HarmonicDrive H A - 800A, Manual

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2-3 Connecting power cables
2-9
4
2
2
1
9
8
7
6
9
8
In
sta
lla
tio
n/wir
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Power ON and OFF sequences
Provide a sequence circuit that cuts off the main circuit power ON/OFF switch in response to an
emergency stop signal, etc. If an alarm signal has been assigned to an output signal, also provide a
sequence circuit that cuts off the main circuit power ON/OFF switch in response to the alarm output.

Turn ON/OFF the power after switching the [CN2-2 servo-ON: S-ON] signal of the
HA-800A driver to OFF.

If the power is turned ON/OFF too frequently, the surge-current limiting resistor in the
internal circuit may deteriorate.
The power ON/OFF frequency should not exceed 5 times in an hour and 30 times in a
day. Furthermore, the interval between turning OFF and ON the power should keep
more than 30 seconds.
Power ON sequence, servo-ON sequence (HA-800A-1, -3, -6)
Create a sequence program for the host device so that the power to this driver will be turned
ON at the timings shown 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 power supply ON.
*1: This value is for when the control circuit power and main circuit power are turned ON simultaneously.
If the main circuit power is turned ON 7 seconds or more after the control circuit power, the servo ON enable
signal will be output after approximately 3 seconds, provided that the capacitor in the main circuit power has
been discharged fully.
5ms (typ)
10ms (typ)
110ms (typ)
10ms (typ) 3s (typ)
3s (typ)
*1
10s (max)
*1
0ms (min)
Control circuit power
Output signals
Servo ON input enable (SREADY)
Input signals
CN2-2 servo-ON (S-ON)
Main circuit power
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0ms (min)
Dynamic brake
(DB enabled, SP55 = 1)
Motor excitation
(DB enabled, SP55 = 1)
Excitation ON
Excitation OFF
Output signal: Operation
preparation complete
(DB enabled, SP55 = 1)
ON
OFF
5ms (typ)
ON
OFF
Disable
Enable
Dynamic brake
(DB disabled, SP55 =0)
Motor excitation
(DB disabled, SP55 = 0)
Output signal: Operation
preparation complete
(DB disabled, SP55 = 0)
Excitation ON
Excitation OFF
Disable
Enable