground each point Note The encoder wiring varies depending on the actuator model Refer to Chapter 4 Encoder system 19 20 21 22 23 24 25 40 26LS31 Current value data output Current value data outp...

Page 150: ...he actuator model Refer to Chapter 4 Encoder system 20 21 22 23 24 25 26LS31 Current value data output 40 Current value data output 41 Encoder phase A signal output 42 Encoder phase A signal output 43...

Page 151: ...tor model Refer to Chapter 4 Encoder system 20 21 22 23 24 25 26LS31 Current value data output 40 Current value data output 41 Encoder phase A signal output 42 Encoder phase B signal output Encoder ph...

Page 152: ...5 8 Connection example in control mode 5 35 1 2 3 4 5 6 7 8 9 10 11 Appe I O signals...

Page 153: ...pter 6 Panel display and operation How to operate the display operation buttons on the driver s front panel and overview of operation in each mode is explained in this chapter 6 1 Operating display pa...

Page 154: ...s internal speed commands etc Tune mode parameters can be changed even when the actuator is operating Changes are reflected in real time For details refer to Chapter 7 Tune mode System parameters Inpu...

Page 155: ...0 is shown at the far right of the panel display UP MODE DOWN S E T The display software version is shown for approx 1 second The control software version is shown for approx 1 second The driver start...

Page 156: ...Input signals Tune mode 1 Tune mode 2 Tune mode 3 System parameter mode 2 Output signals System parameter mode 3 Function extension signals System parameter mode 4 Function extension signals Status d...

Page 157: ...button is recognized as enabled when it has been pressed for at least 0 1 second and 1 second or less For details on data displayed refer to Chapter 7 UP MODE DOWNS E T UP MODE DOWNS E T UP MODE DOWNS...

Page 158: ...overview on alarms refer to P7 9 For details on alarms refer to Chapter 11 Troubleshooting UP MODE DOWNS E T UP MODE DOWNS E T UP MODE DOWNS E T UP MODE DOWNS E T UP MODE DOWNS E T UP MODE DOWNS E T...

Page 159: ...been pressed for at least 0 1 second and 1 second or less For details on the tune mode refer to Tune mode P7 12 UP SET DOWN UP Set value UP DOWN UP DOWN DOWN UP DOWN UP MODE MODE MODE Tune mode 1 Tun...

Page 160: ...button when the set value of the parameter is shown and the set value will flicker Press the UP or DOWN button to change the set value Press and hold each button to change the value faster SET Press t...

Page 161: ...9 is enabled by reconnecting the control power supply after changing the setting System parameter 4 UP System parameter 1 UP Output signals SP20 to 39 System parameter 3 System parameter 2 UP MODE DOW...

Page 162: ...within approx 1 second and the change will be cancelled The fourth and fifth digits can be changed Pressing the UP button changes the set value Press and hold each button to change the value faster Ex...

Page 163: ...the set value will flicker The values set in the fourth and fifth digits can now be changed Press the SET button and release it before the flickering stops within approx 1 second and the change will b...

Page 164: ...ress the SET button when the set value of the parameter is shown and the set value will flicker Press the UP or DOWN button to change the set value Press and hold each button to change the value faste...

Page 165: ...ognized as enabled when it has been pressed for at least 0 1 second and 1 second or less For details on test mode refer to Chapter 9 Test mode UP SET DOWN UP UP DOWN UP DOWN DOWN UP DOWN UP MODE MODE...

Page 166: ...6 1 Operating display panel 6 13 11 10 9 4 7 6 5 4 3 2 1 Panel display and operation...

Page 167: ...m mode Operations and details of servo loop gains various judgment criteria and acceleration deceleration time setting during speed control performed in the tune mode are explained 7 1 Status display...

Page 168: ...tion in FWD rotation pulse P7 3 d02 Error pulse count display High d03 Output torque monitor The value of the output torque currently generated by the actuator is shown 100 indicates the specified max...

Page 169: ...cription Default Unit Details d14 Control mode The current control mode is shown Position control Speed control Torque control d15 Discharge time An approximate total power ON time is shown 0 to 99 99...

Page 170: ...uring position control is shown d01 indicates the lower 4 digits while d02 indicates the upper 4 digits The driver continues to output a rotation command until there is no longer difference error puls...

Page 171: ...e used as long as the overload rate remains 0 If the overload rate gradually increases on the other hand the servo gain must be decreased or other measures are required The driver always monitors the...

Page 172: ...ignored and only the lower 8 digits are shown d07 08 Command pulse display The command pulse value input to the driver is shown Absolute encoder Current encoder value at the power ON plus command pul...

Page 173: ...ending on the offset voltage In this condition adjust AJ14 Speed command offset in the tune mode or T06 Speed command auto offset in the test mode Relational items SP32 AJ14 T06 d12 Torque command vol...

Page 174: ...xCG 8011 8021 8031 8041 8051 SHA32AxxxCG 8111 8121 8131 8141 8151 SHA40AxxxCG 8211 8221 8231 8241 8251 100V SHA25AxxxCG 8611 8621 8631 8641 8651 Encoder Output shaft single revolution absolute model V...

Page 175: ...indicates absorbed power of regenerative resistor as percentage unit The value can be converted to absorbed power of resistor using the following formula Regenerative resistor absorption power W 16000...

Page 176: ...arning display The present alarm warning is shown P7 10 A1 Alarm history 1 and time of occurrence Alarm history is shown by a code number When the SET button on the panel is pressed while the history...

Page 177: ...r overcurrent 51 Encoder receiving error 1 2 76 Processor error 40 Overvoltage 52 UVW error 1 81 System failure 3 41 Regenerative resistor overheat 53 System failure 2 82 Single rotation data error 3...

Page 178: ...t alarms stored in the driver is cleared 1 Press the SET button when AHcLr is displayed AHcLr flickers 2 Press the SET button again The alarm history is cleared and flickering of AHcLr stops and becom...

Page 179: ...eed monitor offset 2 P7 18 AJ17 Current monitor offset 2 P7 18 AJ18 System reservation 3 AJ19 System reservation 3 Tune mode 2 AJ20 Feed forward filter 1 P7 19 AJ21 Load inertia moment ratio 100 P7 19...

Page 180: ...te display remains 0 in the status display mode after the actual operation the higher servo gain can be used Set value Function Unit Default 10 to 9999 Set the proportional gain of the position feedba...

Page 181: ...eed forward control is not performed The relation between the set value and actuator operation is as follows Increasing the set value Tendency of mechanical shock and vibration hunting increases Set v...

Page 182: ...ue output signal An attained torque judgment signal is output when the actuator s output torque rises to the attained torque judgment value or above Output signals are assigned by SP20 to 26 P6 10 Set...

Page 183: ...unctions P5 13 Set value Function Unit Default 1 to maximum rotational speed of applicable actuator x Reduction ratio Set the internal speed command r min 500 1000 1500 Relational items SP09 SP10 SP11...

Page 184: ...eed command change when FWD enable SP05 or REV enable SP06 is enabled Speed change from zero to FWD REV rotation AJ12 Acceleration time constant Speed command change when FWD enable SP05 or REV enable...

Page 185: ...otor Set the input command voltage to 0V and change the offset value to find a value at which the motor stops Use T07 Automatic adjustment of torque command offset to adjust automatically For details...

Page 186: ...in feed forward control Feed forward control is performed based on the value set here Refer to Applied servo gain adjustment function P3 18 Set value Function Unit Default 1 to 1000 Sets the load ine...

Page 187: ...Default 1 to 200 Set the spring constant compensation factor for the actuator 100 Relational items AJ03 AJ20 AJ21 AJ22 SP69 When using the feed forward control function be sure to reference Applied s...

Page 188: ...7 6 Details of tune mode 7 21 1 2 3 4 5 6 7 8 9 10 11 Appe Status display mode alarm mode tune mode...

Page 189: ...sign I O signals and set their logics as well as extended functions such as control mode selection pulse input system selection and electronic gear setting etc are explained in this chapter 8 1 System...

Page 190: ...ternal speed command 1 input setting SP49 Allowable position deviation SP10 Internal speed command 2 input setting SP50 Command polarity SP11 Internal speed limit 1 input setting SP51 Speed input fact...

Page 191: ...vation Do not change the parameters that are in the system reserved areas The default setting of the system reservation may vary depending on the model version If the set values change when the parame...

Page 192: ...0 Automatic positioning gain setting enable disable setting 1 SP61 Encoder monitor output pulses 1 SP62 SP63 System reservation 3 SP64 Regenerative resistor selection HA 800 24 only 0 SP65 FWD REV inh...

Page 193: ...rol speed control and torque control The control mode to switch to is determined according to the input signal for control mode selection CON SEL The setting change of the system parameters SP00 to 79...

Page 194: ...Phase A Phase B SP43 Multiplication of 2 phase input setting When the set value in SP42 Command pulse input pattern setting is 2 2 phase pulse input the input signals can be multiplied to double or qu...

Page 195: ...bled by reconnecting the control power supply after changing the setting Parameter No Name Set value Default 44 Electronic gear 1 numerator 1 to 9999 1 45 Electronic gear 1 denominator 46 Electronic g...

Page 196: ...wable value of position deviation If a deviation exceeding this value is generated AL60 Excessive deviation is generated and the servo will be turned OFF The setting value of SP49 is the encoder pulse...

Page 197: ...FWD enable d00 Motor rpm Auto tuning SP06 REV enable d01 02 Error pulse Status display Motor rotation speed SP07 FWD selection d03 Output torque Status display Torque SP08 REV selection d05 06 Feedbac...

Page 198: ...varies depending on the applicable actuator Refer to Default settings PA 1 in the appendix SP52 Zero clamp This function forcibly stops the actuator rotation by switching to the position control mode...

Page 199: ...g the control power supply after changing the setting Set value Function Default 0 Disable 1 1 Enable SP56 External speed limit enable disable When the actuator is operating in the position control mo...

Page 200: ...or pulse count is small to shorten the positioning period The speed command value of position loop is proportional to the error pulse and thus the positioning speed drops when the error pulse is small...

Page 201: ...Set the operation for when FWD REV inhibit is input during the position control and speed control This is available for HA 800 software version 2 03 or later The setting change of the system parameter...

Page 202: ...For details on the origin setting refer to Origin setting P4 8 When the output shaft divide function is set set the output shaft speed referencing command pulse frequency Hz Output shaft speed r min 6...

Page 203: ...e so always check and revise the operating data setting before operating The output shaft divide function setting is achieved using the electronic gear function so the speed setting and acceleration d...

Page 204: ...orm monitoring Error pulse FWD inhibit input in effect REV inhibit input in effect Current value data output 1 Encoder monitor 2 13bitABS Current value data output 3 Analog speed monitor Analog curren...

Page 205: ...y OFF then ON again Set value Function Unit Default 0 Feed forward control previous compatible function 1 Feed forward control 2 Feed forward control simple adjustment version stable operation mode 3...

Page 206: ...8 2 Function extension parameter 8 17 1 2 3 4 5 6 7 8 9 10 11 Appe System parameter mode...

Page 207: ...ode Details of how to check the system operation by auto tuning via jogging monitoring of I O signals and simulated operation of output signals are explained in this chapter 9 1 Test mode 9 1 9 2 Deta...

Page 208: ...Description Details Test mode T00 I O signal monitor P9 2 T01 Output signal operation P9 3 T02 JOG speed setting P9 4 T03 JOG acceleration deceleration time constant setting P9 5 T04 JOG operation P9...

Page 209: ...indicates the output status while the fifth digit indicates the input status Lit ON Unlit OFF If FWD inhibit FWD IH or REV inhibit REV IH is assigned to an input pin the screen will switch to the ala...

Page 210: ...pressed for 1 second or longer 2 Use the UP button to select the signal to be operated 3 Use the DOWN button to switch the ON OFF status The output signal shown in the second digit will turn ON OFF ev...

Page 211: ...et value flickers to indicate that it can now be changed 3 Change the set value Pressing the DOWN button decreases the value while pressing the UP button increases the value Press and hold each button...

Page 212: ...he SET button and release it within 1 second The set value flickers to indicate that it can now be changed 3 Change the set value Pressing the DOWN button decreases the value while pressing the UP but...

Page 213: ...t after jog operation the current value on the host device and the actual machine position differ 1 Press the SET button when the actuator servo is OFF The actuator servo turns ON and JOG operation di...

Page 214: ...e SET button The displayed motor code flickers To cancel the parameter initialization press the UP or DOWN button The screen returns to the test mode number display 3 Press and hold the SET button unt...

Page 215: ...UP or DOWN button to return to the test mode number display 3 Press and hold the SET button until the flickering stops and becomes lit to perform automatic adjustment If the SET button is released be...

Page 216: ...or DOWN button to return to the test mode number display 3 Press and hold the SET button until the flickering stops and becomes lit to perform automatic adjustment If the SET button is released before...

Page 217: ...ted 1 Move the actuator to its origin via manual JOG operation Only when setting the origin 2 Display T08 Multi revolution clear in the test mode 3 Press and hold the SET button for at least 0 1 secon...

Page 218: ...t Cancel FWD REV inhibit by inputting a signal to the CN2 or setting SP03 SP04 Note that the rotation directions depend on the SP50 Command polarity setting Do not execute the PSF 800 waveform monitor...

Page 219: ...changes to FInSH to indicate that the auto tuning is complete Pressing the UP or DOWN button on this display returns the screen to the test mode number display If the load varies greatly with the rota...

Page 220: ...of approx 15 To minimize the erroneous difference set the auto tuning displacement as long as possible 4 Hold the SET button until the auto tuning displacement stops flickering and becomes lit The se...

Page 221: ...the SET button until the auto tuning level selection stops flickering and becomes lit The set value becomes effective If you don t want to apply the set value release the SET button before the flicke...

Page 222: ...9 2 Details of test mode 9 15 1 2 3 4 5 6 7 8 9 Test mode...

Page 223: ...ing set parameters assign I O signals and monitor servo operation waveforms are explained in this chapter 10 1 Overview 10 1 10 2 Auto tuning 10 9 10 3 Parameter setting 10 11 10 4 Assigning I O signa...

Page 224: ...compatible pointing device Printer operating on the specified OS if created data will be printed 1 Successful operation has been verified on Windows Vista and Windows 7 but it is not guaranteed Micros...

Page 225: ...hown on the personal computer Take note that the files you have downloaded from our website do not include the VB6 runtime library If the VB6 runtime library is not yet installed you can download it f...

Page 226: ...ure below Once uninstalled PSF 800 can no longer be started on that personal computer To use PSF 800 again reinstall it according to the installation procedure 1 Open Control Panel 2 Click Add Remove...

Page 227: ...ng status display Alarm display Servo ON display Connected model name VerNo display Motor code display Operation control mode display Menu Status Display window Auto tuning window Parameter Setting wi...

Page 228: ...ed go to the Axis menu to set the axis number of each unit to communicate with Connection example of PSF 800 and HA 800A Window Although the status display screen opens when the software is started yo...

Page 229: ...lay The model name of the connected HA 800 is shown Example General purpose position command speed command torque command specification HA 800B MECHATROLINK communication specification HA 800C CC Link...

Page 230: ...Explanation Motor rpm The rotation speed r min of the motor is shown Torque It displays the current torque value setting the maximum output torque of the actuator to be 100 Peak torque It displays th...

Page 231: ...e frequency kHz input to the command pulse input port is shown Speed command voltage The speed command input voltage 0 1V currently input to the driver is shown Example When display value 20 speed com...

Page 232: ...pin and the actuator servo is turned ON A signal must be input to the CN2 2 pin Perform auto tuning after canceling FWD inhibit or REV inhibit Cancel FWD REV inhibit by inputting a signal to the CN2 o...

Page 233: ...y checking the condition of equipment and surrounding areas 5 When the auto tuning is completed the servo gain is displayed After the auto tuning the position loop gain speed loop gain speed loop inte...

Page 234: ...want to write the driver specific parameters AJ16 Speed monitor offset AJ17 Speed monitor offset 4 Click the Write to Servo button The new value the contents of the Current Value is transferred to th...

Page 235: ...s Perform this operation while the servo is OFF After the initialization be sure to reconnect the HA 800A driver power All parameters are initialized excluding AJ16 and AJ17 Since the I O signal assig...

Page 236: ...also possible not to assign any input pin to a given input setting Multiple input signals can be assigned to one pin Unnecessary signals should be deleted from the pin assignments If unnecessary sign...

Page 237: ...OK button 4 Click the Write to Servo button The set values are written to the servo Changes to system parameter settings SP00 to 79 are put into effect by changing the setting then turning control po...

Page 238: ...Click the Load from Servo button to activate 2 Click the Output Signals tab and select the output signal for each output pin 3 When all settings are completed click the OK button 4 Click the Write to...

Page 239: ...the parameter window 10 5 1 Saving set parameter values The following explains how to back up the set values for internal parameters of the driver to a personal computer Saving procedure 1 Open the Pa...

Page 240: ...ersonal computer The set values can be compared or copied while connected to the driver or saved set values can be checked offline while disconnected from the driver Loading procedure 1 Open the Param...

Page 241: ...the Load from Servo button The currently set values are loaded from the driver internal parameters of the driver during communication and displayed in the Servo Value and Current Value 2 Read the sav...

Page 242: ...sults for all the following parameters Adjustment 1 Adjustment 2 Adjustment 3 System 1 System 2 System 3 System 4 The default setting of the system reservation may vary depending on the model version...

Page 243: ...e Servo Value and Current Value 2 Read the saved settings file Same as steps 1 to 2 in 10 5 2 Select Open from the File menu Set a desired file name and click the Open button The set values for the sa...

Page 244: ...is executed Executing Load from Servo updates the Servo Value and the latest set values after the writing for internal parameters of the driver are displayed If the writing cannot be executed correctl...

Page 245: ...rvo is ON with a CN2 2 servo ON input Turn OFF the CN2 2 servo ON input In test operation as seen from the output shaft side and regardless of SP50 Command polarity During jog operation When forward d...

Page 246: ...the travel distance pulses rotation speed r min acceleration deceleration time ms The electronic gear settings including SP67 Output shaft divide function settings do not function in jog operations Se...

Page 247: ...al operation is ended and the operated output signal return to the original status This cannot be used at the same time as the T01 Output signal operation performed by operating the driver panel Take...

Page 248: ...nitor The statuses of pins to which input signals and output signals are assigned can be monitored The statuses of input and output signal pins are displayed The following statuses are available Input...

Page 249: ...After selecting the torque and speed also set the 1 division display 2 Set the trigger condition 3 Set the tracing time If 1000ms is selected you can set a desired value between 5 and 100 ms div as t...

Page 250: ...some time to acquire waveforms You can select an appropriate waveform display mode to display the current waveform together with the last waveform or waveform acquired before the last In the waveform...

Page 251: ...in the CSV format you can read it using Excel However with the PSF 800 it is not possible to show the waveform data by opening it from the File menu If saving waveform data in the wv format you cannot...

Page 252: ...the alarm warning A present alarm or warning is shown in the red border as illustrated below You can also display and check the history of up to 8 most recent alarms Alarm reset A resettable alarm who...

Page 253: ...1 15 Chapter 11 Troubleshooting Details of how driver alarms and warnings generate are explained in this chapter 11 1 Alarms and remedial actions 11 1 11 2 Warnings and remedial actions 11 14...

Page 254: ...Impossible AL44 Control power voltage low 6 7 110 1 1 0 Impossible AL45 Main circuit voltage low 6 110 1 1 0 Impossible AL46 Overheated dynamic brake 6 110 1 1 0 Impossible AL47 Damaged power circuit...

Page 255: ...mergency stop input signal Check the logic and status of the emergency stop signal The emergency stop input is not assigned to CN2 Set the signal logic to normally open The alarm occurs during operati...

Page 256: ...on Connect the motor encoder correctly by referring to Chapter 2 Installation wiring Large friction torque Confirm that holding brake is released The alarm occurs when the control circuit power is tur...

Page 257: ...eration time is too short Lower the load inertia moment Increase the time set in AJ12 Acceleration time constant or AJ13 Deceleration time constant in the tune mode The gain is too high or too low Adj...

Page 258: ...power ON HA 800A 24 The regenerative resistor is not properly wired or not connected Connect the regenerative resistor correctly When an external regenerative resistor is used HA 800A 24 The regenerat...

Page 259: ...g of regenerative connection terminal Check the wiring conditions and replace the driver The alarm may occur again if you replace the driver without removing the cause If the protective fuse gets disc...

Page 260: ...e Replace the HA 800A driver AL50 Encoder disconnection Encoder signals have been cut off The alarm occurs when the control circuit power is turned ON Non connection or poor connection of the encoder...

Page 261: ...low warning is occurring Replace the battery Clear the multi revolution data using T08 Multi revolution clear in the test mode Reconnect the power and perform originating AL53 System failure 1 Encoder...

Page 262: ...office AL60 Excessive deviation The deviation counter value exceeded the pulse count set in SP49 Allowable position deviation The alarm occurs while the control power supply is being turned ON The ac...

Page 263: ...CN2 and wire them according to the normally closed logic The respective signals are assigned to CN2 and their logic is set to normally closed for SP03 FWD inhibit input setting and SP04 REV inhibit i...

Page 264: ...sales office AL76 Processor error Reconnect the driver s control power supply If the processor error is not restored even after the control power supply is reconnected contact our sales office AL80 ME...

Page 265: ...e position could not be specified when the 17 bit absolute encoder was started because the actuator was operating at a constant speed or above The actuator is operating at a constant speed or above wh...

Page 266: ...t lit LED display is not turned ON even when the control power supply is turned ON The alarm occurs when the control circuit power is turned on The overload protective function in the driver internal...

Page 267: ...l connector CN2 Although the actuator can be controlled while warnings are present remove the cause of each warning as soon as possible If UA93 Main circuit voltage low or UA99 Wrong actuator occurs t...

Page 268: ...an alarm reset and then reconnect the power supply 1 Replace with a new battery 2 Input driver alarm reset 3 The warning is canceled after reconnecting the power supply UA 92 Cooling fan stopped HA 8...

Page 269: ...input is not assigned this warning still generates when the main circuit power is turned ON if the logic is set to normally closed If this input is not assigned set the logic to normally open UA 99 Wr...

Page 270: ...11 2 Warnings and remedial actions 11 17 1 2 3 4 5 6 7 8 9 10 11 Appe Troubleshooting...

Page 271: ...1 16 Chapter 12 Option Options you can purchase as necessary are explained 12 1 Option 12 1...

Page 272: ...100 14 100 HA 800A 1C 100 8 200 17 bit Absolute HA 800A 1D E 200 Motor wire EWC M A06 TN3 Encoder wire EWD S A08 3M14 11 200 HA 800A 1D E 200 14 200 HA 800A 1D E 200 8 100 HA 800A 1D E 100 11 100 HA 8...

Page 273: ...communication cable to connect this driver to a personal computer Dedicated communication cable Model EWA RS03 Specifications D sub 9 pin female 1 6m Connectors The CN1 CN2 motor wire and power suppl...

Page 274: ...is servo parameter setting software from our website http www hds co jp Model PSF 800 Supported operating systems Windows ME Windows NT Windows 2000 Windows Xp Windows Vista 1 Windows 7 1 What you nee...

Page 275: ...V 1 600 mAh Data retention time Data retention time Approx 1 year after the power is cut off Conditions Unused power is turned OFF ambient temperature 25 C axis stopped continuous use The actual life...

Page 276: ...12 1 Option 12 5 1 2 3 4 5 6 7 8 12 Option...

Page 277: ...ters and regenerative resistors are explained A 1 Default settings A 1 A 2 Regenerative resistor A 7 A 3 List of data retained in the driver A 20 A 4 Driver replacement procedures A 23 A 5 Notices for...

Page 278: ...r Code 5811 5111 5121 5131 5141 5151 AJ00 Position loop gain default 40 40 40 40 40 40 AJ01 Speed loop gain default 56 56 56 56 56 56 AJ02 Speed loop integral compensation default 70 70 70 70 70 70 AJ...

Page 279: ...al compensation default 20 20 20 20 20 20 20 20 20 20 70 70 70 70 70 AJ04 In position range default 150 150 150 150 150 150 150 150 150 150 150 150 150 150 150 SP49 Allowable position deviation defaul...

Page 280: ...Encoder monitor Output pulses default 8192 8192 8192 8192 8192 8192 8192 8192 8192 8192 SP69 Feed forward control function setting 0 0 0 0 0 3 3 3 3 3 FHA C 4 wire wire saving incremental series volt...

Page 281: ...eed loop gain default 21 21 21 27 27 27 48 48 48 AJ02 Speed loop integral compensation default 20 20 20 20 20 20 20 20 20 AJ04 In position range default 150 150 150 150 150 150 150 150 150 SP49 Allowa...

Page 282: ...ion loop gain default 40 40 40 37 37 37 50 50 50 AJ01 Speed loop gain default 50 50 50 50 50 50 120 120 120 AJ02 Speed loop integral compensation default 40 40 40 40 40 40 40 40 40 AJ04 In position ra...

Page 283: ...tput pulses default 1 1 1 1 1 1 1 1 1 SP69 Feed forward control function setting 0 0 0 0 0 0 0 0 0 RSF 14 wire wire saving incremental series voltage 200V Actuator model No RSF 17A RSF 20A RSF 25A RSF...

Page 284: ...driver Input voltage 200V specification 100V specification Model HA 800A 1 HA 800A 3 HA 800A 6 HA 800A 24 Driver s rated current 1 5 A 3 0 A 6 A 24 A Regenerative processing Terminal for mounting ext...

Page 285: ...th high inertia moment and load The system is stopped frequently Continuous regeneration occurs such as when the load moves up and down In these cases calculate the regenerative energy and check the p...

Page 286: ...Nc 60 1 t3 Tn Tf E3 1 2 2 Nc 60 Nc T3 t3 4 8 T4 Tn 0 Regenerative energy is 0 because the actuator is stopped 5 T5 Ja Jm 2 Nc 60 1 t5 Tn Tf E5 1 2 2 Nc 60 Nc T5 t5 6 T6 Tn Tf E6 2 Nc 60 Nc T6 t6 7 T7...

Page 287: ...lculation 2 Absorption capacity of the built in regenerative resistor Wi refers to the size of regenerative power that can be absorbed by the resistor when its rated capacity is derated Calculate the...

Page 288: ...fer to the connection example below Derating the external regenerative resistor Rise in regenerative resistor temperature Power resistors used as regenerative resistors consume a large amount of power...

Page 289: ...ternal regenerative resistor U V W R2 R3 R1 When using a built in regenerative resistor with the HA 800A 3 6 short circuit the R1 and R3 On our extension cables these terminals are already short circu...

Page 290: ...nnection example of external regenerative resistor AC Servo Actuator R2 R3 U V W Red White Black R1 RH500 20 J 2 resistors M Regenerative power 150W AC Servo Actuator R2 R3 U V W R1 RH500 10 J 4 resis...

Page 291: ...6 5 1 7 7 kgf cm s 2 9 5 23 37 52 78 Allowable load inertia moment when a built in regenerative resistor is used non repeat cycle kg m 2 1 7 3 8 4 8 5 8 7 7 kgf cm s 2 17 3 39 49 59 78 Allowable load...

Page 292: ...HA40A SG Actuator reduction ratio 51 81 101 121 161 51 81 101 121 161 Combined driver HA 800A 6D E 200 HA 800A 24D E 200 Max rotational speed r min 78 4 49 4 39 6 33 1 24 8 78 4 49 4 39 6 33 1 24 8 Ac...

Page 293: ...nerative resistor Connect two RH500_20 J in parallel or connect four RH500_10 J in series and parallel Connect two RH500_20 J in parallel or connect four RH500_10 J in series and parallel Actuator mod...

Page 294: ...ratio 50 80 100 120 160 50 80 100 120 160 Combined driver HA 800A 6D E 200 HA 800A 24D E 200 Max rotational speed r min 80 50 40 33 3 25 80 50 40 33 3 25 Actuator inertia moment no brake kg m 2 4 8 12...

Page 295: ...8 8 11 14 20 kgf cm s 2 57 90 112 144 201 57 90 112 144 201 External regenerative resistor RH220B33 J RH220B33 J FHA Cmini series voltage 100V 200V Actuator model No FHA 8C FHA 11C FHA 14C Actuator re...

Page 296: ...esistor is used kg m 2 0 54 2 1 5 1 2 4 10 25 5 4 21 54 15 60 150 Kgf cm s 2 5 4 21 52 24 100 260 55 210 550 150 610 1500 External regenerative resistor RH220B33 J RH220B33 J RH220B33 J RH220B33 J FHA...

Page 297: ...mmand 2 AJ10 Internal speed command 3 AJ11 Torque limit AJ12 Acceleration time constant AJ13 Deceleration time constant AJ14 External speed command offset AJ15 External torque command offset AJ16 Spee...

Page 298: ...mmand 1 input setting SP10 Internal speed command 2 input setting SP11 Internal speed limit 1 input setting SP12 Internal speed limit 2 input setting SP13 Internal torque limit input setting SP14 Elec...

Page 299: ...d input factor SP52 Zero clamp SP53 Torque input factor SP54 Status display setting SP55 DB enable disable setting SP56 External speed limit enable disable SP57 External torque limit enable disable SP...

Page 300: ...the center dip switches SW6 do not have any functions They are normally switched OFF Down These switch settings are the communication settings with the PSF 800 communication software As a default SW5...

Page 301: ...d The time waiting for the CHARGE lamp to turn OFF discharged can be shortened during wiring work in step 8 If the main power supply R S T cannot be connected separately it is not a problem to connect...

Page 302: ...when the servo comes ON the range for the CN2 40 41 current value data output is 0 2 17 x speed reduction ratio 1 pulses 2 Output shaft divide function With the SHA CG series in order to make it easi...

Page 303: ...tput shaft divide function setting is the function that sets the operation command resolution It does not guarantee the precision of positioning on the output shaft For details on the output shaft pos...

Page 304: ...ockwise rotation with command pulse increase 45 operation to counter clockwise direction 0 360 180 90 270 Current value data output Increase with clockwise rotation Current value data 819200 Counter c...

Page 305: ...ter clockwise rotation with command pulse increase 45 operation to counter clockwise direction 0 360 180 90 270 Current value data output Increase with counter clockwise rotation Current value data 45...

Page 306: ...tion Current value data 5734400 Counter clockwise rotation with command pulse increase 45 operation to counter clockwise direction 0 360 180 90 270 Current value data output Increase with clockwise ro...

Page 307: ...rent value data 31500 Counter clockwise rotation with command pulse increase 45 operation to counter clockwise direction 0 360 180 90 270 Current value data output Increase with clockwise rotation Cur...

Page 308: ...tiplying the command pulses by 1 When it is set to 0 or 1 this is equivalent to multiplying CN2 40 41 current value data output by 1 When it is set to 2 this is equivalent to multiplying CN2 40 41 cur...

Page 309: ...hen it is set to 0 or 1 this is equivalent to multiplying CN2 40 41 current value data output by 1 When it is set to 2 this is equivalent to multiplying CN2 40 41 current value data output by 1 2 For...

Page 310: ...A 6 Control block diagram A 33 Appendix Apx...

Page 311: ...le setting 8 10 Deceleration time constant 7 17 Default settings 1 Deviation counter 5 9 Deviation clear upon servo ON setting 8 7 Digital signal monitor 5 30 Discharge time 7 2 Display panel 1 15 Dri...

Page 312: ...command mode 5 16 Position loop gain 7 13 Positioning Automatic Gain 7 20 Present alarm warning display 7 10 PSF 800 10 1 Rating 1 7 Regenerative resistance 2 17 Regenerative resistor 7 Regenerative r...

Page 313: ...or replaced free of charge This limited warranty does not apply to any product that has been subject to 1 Improper handling or use by the customer 2 Modification or repair carried out other than by H...

Page 314: ...14 65555 Limburg Germany TEL06431 5008 0 FAX06431 5008 18 Harmonic Drive L L C 247 Lynnfield Street Peabody MA 01960 U S A TEL 1 978 532 1800 FAX 1 978 532 9406 1405 12R THA800A HarmonicDrive is a tr...

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