HarmonicDrive H A - 800A, Manual

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2-3 Connecting power cables
2-11
4
2
2
1
9
8
7
6
9
8
In
sta
lla
tio
n/wir
in
g
Power OFF sequence (HA-800A-1, -3, -6)
Create a sequence program for the host device so that the power to this driver will be turned
OFF at the timings shown below.
*1: After turning OFF the control circuit power, wait for at least 5 seconds before turning it ON.
*2: If the main circuit power is turned OFF while [CN2-2 servo-ON (S-ON)] is OFF (servo OFF), it may take
up to 5 minutes or so before the servo ON input enable signal (SREADY) turns OFF (main circuit DC
voltage drop).
If the main circuit power is turned OFF while servo-ON (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 regeneration operation, etc., it takes long until the
motor excitation turns OFF.
Turn the servo OFF first and then cut the main circuit power OFF, except when alarms are being
generated.
If the main circuit power and control circuit power are turned OFF simultaneously, the motor excitation
turns OFF in several 10 to 100ms (the time varies depending on the input voltage).
At this point, the servo ON input enable signal (SREADY) also turns OFF, but the capacitor for the
main circuit power is still charged and therefore do not touch 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 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.
*2: Make sure to use HA-800A-24 by setting [SP55: DB enable/disable setting] to 1 (default setting).
*3: The dynamic brake operates interlinked to the main circuit power.
5s (min)
*1
0ms (min)
5 minutes (max)
*2
ON
Main circuit power
Control circuit power
Output signal:
Servo ON input enable
ON
OFF
ON
OFF
ON
OFF
3s (typ)
110ms (typ)
3s (typ)
*1
10s (max)
*1
0ms (min)
Control circuit power
Output signals
Servo ON input enable
(SREADY)
Input signal:
CN2-2 servo-ON (S-ON)
Main circuit power
ON
OFF
ON
OFF
ON
OFF
0ms (min)
Dynamic brake
*3
Motor excitation
(DB enabled, SP55 = 1*
2
)
Excitation ON
Excitation OFF
Output signal: Operation
preparation complete
(DB enabled, SP55 = 1*
2
)
ON
OFF
5ms (typ)
Disable
Enable
ON
OFF