HarmonicDrive H A - 800A, Руководство пользователя

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4-3 13-bit absolute encoder
4-23
11
10
9
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 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) Non-connection or poor
connection of encoder 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.
AL53
System failure
Encoder multi
revolution data
has been lost.
(1) The purchased driver was
connected and power supply was
turned ON for the first time.
(2) The HA-800A driver and actuator
have been disconnected for
many hours.
(3) Either the voltage of the backup
capacitor in the encoder or
HA-800 driver battery, whichever
is higher, has become 2.3V or
below.
(4) Encoder error
(1) Execute test mode T08 to perform
multi revolution clear and then
reconnect the power.
(2) Execute test mode T08 to perform
multi revolution clear and then
reconnect the power.
(3) Replace the HA-800 driver battery
with a new one. After the battery
has been replaced, set the origin.
(4) Replace the actuator.
AL54
Multi
revolution
counter
overflow
The value in the
encoder multi
revolution
counter has
exceeded the
range of -4,096
to +4,095
revolutions
(motor shaft).
(1) The actuator has turned in one
direction in excess of the multi
revolution counter range of
-4,096 to +4,095 revolutions
(motor shaft).
(2) Defective encoder
(3) HA-800A driver control circuit
error
(1) Execute T08 in the test mode to
clear the multi revolution data.
(2) Replace the actuator.
(3) Replace the HA-800A driver.
AL55
Multi
revolution data
error
The angular
acceleration and
rotation speed of
the motor have
exceeded the
allowable
response range
when the
encoder power
supply was cut
off and data was
backed up by the
battery.
(1) The actuator operated at an
acceleration of 5,000 rad/s
2
or
more or speed of 1,300 rpm or
more, as an equivalent value on
the motor shaft, when the driver
power supply was cut off.
(2) Defective encoder
(3) HA-800A driver control circuit
error
(1) Execute T08 in the test mode to
clear the multi revolution data.
(2) Replace the actuator.
(3) Replace the HA-800A driver.