HarmonicDrive H A - 800A, Manual

Page: 261 / 314

11-1 Alarms and remedial actions
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Appe
Troubl
esh
oot
ing
Alarm
code
Alarm name Description
Condition at
occurrence
Action
AL52 UVW error Encoder phase
UVW signal
error
The alarm
occurs when the
control circuit
power is turned
ON:

Non-connection or poor connection of the
encoder connector (CN1) or broken
encoder wire
→ Securely connect the encoder connector
again.
Or, replace the cable.

Control circuit diagram error

Internal encoder damage
→ Contact our sales office.
The alarm
sometimes
occurs during
operation:

Malfunction due to external noise
→ Suppress noise according to
[Suppressing noise] (P2-14).
AL53 System
failure
*1
Encoder multi
revolution data
has been lost.
The alarm
occurs when the
power supply is
turned ON for
the first time
after the
purchase:

The encoder holds no multi revolution
data.
→ Clear the multi revolution data using
[T08: Multi revolution clear] in the test
mode.
The control
power supply is
cut off while the
buttery voltage
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 multi
revolution data
has been lost.
The power
supply was
turned ON after
the encoder and
driver had been
left disconnected
for an extended
period of time:

Non-connection or poor connection of the
encoder connector (CN1)

Non-connection or poor connection of the
battery connector
→ Connect the encoder connector and
battery connector properly.

Driver control circuit error

Internal encoder damage
→ Contact our sales office.
AL54 Multi revolution
overflow
*1
The multi
revolution
counter value
of the absolute
encoder
exceeded a
range of
+4,095 to
-4,096
revolutions
(motor shaft).
The alarm
occurs when the
control circuit
power is turned
ON:

Driver control circuit error

Internal encoder damage
→ Contact our sales office.
The alarm
occurs during
operation:

The actuator turned in one direction and
the multi revolution counter value
exceeded a range of +4,095 to -4,096
revolutions (motor shaft).
→ Clear the multi revolution data using
[T08: Multi revolution clear] in the test
mode.