HarmonicDrive H A - 800A, Manual

Page: 263 / 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
AL60 Excessive
deviation
The deviation
counter value
exceeded the
pulse count set
in [SP49:
Allowable
position
deviation].
The alarm
occurs during
acceleration or
deceleration:

Excessive command pulse frequency
→ Lower the command output pulse frequency
on the host device. The frequency should
not exceed the actuator’s rated rotation
speed (r/min) multiplied by 60.

Excessive load inertia moment
→ Lower the load inertia moment.
→ Slowly increase/decrease the command
pulse frequency on the host device.
The speed
does not rise
with the
command, and
the alarm
occurs
sometime after
that:
Cause: The input signal FWD inhibit or REV
inhibit is enabled.

The signal logic is set to normally closed for
[SP03: FWD inhibit input setting] and
[SP04: REV inhibit input setting], but the
signals are not assigned to CN2.
→ Assign the signals to 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 input setting], but the
assigned pins are open.
→ Wire the signals according to the normally
closed logic.

The respective signals are assigned to CN2
and their logic is set to normally open for
[SP03: FWD inhibit input setting] and
[SP04: REV inhibit input setting], but the
assigned pins are closed.
→ Wire the signals according to the normally
open logic.

Large friction torque and load torque
→ Confirm that holding brake is released.
→ Confirm that the actuator output torque is
sufficient to handle load torque.
The actuator
does not
rotate and the
alarm occurs:

Poor motor cable connection or wrong
phase order
→ Connect the motor cable wires and
terminals securely.
→ Connect the motor wires and terminals in
the correct phase order.

Poor connection of the encoder connector
(CN1)
→ Securely connect the encoder connector
again.

Large friction torque and load torque
→ Confirm that holding brake is released.
→ Confirm that the actuator output torque is
sufficient to handle load torque.