HarmonicDrive H A - 800A, Manual

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11-1 Alarms and remedial actions
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11-1 Alarms and remedial actions
The driver has built-in functions to display alarms and warnings that generate during actuator
operation and protect against abnormal events.
Alarm: If the actuator or driver enters an abnormal state, the driver generates an alarm and outputs
an alarm signal, while turning OFF the servo loop at the same time.
Warning: A warning is displayed before the actuator or driver generates an alarm. The servo loop
remains ON. Remove the cause of the warning as soon as possible.
If the actuator or driver's protective function is actuated, the actuator stops moving (servo-OFF of the
motor) and the applicable 2-digit alarm code appears on the display. At the same time, the 3-bit code
is output to the host device.
In addition, up to 8 most recent alarms and total operating hours (unit: h) of the driver when each
alarm occurred are also displayed.
For the alarm history, refer to [Alarm mode] (P7-9).
Alarm list
The following alarms are displayed.
Alarm
code
Alarm name
3-bit
code
Alarm code
*1
Alarm
clear
ALM-CO
D3
ALM-CO
D2
ALM-CO
D1
AL01 Emergency stop 100 1 0 0 Possible
*5
AL10 Overspeed 110 1 1 0 Impossible
AL20 Overload 100 1 0 0 Possible
*5
AL30 IPM error (overcurrent) 110 1 1 0 Impossible
AL40 Overvoltage 110 1 1 0 Impossible
AL41 Regenerative resistor overheat 110 1 1 0 Impossible
AL42 Overregeneration
*6
110 1 1 0 Impossible
AL43 Missing phase
*6
110 1 1 0 Impossible
AL44 Control power voltage low
*6*7
110 1 1 0 Impossible
AL45 Main circuit voltage low
*6
110 1 1 0 Impossible
AL46 Overheated dynamic brake
*6
110 1 1 0 Impossible
AL47 Damaged power circuit 110 1 1 0 Impossible
AL50 Encoder disconnection 111 1 1 1 Impossible
AL51 Encoder receiving error
*1, *2
111 1 1 1 Impossible
AL52 UVW error
*2
111 1 1 1 Impossible
AL53 System failure
*3
111 1 1 1 Impossible
AL54 Multi revolution overflow
*3
111 1 1 1 Impossible
AL55 Multi revolution data error
*3
111 1 1 1 Impossible
AL60 Excessive deviation 100 1 0 0 Possible
*5
AL70 Memory failure (RAM) 101 1 0 1 Impossible
AL71 Memory failure (EEPROM) 101 1 0 1 Impossible
AL72 FPGA configuration error 111 1 1 1 Impossible
AL73 FPGA setting error 111 1 1 1 Impossible
AL76 Processor error
*7*8
010 0 1 0 Impossible
AL80 MEMORY error
*4
111 1 1 1 Impossible
AL81 System failure
*4
111 1 1 1 Impossible
AL82 Single rotation data error
*4
111 1 1 1 Impossible
AL83 Multi revolution data error
*4
111 1 1 1 Impossible
AL84 BUSY error
*4
111 1 1 1 Impossible
AL85 Overheat error
*4
111 1 1 1 Impossible
AL86 Communication error
*4
111 1 1 1 Impossible
*1: If an alarm code output is assigned to an output signal (one of pins 16 to 22 of CN2) and the signal function is
set to 01 (values set in the second and third digits), read 1 as 0, and 0 as 1.
For the assignment of output signals and setting of their functions, refer to [Chapter 5 I/O signals].
*2: These alarms may generate when an incremental encoder is combined.
*3: These alarms may generate when a 13-bit absolute encoder is combined.
*4: These alarms may be generated when combining with a 17-bit absolute encoder (including the 17-bit encoder