HarmonicDrive H A - 800A, Руководство пользователя

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4-2 17-bit absolute encoder
4-13
11
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4
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5
4
3
2
1
Encoder
s
yst
em
Remedial actions for errors/warnings
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
(3) Encoder error
(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.
AL80
MEMORY error
EEPROM memory
error in encoder
(1) Encoder error
(2) HA-800A driver control circuit
error
(1) Replace the actuator.
(2) Replace the HA-800A driver.
AL81
System failure
Encoder system
shutdown
(1) Turned the power ON for the
first time after the purchase.
(2) SHA series (excluding SHA20):
Either the voltage of the
backup capacitor in the
encoder or HA-800 driver
battery, whichever is higher,
has become 2.85V or below.
SHA20 and FHA-Cmini series:
The battery voltage has
dropped to 2.85V or below.
(3) FHA-Cmini series absolute
type: The battery voltage has
dropped to 2.85V or below.
(4) Encoder failure
(1) Perform [T08: Multi revolution
clear] to reconnect the power.
(2) Replace the HA-800 driver
battery with a new one. After
the battery has been
replaced, set the origin.
(3) Replace the actuator.
AL82
Single rotation
data error
Encoder single
revolution data
error
(1) Turned the power ON for the
first time
(2) Malfunction due to external
noise
(3) Encoder failure
(1) Perform [T08: Multi revolution
clear] to reconnect the power.
(2) Provide noise suppression
measures to eliminate
negative effects of external
noise.
(3) Replace the actuator.
AL83
Multi revolution
data error
Encoder multi
revolution data
error
(1) Turned the power ON for the
first time
(2) Malfunction due to external
noise
(3) Encoder failure
(1) Perform [T08: Multi revolution
clear] to reconnect the power.
(2) Provide noise suppression
measures to eliminate
negative effects of external
noise.
(3) Replace the actuator.
AL84
BUSY error
When the encoder
was started, the
motor shaft rotated
at a constant
speed or above
and a position
specification
problem occurred.
(1) When the power supply was
turned ON and encoder was
started, the motor shaft
rotated at a constant speed or
above.
SHA series (excluding SHA20):
300 r/min or more
SHA20 and FHA-Cmini series:
250 r/min or more
(2) Encoder failure
(1) When the power supply is
turned ON and encoder is
started, ensure that the motor
shaft rotates at a constant
speed or below.
(2) Replace the actuator.
AL85
Overheat error
Heated
actuator/encoder
(1) The board temperature in the
encoder has reached 95
℃
or
above.
(2) The heat sink temperature of
the driver has reached 106
℃
or above.
(3) Encoder failure
(1) Remove the cause of
actuator overheat, such as
relaxing the actuator drive
conditions or improving the
heat radiation conditions for
the heat sink.
(2) Same as above
(3) Replace the actuator.