HarmonicDrive H A - 800A, Manual

Page: 265 / 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
AL82 Single
revolution
data error
*2
Inconsistency
occurred
between the
single revolution
data managed
by the 17-bit
absolute
encoder at 2
locations.
The alarm
occurs after
actuator
operation:
This alarm can be reset by executing [T08:
Multi revolution data clear] in the test mode,
or by assigning the reset input to CN2 using
[SP01: Reset input setting] and then
activating the reset signal and reconnecting
the power.

17-bit absolute encoder error
→ Contact our sales office. (Replace the
actuator.)
AL83 Multi
revolution
data error
*2
Inconsistency
occurred
between the
multi revolution
data managed
by the 17-bit
absolute
encoder at 2
locations.
The alarm
occurs during
operation:

Malfunction due to external noise
→ Suppress noise according to
[Suppressing noise] (P2-14).
AL84 BUSY error
*2
The 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 when the encoder is
started.
→ Start the encoder when the actuator is
operating at a constant speed or below
(ideally the actuator should be stopped).
SHA series (excluding SHA20): 300 r/rpm
or less
SHA20 and FHA-Cmini series: 250 r/rpm
or less

17-bit absolute encoder error
→ Contact our sales office. (Replace the
actuator.)
AL85 Overheat
error
*2
The board
temperature in
the 17-bit
absolute
encoder reached
or exceeded
95
℃
.
－

The board temperature in the 17-bit
absolute encoder reached or exceeded
95
℃
.
→ Remove possible causes of actuator
overheat, such as eliminating sudden
starts and improving the heat radiation
condition.

17-bit absolute encoder error
→ Contact our sales office. (Replace the
actuator.)
The driver's heat
sink temperature
reached or
exceeded 106
℃
.
－

The driver's heat sink temperature
reached or exceeded 106
℃
.
→ Remove possible causes of actuator
overheat, such as eliminating sudden
starts and improving the heat radiation
condition.