HarmonicDrive H A - 800A, Manual

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4-4 Incremental encoder
4-29
11
10
9
4
7
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5
4
3
2
1
Encoder
s
yst
em
Remedial action for error
Name Description Cause Action
AL50
Encoder
disconnection
Encoder
signals have
been cut off.
(1) Disconnected encoder signal
wire
(2) Poor contact/connection of
encoder signal connector
CN1
(3) Encoder malfunction due to
rise in actuator temperature
(4) Defective encoder
(5) HA-800A driver control circuit
error
(1) Repair the wire.
(2) Connect the connector properly.
(3) Review the actuator installation
location and cooling system.
(4) Replace the actuator.
(5) Replace the HA-800A driver.
AL51
Encoder
counter
receiving
error
Encoder serial
data could not
be received
accurately.
(1) Electrical discontinuity of
encoder signal wire
(2) Poor contact/connection of
encoder signal connector
CN1
(3) Defective encoder
(4) HA-800A driver control circuit
error
(5) Communication problem due
to noise, etc.
(1) Repair the wire.
(2) Connect the connector properly.
(3) Replace the actuator.
(4) Replace the HA-800A driver.
(5) Check the ground line or other
ground.
AL52
UVW error
Encoder phase
U/V/W signal
error
(1) Electrical discontinuity of
encoder signal wire
(2) Poor contact/connection of
encoder signal connector
CN1
(3) Defective encoder
(4) HA-800A driver control circuit
error
(1) Repair the wire.
(2) Connect the connector properly.
(3) Replace the actuator.
(4) Replace the HA-800A driver.