Harmonic Drive HS-360 Series, Руководство пользователя

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Chapter 8 Protective functions
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66
Over-speed
(Alarm clear: Possible)
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Description
The alarm occurs when the motor revolution speed exceeds the motor speed limit plus 10r/min
for 0.5s. This alarm can be reset.
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Possible causes
(1) If the alarm occurs when the power is turned on:
‹ Cause 1: The forcible rotation to the actuator output shaft is faulty.
⇒
Action: If the rotation takes place with the external force applied to the actuator output
shaft, modify the equipment so that this rotation cannot take place.
‹
Cause 2: Disconnection or wiring failure of encoder cable
⇒
Action: Check the encoder cables and their wiring.
‹ Cause 3: HS-360 driver control circuit failure
⇒
Action: Contact a business office of Harmonic Drive Systems.
(Replacing the HS-360 driver)
(2) If the alarm occurs when input of a rotation command causes high-speed
rotation of the actuator:
‹ Cause 1: Rapid raising of [Command pulse frequency]
⇒
Action: Set an earlier raising time point.
‹ Cause 2: Large overshoot caused by improper gain adjustmen
Make the following adjustments so that the raising time matches the load: [Parameter setup
mode]
→ [02: Position loop gain], [03: Speed loop proportion gain], [04: Speed loop integral
gain], and [05: Speed loop derivative gain].