HA-655 Total Motion Control Precision Gearing & Motion Control
SAFETY GUIDE For actuators, motors, control units and drivers manufactured by Harmonic Drive LLC Read this manual thoroughly before designing the application, installation, maintenance or inspection of the actuator. WARNING Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious personal injury. Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate personal CAUTION injury and/or damage to the equipment.
HA655 series servo driver manual Contents Chapter 1 Outlines of the HA -655 driver ･････････････････････････････････････････ 1 1-1 Main features ･･････････････････････････････････････････････････････ 1 1-2 Ordering information ････････････････････････････････････････････････ 2 1-3 Combinations with actuators ･････････････････････････････････････････ 2 1-4 Specifications of HA-655 drivers ･･････････････････････････････････････ 3 1-5 External drawing of the HA-655drivers ･･････････････････････････
HA655 series servo driver manual Chapter 3 I/O ports ･････････････････････････････････････････････････････････ 31 3-1 Position mode ････････････････････････････････････････････････････ 31 3-1-1 I/O port layout ････････････････････････････････････････････････････ 31 3-1-2 Models of I/O port connector CN2 ････････････････････････････････････ 32 3-1-3 I/O port connections in the position mode ･･････････････････････････････ 33 3-1-4 I/O port functions in the position mode ･････････････････････････････
HA655 series servo driver manual Chapter 5 Operations ･･･････････････････････････････････････････････････････ 70 5-1 Test run ･･････････････････････････････････････････････････････････ 70 5-1-1 Driving an actuator without load･･････････････････････････････････････ 70 5-1-2 Setting parameters ････････････････････････････････････････････････ 74 5-1-3 Tuning servo parameters ･･･････････････････････････････････････････ 76 5-1-4 End of test run ････････････････････････････････････････････････････ 77 Us
Chapter 1 Outlines of the HA -655 driver Chapter 1 Outlines of HA-655 driver The HA-655 series are dedicated servo drivers for FHA -C series actuators, which are axially compact and feature a large through-hole. The actuators utilize Harmonic Drive® gear components for precise motion control and super flat AC servomotors. The HA-655 drivers provide many superior functions to allow the FHA-C actuators to excel in performance.
Chapter 1 Outlines of the HA -655 driver 1-2 u Ordering information HA-655 driver: HA-655-2A-200 AC servo driver HA series 655 series Nominal current Encoder 2 2.4A 4 4.
Chapter 1 Outlines of the HA -655 driver 1-4 Specifications of HA-655 drivers Model Item Applicable actuator Driver’s nominal current Driver’s maximum current Power voltage Main circuit Control circuit Power Control Method Allowed Environment Ventilation Installation Applicable feedback encoder Encoder interface Control mode Command voltage Position mode Speed mode Input signal Output signal Speed control range Speed regulation Command pulse interface Command configuration Command frequency Input si
Chapter 1 Outlines of the HA -655 driver 1-5 External drawing of the HA-655 drivers The external drawing is shown as follows: Unit：mm (Third angle projection method) Heat sink Ventilation holes Dimensions for mounting Label Terminal cover Note 1: When HA-655 drivers are installed in a cabinet, leave enough ventilation space for cooling as shown below.
Chapter 1 Outlines of the HA -655 driver 1-6 Front panel LED display DOWN key ADJ key UP key SET key Power supply terminal For control power: r,s HA-655-2 CN3 ： serial port connector (compliant with RS-232C) For main power: R,S,T CN2: I/O connector For regeneration resistor: R1,R2 For actuator: U,V,W CN1: Encoder connector Ground terminals Functions ◆ LED display Indicates operating states of the HA -655 driver, parameters, alarms, by a 6-digit 7segment-LED.
Chapter 1 Outlines of the HA -655 driver 1-7 Outlines of I/O ports The CN2 connector provides input and output signals to and from a host device. The 50 pins of the connector are assigned to the following signals in each of the [position mode] and the [speed mode]. (Notice: Do not connect signals to pins marked “-“.
Chapter 1 Outlines of the HA -655 driver <> Position mode Pin １ ２ ３ ４ ５ ６ ７ ８ ９ １０ １１ １２ １３ １４ １５ １６ １７ １８ １９ ２０ ２１ ２２ ２３ ２４ ２５ ２６ ２７ ２８ ２９ ３０ ３１ ３２ ３３ ３４ ３５ ３６ ３７ ３８ ３９ ４０ ４１ ４２ ４３ ４４ ４５ ４６ ４７ ４８ ４９ ５０ Signal Input signal common Clear Servo-ON FWD inhibit REV inhibit − − Input signal common − Absolute data request Abs(multi-turn)data clear − − − − − − − − − − − Speed monitor Current monitor Monitor ground +24V FWD pulse＋ FWD pulse− REV pulse＋ REV pulse− − − In-position Alarm
Chapter 1 Outlines of the HA -655 driver 1-8 Operating display panel The HA -655 driver provides a 6-digit LED display and four operation keys on the front panel. The panel executes monitoring, tuning, setting, and JOG operation. 1-8-1 Outlines of operation modes The HA -655 driver provides the following four modes: monitoring, tuning, setting, and operations.
Chapter 1 Outlines of the HA -655 driver 1-8-3 Functions in modes Each mode individually provides the following functions of the position mode and the speed mode.
Chapter 1 Outlines of the HA -655 driver 1-9 Outlines of protective functions 1-9-1 Alarms HA-655 drivers provide various functions to protect actuators and drivers from the occurrence of abnormalities. When a function detect faults, the actuator enters a free rotation state, a two-digit alarm code is indicated on the display, and a set of 4-bit alarm signals is transmitted to the host.
Chapter 1 Outlines of the HA -655 driver 1-9-2 Protective functions The HA -655 driver provides the following alarms to protect the servo system, and presents an alarm code on the preceding paragraph. ◆ Over speed (10) If a motor exceeds its maximum speed or if motor rotates abnormally, the alarm occurs. To clear the alarm, shut off the control power once and turn it on again. ◆ Over load (20) (2) The alarm occurs if the current of three times of the nominal current flows for 20 seconds.
Chapter 1 Outlines of the HA -655 driver ◆ Abnormal encoder signal (51) The alarm occurs when the driver has failed to receive two sequential signals. To clear the alarm after troubleshooting, shut off the control power once and turn it on again. ◆ UVW failure (52) The alarm occurs when the encoder UVW signals are abnormal. To clear the alarm after troubleshooting, shut off the control power once and turn it on again.
Chapter 2 Functions Chapter 2 2-1 Functions Control system of the HA-655 driver It is said that [plan, do, see] is essential to perform perfect jobs. In other words, the [plan, do, see] is the repeating cycle of command→action→result→feedback→modified command → action → feedback → ・ ・ ・ ・ . Driving machines precisely requires the same control as the above job cycle, that is [Motion command→run→ feedback→modified command→・・・・].
Chapter 2 Functions 2-2 Position mode The HA -655 driver makes use of either the position control or the speed control. This section describes the position mode. (※ The default setting is the [position mode].) Before driving, set the control mode by [parameter mode] → [0: control mode]. 2-2-1 Command configuration in position mode In the position mode, the command is transmitted from a host in the form of a digital pulse signal train.
Chapter 2 Functions (3) 2-phase pulse train (A-B phase pulses with 90 degree difference) Both port pairs receive the command pulse trains that have a 90 electric degree difference relative to each other as shown in the figure below. For the FWD command, the pulse train to the FWD ports advances 90 degrees from the REV port train. For the REV command, the REV port train advances from the FWD port train. The encoder pulse trains to the driver have this 2-phase pulse configuration.
Chapter 2 Functions 2-2-2 Command transmitting system Two systems are provided for transmitting command pulses: [open collector] and [line driver]. ◆ Open collector system This system employs a transistor whose emitter is common and whose collector is open. Since the output signal is voltage type, this system is unsuitable for long distance transmission due to line voltage drop. Collector Emitter Output ◆ Use twist pair cable.
Chapter 2 Functions 2-2-4 Absolute encoder signals u General descriptions and functions of absolute encoders The absolute encoder housed in a FHA-C series actuator provides an absolute sensor to generate an absolute pulse train for a resolvable position (the sensor is herein after referred to as “single-turn encoder”.), and an electronic counter to generate an absolute pulse train for a revolution of the motor (the counter is hereinafter referred to as “multi-turn counter”.).
Chapter 2 Functions u Notice at power on If power is turned on while the motor rotates at 2800r/min or more, the [Alarm 55] may occur. In spite of the alarm, the multi-turn counter works normal. u ABS (multi -turn) data clear signal (CN2-11: ABS-CLEAR) The ABS (multi-turn) data clear signal should be inputted at: (a) the initial power supply, and; (b) wasting about 30 minutes or more for exchanging the built-in battery. At either case, the multi-turn counter does not keep any data.
Chapter 2 Functions Note 1: Both output signals of phase-A and phase-B are settled at LOW-level. To settle at LOW-level, at least three pulses are outputted. Make a sequence for the host device ignoring outputted pulses while the phase-Z is LOW-level before generating an absolute pulse train, and during other LOW-level duration of the phase-Z signal. Note 2: An absolute pulse train for single-turn encoder is outputted after around 1 ms of outputting phase-Z signal.
Chapter 2 Functions An example of signal transmission The following is an example of the multi-turn count: 8, single-turn encoder count: 25 and an incremental pulse train at a usual operation. The actual resolvable position of the encoder (motor) can obtained by the calculation of: multi-turn count x 8192 + single turn encoder count Phase-Z Phase-A Phase-B Single-turn count: +25 Multi-turn count: +8 90 ms (max.) 90 ms (max.
Chapter 2 Functions (HA-655 →host) Receiving a message from HA-655 driver In case of requiring for data: Note: “0” means zero. Data & 0Dh then ; Note: “0” means zero. q 0Dh In case of not requiring for any data: q 0Dh Note: “0” means zero. When processing for a command from the host is finished and the HA-655 driver can accept a next command, the HA-655 driver responds to the host with “q 0dh” as described above. Then the HA-655 driver can accept the next command.
Chapter 2 Functions The reset command should be sent after 300 milliseconds or more from receiving the code “q 0Dh”, otherwise the [alarm 51: Abnormal encoder signal] may occur. Reset u Command from the host: ORW+ 00000 0Dh Response from HA-655: q 0Dh for normal resetting x 0Dh for abnormal resetting Note: “0” means zero.
Chapter 2 Functions (4) Disconnect the leads of the battery from the junction connecter. (5) Connect the leads of the new battery to the junction connecter. (6) Cram the battery with the leads and the connecter into the case. (7) Attach a cover of battery case on the front panel of the HA -655 driver. (8) If [alarm 50: encoder failure] occurs at power ON operation after exchanging the battery, the encoder system is normal. To recover the problem, shut off the power once and turn it on again.
Chapter 2 Functions 2-2-4 Tuning Servo gains The HA -655 driver is fed back position and speed signals in the position mode as follows: HA-655 driver Position command Position control block Speed control block Driven mechanism Power amplifier Actuator Speed loop Position loop Speed feedback Position feedback Encoder In the figure, the closed loop of [speed control block]→[power amplifier]→[actuator]→[encoder]→[speed control block] is called a [speed loop].
Chapter 2 Functions ◆ [Speed control block], [speed loop gain], and [speed loop integral compensation] (1) The first function of the [speed control block] is to subtract a feedback signal from a command signal. (2) The second function is the block converts the difference to a [current command] multiplies it by a factor, and then transmits the [current command (I)] to the [power amplifier]. The factor (Kv) is called [speed loop gain].
Chapter 2 Functions 2-2-5 FWD inhibit and REV inhibit The HA -655 driver provides [FWD inhibit] and [REV inhibit] input signal ports. [FWD inhibit]: opening (OFF) the input inhibits forward rotation. [REV inhibit]: opening (OFF) the input inhibits reverse rotation. Opening (OFF) both inputs inhibits all rotation. The inputs may be used to limit the motion range between limit sensors.
Chapter 2 Functions 2-3 Speed mode The HA-655 driver makes use of either the position control or the speed control. This section describes the speed mode. (※ The default setting is the [position mode]. Before running, set the control mode by [parameter mode] → [0: control mode]. 2-3-1 Speed conversion factor In the speed mode, the command is sent from a host with an analog voltage signal. The [speed conversion factor] converts the [speed command] voltage to motor speed.
Chapter 2 Functions 2-3-3 Tuning servo gains The HA -655 driver is fed back position and speed signals in the speed mode as follows: HA-655 driver Speed command Position control block Driven mechanism Speed control block Power amplifier Actuator Speed loop Speed feedback Position feedback Encoder In the figure, the closed loop of [speed control block]→[power amplifier]→[actuator]→[encoder]→[speed control block] is called [speed loop].
Chapter 2 Functions 2-3-4 Command change The function can operate the actuator without command at the speed specified by [tune mode]→[6: internal speed command]. This is convenient for diagnosis and for test operation without hosts. The actuator will rotate at the speed set by the [internal speed command] when a signal is input to CMD-CHG (CN2-6) and stops when the signal is removed.
Chapter 2 Functions 2-4 2-4-1 Other functions Indicating of pulse counts As shown in the figure to the right, the motion command pulses are transmitted to the HA-655 driver from a host. The driver drives the actuator corresponding to the motion command. When the actuator starts, the position pulses are sensed by the encoder and are fed back to the driver. The HA-655 driver continues to drive the actuator until the error count (difference between command count and feedback count) comes to zero.
Chapter 3 I/O ports Chapter 3 I/O ports Through the CN2 connector (50 pins; half pitch) the HA -655 driver communicates with a host. Details of the I/O ports are described in this chapter. As the functions of the pins of the connector differ in each control mode, the functions are described separately by modes. 3-1 3-1-1 Position mode I/O port layout << for incremental encoder system>> ※ Do not use the pins marked “−”.
Chapter 3 I/O ports << for absolute encoder system >> ※ Do not use the pins marked “−”.
Chapter 3 I/O ports 3-1-3 I/O port connections in the position mode This section describes the connection between the I/O ports and a host in the position mode. Inputs: The HA -655 driver provides six ports for inputs as shown in the figure to the right. ◆ Specifications Voltage: DC24V±10% Current: 20mA or less (for each port) External power CLEAR Servo-ON FWD inhibit REV inhibit An input port circuit is shown in the figure to the right.
Chapter 3 I/O ports 3-1-4 I/O port functions in the position mode This section describes I/O port functions in the position mode. CN2-1 ● Input signal common: IN-COM (input) Function This is the common port for inputs: [CN2-2, -3, -4, -5, -10, -11]. Supply external power for inputs to this the port. ● Connection Connect [+24V] external power supply for inputs here.
Chapter 3 I/O ports CN2-8 Input common: IN-COM(input) Function The same functions as CN2-1 CN2-10 absolute data request: ABS-REQ(input) *absolute encoder system only Function The input is used for a command to output a current resolving count of the encoder. CN2-11 ABS (multi-turn) data clear: ABS-CLEAR(input) *absolute encoder system only Function The input uses for a command to clear a current resolving count of the multi-turn counter to zero.
Chapter 3 I/O ports CN2-26 +24V: +24V (input) CN2-27 FWD pulse+: FWD+ (input) CN2-28 FWD pulse-: FWD- (input) CN2-29 REV pulse+: REV+ (input) CN2-30 REV pulse-: REV- (input) ● Function These ports receive position commands in the position mode. The both [line driver] and [open collector] can be used for the commands. For the [open collector] system, both signal voltage of [+24V] and [+5V] are acceptable. The connection to the ports is different in the selections.
Chapter 3 I/O ports ◆ Connection for open collector commands and +24V power supply (1) Connect FWD command to [CN2-28: FWD−] and [+24V]. User’s power supply (2) Connect REV command to [CN2-30: REV−] and [+24V]. (3) Connect [+24V] of external power supply to [CN2-26: +24V].
Chapter 3 I/O ports CN2-34 ● Alarm: ALARM (output) Function The output turns OFF when the HA-655 driver senses an alarm. ● Connection (1) An example of [CN2-34 (2) Plan the output circuit for the ports as follows: Supply voltage: +24V or less Signal current: 40mA or less alarm: ALARM] connection is shown in the figure below. HA-655 Alarm CN2-34 ALARM Ry TLP127 CN2-43 OUT-COM CN2-37 ● Ready: READY (output) Function The output turns ON when the HA-655 driver is ready to drive.
Chapter 3 I/O ports CN2-38 Alarm-A＋: AＬM –A (output) CN2-39 Alarm-B＋: AＬM –B (output) CN2-40 Alarm-C＋: AＬM –C (output) CN2-41 Alarm-D＋: AＬM –D (output) ● Function When The HA-655 driver senses an alarm, the 4-bit code corresponding to the alarm, shown in the table below, outputs from the ports.
Chapter 3 I/O ports CN2-44 Phase-A＋(LD): A+ (output) CN2-45 Phase-A−(LD): A- (output) CN2-46 Phase-B＋(LD): B+ (output) CN2-47 Phase-B−(LD): B- (output) CN2-48 Phase-Z＋(LD): Z+ (output) CN2-49 Phase-Z−(LD): Z- (output) ● Function These ports transmit encoder signals of Phase-A, -B, -Z through the line driver (26LS31). ● Phase-A+ Phase-APhase-B+ Connection Phase-B- Receive the signals using a line receiver (AM26LS32 or equivalent).
Chapter 3 I/O ports 3-1-5 Connection examples in the position mode << for incremental encoder system >> ◆ The figure below shows a connection example in the position mode for [open collector] signals. The command configuration is [2-pulse] type. +5V power supply & external resistance HA-655-*-200 R1, R2 are user’s responsibility. CN2 1.5k Signal current should be 16mA. +5V 1.
Chapter 3 I/O ports ◆ The figure below shows a connection example in the position mode for [line driver] signals. The command configuration is [2-pulse] type. Always keep at least 7V(+/-3.5V). FWD+ FWDREV+ REV- FWD pulse REV pulse Vin Vin 31 32 IN-COM DC24V 0V +24V 26 27 28 29 30 1.5k 1.5k 110 0 TB2 110 L/F 68k Line filter S 1/8 CLEAR NFB Transformer CP R 2.
Chapter 3 I/O ports << for absolute encoder system >> ◆ The figure below shows a connection example in the position mode for [open collector] signals. The command configuration is [2-pulse] type. +5V power supply & external esistance R1, R2 are user’s responsibility. Signal current should be 16mA. +5V +24V 26 27 R1 28 29 R2 30 FWD+ FWDREV+ REV- FWD pulse HA-655-*-200 CN2 1.5k 1.
Chapter 3 I/O ports ◆ The figure below shows a connection example in the position mode for [line driver] signals. The command configuration is [2-pulse] type. Always keep at least 7V(+/-3.5V). FWD+ FWDREV+ REV- FWD pulse REV pulse Vin Vin 1.5k 110 0 TB2 110 Line filter r 0 L/F 31 32 IN-COM DC24V 0V +24V 26 27 28 29 30 1.5k s Am26LS31(EIA422A) or equivalent External power HA-655-*-200 CN2 68k Line filter R S 1/8 NFB Transformer CP Power AC200V (50/60Hz) L/F 2.
Chapter 3 I/O ports 3-2 Speed mode 3-2-1 I/O port layout << for incremental encoder system >> ※ Do not use the pins marked “−”.
Chapter 3 I/O ports << for absolute encoder system >> ※ Do not use the pins marked “−”.
Chapter 3 I/O ports 3-2-3 I/O port connections in the speed mode This section describes the connections between the I/O ports and the host in the speed mode. Inputs: The HA -655 driver provides six ports for inputs as shown in the figure to the right. ◆ Specifications Voltage: DC24V±10% Current: 20mA or less (for each terminal) An input port circuit is shown in the figure to the right. The ports marked with (*) are available for absolute encoder system only.
Chapter 3 I/O ports 3-2-4 I/O port functions in the speed mode This section describes I/O port functions in the speed mode. CN2-1 ● Input signal common: IN-COM (input) Function This is the common port for inputs: [CN2-2, -3, -4, -5, -6, -10, -11]. Supply external power for inputs from this port. ● Connection Connect [+24V] external power supply for inputs here.
Chapter 3 I/O ports CN2-4 FWD enable: FWD-EN (input) CN2-5 REV enable: REV-EN (input) ● Function While the [FWD enable] is [ON] the actuator rotates forward when the [CN2-31 SPD-CMD] is [+]. In contrast, the actuator rotates in reverse for the [CN2-31] is [-]. speed command: While the [REV enable] is [ON] the actuator rotates in reverse when the [CN2-31 speed command: SPD-CMD] is [+]. Conversely, the actuator rotates forward when the [CN2-31] is [-].
Chapter 3 I/O ports CN2-10 absolute data request: ABS-REQ(input) *absolute encoder system only Function The input is used for a command to output a current resolving count of the encoder. CN2-11 ABS (multi-turn) data clear: ABS-CLEAR(input) *absolute encoder system only Function The input uses for a command to clear a current resolving count of the multi-turn counter to zero. CN2-23 ● Speed monitor: SPD-MON (output) Function The port outputs a voltage signal proportional to the motor speed.
Chapter 3 I/O ports CN2-31 ● Speed command: SPD-CMD(input) Function Input the speed command voltage signal which is obtained by [parameter mode]→[9: speed conversion factor]. Motor speed ＝ Speed command voltage × Speed conversion factor V 10.0 The direction of rotation is specified by the polarity (+/-) of the speed command and input signals of [CN2-4 FWD enable: FWD-EN ] and [CN2-5 REV enable: REV-EN].
Chapter 3 I/O ports CN2-33 ● Attained speed: HI-SPD (output) Function The output turns ON when the motor rotates at a speed greater than the value of [tune mode]→[5: attained speed]. ● Connection HA-655 Attained speed CN2-33 HI-SPD (1) The figure to the right shows an example of the [CN2-33 attained speed: HI-SPD] port connection.
Chapter 3 I/O ports CN2-38 Alarm-A＋: AＬM –A (output) CN2-39 Alarm-B＋: AＬM –B (output) CN2-40 Alarm-C＋: AＬM –C (output) CN2-41 Alarm-D＋: AＬM –D (output) ● Function When the HA-655 driver senses an alarm, the 4-bit code corresponding to the alarm, shown in the table below, outputs from the ports.
Chapter 3 I/O ports CN2-44 Phase-A＋(LD): A+ (output) CN2-45 Phase-A−(LD): A- (output) CN2-46 Phase-B＋(LD): B+ (output) CN2-47 Phase-B−(LD): B- (output) CN2-48 Phase-Z＋(LD): Z+ (output) CN2-49 Phase-Z−(LD): Z- (output) ● Function Phase-A+ Phase-APhase-B+ Phase-BPhase-Z+ Phase-Z- These ports transmit encoder signals of Phase-A, -B, -Z from the line driver (26LS31). ● Connection Receive the signals by using line receiver (AM26LS32 or equivalent).
Chapter 3 I/O ports 3-2-5 Connection examples in the speed mode << for incremental encoder system >> ◆ The figure below shows a connection example in the speed mode for an incremental encoder system. HA-655-*-200 CN2 26 27 28 29 30 1.5k 1.5k 110 0 TB2 110 Line filter r 0 L/F s Speed command Spd. com. common External power SPD-CMD SG-GND IN-COM DC24V 0V 31 32 68k Line filter S 1/8 2.2k Clear CLEAR 2 S-ON 3 NFB Transformer CP R Power AC200V (50/60Hz) L/F T 2.
Chapter 3 I/O ports << for absolute encoder system >> ◆ The figure below shows a connection example in the speed for an absolute encoder system.. HA-655-*-200 CN2 26 27 28 29 30 Speed command Spd. com. common External power SPD-CMD SG-GND IN-COM DC24V 0V 31 32 1.5k 1.5k 110 0 TB2 110 Line filter r 0 L/F 68k s 1/8 NFB Transformer CP R Power AC200V (50/60Hz) 2.2k Clear CLEAR 2 S-ON 3 S 2.2k Servo-ON L/F T 2.2k FWD-EN FWD enable 4 TB1 R1 2.
Chapter 4 Installing the HA -655 driver Chapter 4 4-1 Installing HA-655 driver Receiving Inspection Check the followings when products are received. ● Inspection procedure (1) Check the shipping container and item for any damage that may have been caused during transportation. If the item is damaged, immediately contact the dealer it was purchased from. (2) The label, shown in the figure to the right, is attached on the right side of the HA-655 driver.
Chapter 4 Installing the HA -655 driver 4-2 Notices on handling The HA -655 drivers are electronic devices. Handle them with care and take the following precautions: CAUTION (1) Because the case is made of plastic, do not apply excess force or shock. (2) The vibration resistance of the HA-655 driver is 4.9m/s 2 (10 to 55Hz). Do not mount or transport the HA-655 driver in a manner where it would be subjected to high levels of vibration.
Chapter 4 Installing the HA -655 driver 4-3 Location and installation 4-3-1 Environment of location The environmental conditions of the location are as follows: ◆ Service temperature: 0℃ to 50℃ Use the driver in a cabinet. The temperature in the cabinet may be higher than the atmosphere because of power loss of the housed devices and its size. Plan the cabinet size, ventilation system, and device locations so the ambient temperature of the driver, which is always less than 50℃.
Chapter 4 Installing the HA -655 driver 4-3-3 Installing 5 The HA-655 driver should be mounted on a wall as shown in the figure to the right. Wall Two mounting holes are provided on the back of the driver. The thickness of the wall should be more than 2mm. ● Procedure (1) Screw an M4 machine screw in the tapped hole on the wall. (2) Put the lower mounting hole (cut hole) of the back of the driver on the M4 screw. 5 (3) Screw tightly through the upper mounting hole with M4 screws.
Chapter 4 Installing the HA -655 driver ◆ Grounding motor frame When actuators are grounded at driven machine through the motor frame, current flows through floating capacity (Cf) of the motor from power amplifier of the driver. To avoid influence of the current, always connect the ground terminal (motor frame) of the motor to the ground terminal of the driver, and connect the ground terminal of the driver to the ground directly.
Chapter 4 Installing HA-655 driver 4-4-3 Instructions for cabling In addition to the noise suppression mentioned previously, one must also follow these instructions: (1) Use twisted pair cables for I/O signals, and for encoder signals cables. When a host controls several drivers, prepare I/O signal cables for each driver individually. (2) Make the length of signal cables as short as possible.
Chapter 4 Installing HA-655 driver 4-5 Connecting power cables 4-5-1 Instructions for power supply (1) Before connecting the power cable to the HA-655 driver, turn-OFF the electricity to avoid electric shock. (2) Connect the power cable to the HA-655 driver only after installing the driver on a wall. CAUTION (3) Ground the HA-655 driver, to avoid electric shock, malfunctions caused by external noise, and for the suppression of radio noise emissions.
Chapter 4 Installing HA-655 driver 4-5-3 Connecting power cables The terminal block for the power is located on the front panel of the HA -655 driver. There is no phase order in connection to three-phase power lines. 7mm Shown the figure to the right, strip the end of wires of the power supply cable and the motor cable, and connect wires to each terminal firmly.
Chapter 4 Installing HA-655 driver 4-5-5 Protecting power lines We recommended protecting the driver by installing a circuit breaker or fuses from surge current at power-ON. Select the recommended circuit breakers or fuses using the table below. FHA-17C HA-655-2 5 FHA-25C HA-655-2 10 0.1 0.3 0.5 0.7 Note 2 15 15 Note 1: The value is for continuous duty at rated output. Note 2: The values are quoted at ambient temperature of 25 degC.
Chapter 4 Installing HA-655 driver 4-8 Connecting cables for the encoder and the I/O 4-8-1 Preparing the encoder cable and the I/O cable Follow these instructions for the preparation of the encoder cable and the I/O cable. (1) Use twisted pair cables for I/O signal cables and for encoder signal cables. When a host controls several drivers, install I/O signal cables for each driver individually. (2) Make the length of signal cables as short as possible.
Chapter 4 Installing HA-655 driver 4-8-3 Pin layouts of the I/O signal connector (CN2) The models and the pin layout of the encoder connector are as follows: Plug: Shell: ◆ model: 10150-3000VE model: 10350-52F0-008 manufacturer: 3M manufacturer: 3M Position mode 24 CUR -MON 22 20 18 16 14 12 10 ABSREQ 25 GND 8 INPUT COM 9 7 23 21 19 17 15 13 11 SPD ABS-MON CLEAR 49 47 45 43 41 39 37 35 33 Z− B− A− OUTALM ALM READY INCOM -D -B POS 50 48 46 44 42 40 38 36 34 32 FG Z+ B+ A+ Z ALM ALM ALARM -C
Chapter 4 Installing HA-655 driver 4-9 Power ON and OFF sequences Plan power ON and power OFF sequences with the timing shown in the figures below. ◆ Power ON sequence Main power OFF⇒ON Control power OFF⇒ON Ready outputting Alarm outputting Servo ON inputting Commands inputting << for incremental encoder system >> 0ms(min) 4ms(max) 3ms(max) 0ms(min) Servo ON is available. Commands are acceptable.
Chapter 4 Installing HA-655 driver ◆ Power OFF sequence ON Power for control ON⇒OFF OFF Main power Alarm ON ON⇒OFF OFF Output Reset Alarm Servo-ON Servo-ON Input OFF Input Commands Output Not acceptable Min.0ms Min.20ms Max.20ms Min.0ms ◆ Switch for main power operation Plan the sequence circuit to operate the switch for main power individually by [alarm] signal and [emergency stop] signal.
Chapter 5 Operations Chapter 5 Operations Follow these instructions prior to operations. 1. Inspect the cabling before turning the power ON and correct poor cabling if necessary. (1) Is the cabling correct? (2) Is there any temporary cabling? Are all wires connected to the terminals? (3) Are there any loose terminal connections? (4) Are the wires grounded properly? CAUTION 2. Never wire the unit or make changes to the wiring while the power is ON. Turn the power OFF first. 3.
Chapter 5 Operations (2) Turn on main power via the host, and transmit [ON] signal to [CN2-3 servo-ON] from the host. ⇒Turns the servo drive circuit active, and current can flow to the actuator. UP DOWN ADJ SET Monitor mode Press 3 sec. ◆ JOG operation of the actuator (3) To enter the [test mode] from the [monitor mode], press the [SET] key at least three seconds. ⇒Indicates 6th to 4th digit in the order, and enters the [test mode] when there is no indication on 4th to 6th digit.
Chapter 5 Operations ◆ Verifying Input signals (9) Indicate [c: I/O monitor] by pressing the [UP] key or the [DOWN] key. The forth digit indicates output states and the sixth indicates input states. (10) Signal to [CN2-2]∼[CN2-6] ports from the host. J Verify the indications as shown in the figure below. UP DOWN ADJ Output Output CN2-39: Alarm code B CN2-38: Alarm code A CN2-33: In-position (pos. mode) Attained speed (spd.
Chapter 5 Operations ◆ Verifying output signals (11) Indicate [Inp: output port operation] by pressing the [UP] key or [DOWN] key. (12) To operate output ports, press the [ADJ] key at least 0.1second. UP UP DOWN ADJ DOWN ADJ SET ON ⇒The first digit flashes. You can operate output ports. (Re-pressing the [ADJ] key at least 0.1 second inhibits [output port operation]. (13) Press the [UP] key to specify which output port is to be operated.
Chapter 5 Operations 5-1-2 Setting parameters Following test run of the actuator you can set the parameters via the parameter mode. All parameters are dependant upon the driven machine system.
Chapter 5 Operations (20) Press [UP] or [DOWN] key to change the functional items of the parameter mode. UP DOWN ADJ SET Function selection (21) To change a value, press [ADJ] key at least 0.1 second. ⇒The first digit [0] flashes. You can change the value. (22) Change the value with the [UP] key and the [DOWN] key. The [UP] key increases the value. The [DOWN] key decreases the value. (23) To define the new value, press the [SET] key at least 0.1 second.
Chapter 5 Operations 5-1-3 Tuning servo parameters After setting the parameters of the [parameter mode], couple the actuator with the driven machine; and you can start tuning the servo parameters. Usually it is unnecessary to tune the parameters, because these servo parameters have been set to the proper values for the actuator as standard defaults. Only if the actuator is hunting, overshooting, or undershooting should you then carefully tune the parameters.
Chapter 5 Operations (31) To change a value, press the [ADJ] key at least 0.1 second. ⇒The first digit [0] flashes. You can change the value. (32) Change the value with the [UP] key and the [DOWN] key. The [UP] key increases the value. The [DOWN] key decreases the value. (33) To define the new value, press the [SET] key at least 0.1 second. ⇒The value is stored in the memory. From now on, the new value is effective. UP DOWN ADJ SET Press 0.1 sec.
Chapter 5 Operations 5-2 Usual operation As the HA-655 driver runs by commands from a host, no special intervention is required for normal operations. In this section, instructions for daily operations and maintenance are explained. 5-2-1 Notices for daily operations 1. Do not make any wiring while power is active. Disconnecting wires or connectors while power is active may cause electric shock or abnormal mechanical motion resulting in serious physical injury. 2.
Chapter 6 Setting up parameters Chapter 6 Setting up parameters The display panel of the HA-655 driver is equipped with a six-digit LED display and four operation keys. Monitoring information, tuning operations, setting operations, and jog operation are done using the display panel.
Chapter 6 Setting up parameters 6-3 Functions of modes Each mode provides the following functions of position mode and speed mode individually.
Chapter 6 Setting up parameters 6-4 Monitor mode The HA-655 driver indicates position and speed commands, current position information from a motor-encoder, pulse count in an error counter, input and output signal states, load condition, alarm history, and the code number of the actuator. These are useful to diagnose the driver if it fails or operates in an abnormal manner. After powering, the [monitor mode] starts up.
Chapter 6 Setting up parameters 6-4-2 Functions of the monitor mode Error counter state ● (position / speed mode) Function 1st digit 6th digit The fundamental functions of servomotors are for positioning and rotation responding to command signals.
Chapter 6 Setting up parameters [Monitor mode] Motor speed (position / speed mode) 1st digit ● 6th digit Function The “motor speed” indicates the present motor speed in r/min. The actuator speed is obtained by dividing the motor speed by the reduction ratio of the actuator gear. ● UP Details of display 1st digit: 2nd digit: [1: Motor speed] No indication means positive counts, and [-] indicates negative counts. 3rd to 6th digit: Indicates motor speed in r/min.
Chapter 6 Setting up parameters [Monitor mode] Error pulse count (low) ● (position / speed mode) 1st digit Function 6th digit The fundamental functions of servomotors are for positioning and rotation responding to a command signals.
Chapter 6 Setting up parameters [Monitor mode] Torque Monitor ● (position / speed mode) 1st digit 6th digit Function This indicates current output torque of the actuator in “%” where “100%” corresponds to the maximum torque. ● Details of display UP [5: Torque monitor] No indication means positive counts, and [-] indicates negative counts. 3rd digit: No indication 4th to 6th digit: Indicates current output torque in “% ” where “100%” corresponds to the maximum torque.
Chapter 6 Setting up parameters [Monitor mode] Feedback pulse (Low) ● (position / speed mode) 1st digit Function 6th digit The fundamental functions of servomotors are positioning and rotation responding to a command signal.
Chapter 6 Setting up parameters [Monitor mode] Command pulse (Low) (position mode) 1st digit ● 6th digit Function The fundamental functions of servomotors are for positioning and rotation responding to a command signal. A block diagram of servo motor control is shown as follows: HA-655 Error counter Command pulse+ Processing FHA UP DOWN ADJ SET Command pulse (Low) Feedback pulses Position commands in the position mode are inputted into The HA-655 driver from a host as the command pulse count.
Chapter 6 Setting up parameters [Monitor mode] Command pulse frequency (position mode) 1st digit ● 6th digit Function The fundamental functions of the servomotors are for positioning and rotation responding to a command signal.
Chapter 6 Setting up parameters [Monitor mode] I/O monitor (position / speed mode) 1st digit ● 6th digit Function The display indicates input/output signal states of [CN2] connector pins as follows: Output signals: Input signals: UP Forth digit Sixth digit I/O monitor The indications are limited only for logical signals, not for encoder signals.
Chapter 6 Setting up parameters [Monitor mode] Alarm history ● (position / speed mode) 1st digit 6th digit Function The “alarm history” indicates up to eight previous alarms with codes. ● Details of display UP [d: alarm history] The order of the indicated alarm: [1] indicates the latest alarm, and [8] indicates the earliest one. 3rd to 4th digit: No indication 5th to 6th digit: Indicates an alarm code.
Chapter 6 Setting up parameters [Monitor mode] Actuator code ● (position / speed mode) 1st digit 6th digit Function This indicates the code of the HA-655 driver is set for. The relation of the codes and actuators is as follows: Do not connect an actuator that has another code than the indicated code. UP DOWN ADJ SET Actuator code Wrong combinations of HA-655 drivers and actuators may cause low torque CAUTION problems and over current that may cause physical injury and fire.
Chapter 6 Setting up parameters 6-5 Tune mode The tuning mode consists of various parameters to control the actuator motion. Setting the most suitable value for each parameter will ensure the optimum performance of the actuator. The tune mode indicates and sets the following items.
Chapter 6 Setting up parameters ● Operations of values (1) To change a value, press the [ADJ] key at least 0.1 second. ⇒1st digit [0] flickers. You can change the value. (2) Change the value with the keys of [UP] and [DOWN]. The [UP] key increases the value. The [DOWN] key decreases the value. (3) (4) 1st digit To define the new value, press the [SET] key at least 0.1 second. ⇒The value is stored in the memory. From now on, the new value is effective. UP DOWN 6th digit ADJ SET Press 0.1 sec.
Chapter 6 Setting up parameters 6-5-2 Functions of the tune mode Speed loop gain ● (position / speed mode) 1st digit Function 6th digit The HA -655 drivers make actuators follow command signals precisely by triple feedback loops of position, speed, and current. The [speed loop gain] adjusts the proportional gain of the speed feedback loop. The relation between the gain and actuator motion is as follows: UP High gain ⇒ obtains high servo stiffness and high response.
Chapter 6 Setting up parameters [Tune mode] Speed loop integral compensation ● (pos./spd.) 1st digit 6th digit Function The HA -655 driver is equipped with a [Speed loop integral compensation] function to make speed fluctuation minimal against load torque variation. The relation between the gain and actuator motion is as follows: UP High gain ⇒ eliminates hunting and gives low response to load torque variation.
Chapter 6 Setting up parameters [Tune mode] Position loop gain ● (position / speed mode) 1st digit 6th digit Function The HA-655 driver is equipped with triple feedback loops of position, speed and current to make actuator motion follow position command precisely. The [position loop gain] adjusts proportional gain of feedback loop gain. The relation between the gain and actuator motion is as follows: UP High gain ⇒ obtains small position and following error.
Chapter 6 Setting up parameters [Tune mode] Feed forward gain (position mode) 1st digit ● 6th digit Function In the position mode the HA-655 driver controls the error count, the difference between [command pulse] and [feedback pulse], to be [0]. At the beginning of inputting a command pulse train, the actuator starts slowly because of a of small error count. UP The [feed forward] function may accelerate the actuator as much as possible, adding the speed commands to the speed control loop.
Chapter 6 Setting up parameters [Tune mode] In-position range (position mode) 1st digit ● 6th digit Function [In-position: INPOS (CN2-33 pin)] signal is outputted when an error count becomes less than the value of [in-position range]. The error count is the difference between [command pulse count] and [feedback pulse count], ● Details of display UP 1st digit: [4: in-position range] 2nd digit: No indication 3rd to 6th digit: indicates the current [in-position range].
Chapter 6 Setting up parameters [Tune mode] Internal speed command (speed mode) 1st digit ● The function can operate the actuator without an external command. This is convenient for test operations without hosts and for system diagnosis. Actuator motion at the interion speed starts with the input to [command change: CMD-CHG (CN2-6 pin)] and stops when input is OFF.
Chapter 6 Setting up parameters [Tune mode] Acceleration time constant ● (speed mode) 1st digit 6th digit Function [Acceleration time constant] is the time it takes to accelerate the motor from [0 r/min] to the speed of [A: speed limit] of [parameter mode]. The acceleration time to speed command voltage is as follows: Accel. time＝Accel. time const. × ● Cmd. voltage Spd.
Chapter 6 Setting up parameters [Tune mode] Speed command offset (speed mode) 1st digit ● Function In the speed mode, motor may rotate slightly in spite of [0V] speed command voltage. This problem may occur when the speed command voltage has an offset of a few milli-volt. This function removes the slight rotation by the command voltage offset. Search for a proper offset value by inputting [0V] of command voltage not to rotate the motor that changes the value.
Chapter 6 Setting up parameters 6-6 Parameter mode The [parameter mode] sets various parameter values relating to the fundamental operational functions such as: specifications of [position mode] or [speed mode], configurations of input signals, electronic gear function, limiting values of speed and torque, and parameters to communicate with a host. The parameter mode indicates and sets the following items.
Chapter 6 Setting up parameters ● Operations of values (1) To change a value, press the [ADJ] key at least 0.1 second. ⇒1st digit [0] flashes. You can change the value. (2) Change the value with the keys of [UP] and [DOWN]. 1st digit The [UP] key increases the value. UP DOWN 6th digit ADJ SET The [DOWN] key decreases the value. (3) To define the new value, press the [SET] key at least 0.1 second. Press 0.1 sec. ⇒The value is stored in the memory. From now on, the new value is effective.
Chapter 6 Setting up parameters 6-6-2 Functions of the parameter mode Control mode (position / speed mode) 1st digit ● 6th digit Function The HA-655 driver can control the actuator in either the [position mode] or the [speed mode]. This function selects an operating mode. In the position mode a command signal is composed of pulse trains, while in the speed mode it is composed of an analog voltage.
Chapter 6 Setting up parameters [Parameter mode] Command configuration ● (position mode) Function 1st digit 6th digit Three types of command signals can be inputted to the HA-655 driver as follows: Type 2-pulse train 1-pulse train 2-phase pulse Code 0 1 2 Command configuration Forward Forward Forward FWD FWD FWD REV REV REV UP DOWN ADJ SET 90° Reverse Reverse Reverse FWD FWD FWD REV REV REV Command configuration 90° FWD CN2-27,28 REV CN2-29,30 Setting ● Forward Pulse trai
Chapter 6 Setting up parameters [Parameter mode] Electronic gear-denominator (position mode) 1st digit ● 6th digit Function This is used in conjunction with [4: electronic gear-numerator] as an electronic gear function that is used when it is required to make a relationship between a displacement of the driven mechanism an integer number of command pulses.
Chapter 6 Setting up parameters [Parameter mode] Error count cleared by S-ON (position mode) 1st digit ● Even when the servo power is OFF, the control power is still ON. If the position of the load mechanism shifts due to gravity or manual force while the servo power is OFF, the error count changes. If the servo power is turned ON, the actuator rotates rapidly to make the error count return to [0]. This rapid motion may be dangerous.
Chapter 6 Setting up parameters [Parameter mode] Position error allowance (position mode) 1st digit ● The [error counter] calculates [error count] subtracting the [feedback count] from the [position command]. A large position error may result in an abnormality. When the position error exceeds the [position error allowance], an [alarm 60] occurs and the servo power shuts off.
Chapter 6 Setting up parameters [Parameter mode] Rotary direction ● (position / speed mode) Function 1st digit 6th digit This function specifies the rotary direction of the actuator when responding to commands.
Chapter 6 Setting up parameters [Parameter mode] Speed limit ● (position / speed mode) Function 1st digit 6th digit This function limits motor speed to protect the motor and driven mechanism. ● Details of display 1st digit: [A: speed limit] 2nd digit: No indication 3rd to 6th digit: Indicates current [speed limit]. A value from [1] to [motor max. speed] can be set. ● Operations (1) To change a value, press the [ADJ] key at least 0.1 second. ⇒1st digit [A] flashes. You can change the value.
Chapter 6 Setting up parameters [Parameter mode] Alarm logic ● (position / speed mode) 1st digit Function 6th digit The alarm signal logic (normal open / normal close) is defined as follows: Value Logic Setting 0 Normal close (NC) Factory default 1 Normal open (NO) UP ● Details of display 1st digit: [c: alarm logic] 2nd to 5th digit: No indication 6th digit: Indicates current [alarm logic] setting. ● DOWN ADJ SET Alarm logic Operations (1) To change a value, press the [ADJ] key at least 0.
Chapter 6 Setting up parameters End of parameter mode 1st digit ● 6th digit Function This terminates the [parameter mode] and returns to the [monitor mode]. Indicating [End] and pressing the [SET] key returns you to the [monitor mode]. ● Details of display 1st to 3rd digit: No indication 4th to 6th digit: indicates [End]. ● UP Operations DOWN ADJ Parameter mode To terminate the [parameter mode] and to return to the [monitor mode], press the [SET] with [End] indicated.
Chapter 6 Setting up parameters 6-7 Test mode The test mode consists of required functions for system test, such as JOG operation functions, operations of pseudo output signals, and I/O signal monitors.
Chapter 6 Setting up parameters ● Operations (1) To change a value, press the [ADJ] key at least 0.1 second. ⇒1st digit [0] flashes. You can change the value. (2) Change the value with the keys of [UP] and [DOWN]. [UP] key increases the value. [DOWN] key decreases the value. (3) (4) 1st digit To define the new value, press the [SET] key at least 0.1 second. ⇒The value is stored in the memory. From now on, the new value is effective. UP DOWN 6th digit ADJ SET Press 0.1 sec.
Chapter 6 Setting up parameters 6-7-2 Functions of the test mode JOG operation (position / speed mode) 1st digit ● 6th digit Function Pressing [UP] or [DOWN] key rotates the motor with the speed of [1:JOG speed]. ● Details of display 1st and 2nd digit: [Jo: JOG operation] 3rd to 6th digit: No indication ● UP DOWN ADJ SET Operations Before JOG operation, make sure load conditions and motor/ encoder cable installations are correct. Activating JOG operation mode turns servo ON.
Chapter 6 Setting up parameters [Test mode] JOG speed (position / speed mode) 1st digit ● 6th digit Function The motor speed in [JOG operation] mode is set in [10r/min] increments. The unit is [r/min]. ● Details of display 1st and 2nd digit: [SP: JOG speed] 3rd to 6th digit: [JOG speed]; unit: r/min ● UP DOWN ADJ SET Operations JOG speed To set [JOG speed], press the [ADJ] key at least 0.1second. ⇒1st digit [S] flashes. You can change the value.
Chapter 6 Setting up parameters [Test mode] Output port operation (pos. / spd. mode) 1st digit ● 6th digit Function It is possible to operate turn (ON/OFF) output ports manually. ● Details of display 1st to 3rd digit: indicates the code for the output port. 4th to 6th digit: indicates current state of the port. ● Operations (1) To operate output ports, press the [ADJ] key at least 0.1 second. UP DOWN ADJ UP DOWN ADJ SET SET ON ⇒1st digit flashes. You can operate output ports.
Chapter 6 Setting up parameters [Test mode] I/O port operation (position / speed mode) 1st digit ● 6th digit Function The display indicates input/output signal states of [CN2] connector pins as follows: Output signals: Input signals: Fourth digit Sixth digit UP I/O monitor This function is limited only to logic signals; it is not available for the encoder signals.
Chapter 6 Setting up parameters [Test mode] Analog monitor manual output (speed mode) 1st digit ● 6th digit Function It is possible to output voltage signals manually through the monitor ports in the speed mode. Two analog ports are provided for monitoring.
Chapter 6 Setting up parameters [Test mode] Speed command auto-offset (speed mode) 1st digit ● In the speed mode, the motor will rotate slightly in spite of a [0V] speed command voltage. This problem will happen when the speed command voltage has an offset of a few milli-volt. This function automatically removes the slight rotation compensating the command voltage offset.
Chapter 6 Setting up parameters 6-8 Defaults of parameters The following table shows the defaults of the parameters: Code Parameter mode Tune mode Mode << for incremental encoder system >> Parameter 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 A b ｃ Speed loop gain S-loop integral compensation Position loop gain Feed-forward gain In-position range Attained speed Internal speed command Acceleration time constant Deceleration time constant Speed command offset Control mode Command configuration Multiplicati
Chapter 7 Trouble shooting Chapter 7 7-1 Troubleshooting Alarms and diagnostic tips The HA -655 drivers provide various functions to protect actuators and drivers against abnormal operating conditions. When these functions detect faults, the actuator stops (the motor enters a free rotation state.), a two-digit alarm code is indicated on the display panel, and a corresponding alarm signal is transmitted to the hosts.
Chapter 7 Trouble shooting Over speed ● (release: impossible) Description The alarm will occur if the motor exceeds its maximum speed or if it rotates abnormally. To release the alarm, shut off the control power once and turn it on again. ● Diagnostic tips (1) Motor exceeds maximum speed when control power is turned on: ◆ Cause 1: The control circuit of the HA-655 driver may have failed. ⇒Remedy: Contact harmonic drive systems.
Chapter 7 Trouble shooting Over load ● (release: possible) Description The driver always monitors the motor current and if the current exceeds the curve in the figure below, then an overload alarm occurs. For example: (2) 1000 The alarm occurs if the current is 1.2 times of nominal for a long period of time. The alarm occurs if the current of three times of the nominal current flows for 20 seconds.
Chapter 7 Trouble shooting Overheat ● (release: impossible) Description The alarm occurs when the thermal switch of an IPM element in The HA-655 driver is activated. To release the alarm after troubleshooting, shut off the control power once and turn it on again. ● Diagnostic tips (1) Alarm occurs when control power is turned on: ◆ Cause 1: The control circuit of the HA-655 driver may have failed. ⇒Remedy: Contact Harmonic Drive Systems.
Chapter 7 Trouble shooting (4) Alarm occurs during acceleration or deceleration: ◆ Cause 1: Excessive load inertia and the accelerating or decelerating time is too short. ⇒Remedy 1: Reduce the load inertia. ⇒Remedy 2: Set longer times for [tune mode]→[7: acceleration time constant] and [8: deceleration time constant]. ◆ Cause 2: Gain is set too high or too low ⇒Remedy 1: Adjust gains [parameter mode]→[0: speed loop gain], [1: speed loop integral compensation] and [2: position loop gain].
Chapter 7 Trouble shooting Abnormal encoder signal (release: imp.) ● Description This alarm occurs when the driver fails to receive the two sequential encoder signals. To release the alarm after troubleshooting, shut off the control power and turn it on again. ● Diagnostic tips (1) Alarm occurs when the control power is turned on: ◆ Cause 1: The control circuit of the HA-655 driver may have failed. ⇒Remedy: Contact Harmonic Drive Systems.
Chapter 7 Trouble shooting ABS system failure (release: possible) ● Description For the absolute encoder, the alarm occurs when all power supplies (power supply, built-in condenser, and battery) for the encoder are failure. For example, it occurs at the first power supply after purchasing, and at power supply after disconnecting the cable between the driver and the encoder for a long duration.
Chapter 7 Trouble shooting (2) A larm occurs during running: ◆ Cause 1: The alarm when the count for multi-turn data (MTD) goes beyond the range of +4095 to 4096 turns (motor axis). ⇒Remedy: input the multi-turn data clear signal at least 4 seconds, and shut off the control power once and turn it on again. ABS multi-turn data error ● (release: imp.
Chapter 7 Trouble shooting ◆ Cause 4: The encoder circuit may have failed. ⇒Remedy: Contact Harmonic Drive Systems. (Replace actuator) (2) Alarm occurs during running: ◆ Cause 1: The voltage of the built-in battery isles than 2.80V. ⇒Remedy: Change the battery for a new one. ABS send data rule error ● (release: imp.) Description The absolute encoder rotates more than 127 resolvable pulses by external torque during transmitting absolute data.
Chapter 7 Trouble shooting ◆ Cause 2: Parameters of the [electronic gear] are wrong. ⇒Remedy: Set the correct parameters by [parameter mode]→[3: electronic gear-denominator][4: electronic gear-numerator]. ◆ Cause 3: The [command pulse frequency] is too high ⇒Remedy: Lower the [command pulse frequency] of the host.
Chapter 7 Trouble shooting Memory failure (EEROM) (release: imp.) ● Description This alarm occurs when the driver’s EEROM memory fails. It is impossible to release the alarm. ● Diagnostic tips occurs (1) Alarm occurs when the control power is turned on: ◆ Cause 1: The control circuit of the HA-655 driver may have failed. ⇒Remedy: Contact Harmonic Drive Systems.
Chapter 7 Trouble shooting 7-2 Troubleshooting for improper actuator motions Troubleshooting procedures for problems other than alarms are described separately in the position mode and in the speed mode. They are also described for the following cases: ◆ No rotation ◆ Unstable rotation ◆ Poor positioning accuracy Note: In the flowcharts, [Y] means [yes], and [Ｎ] means [no].
Chapter 7 Trouble shooting From prior page Is CN2-2 CLEAR ON? N Loosen screws in connection, broken wire? Y Y Turn OFF CN2-2 CLEAR. Verify motor cable connection. N Is phase order correct? N Correct them. Y No layer short, grounding in motor? Y Actuator failure N Is output shaft locking? Y Release locking. N Actuator failure ◆ Unstable rotation Start Supply voltage correct? Y Is voltage within its allowance? N N Input correct voltage.
Chapter 7 Trouble shooting From prior page Is normal temperature in cabinet? N Review heat generating devices, and cooling system. N Correct signal voltage, frequency and synchronization. Check for electrical noise in signal cables. N Lower the actuator speed than rated one. Y Command pulse train correct? Y Is speed lower than rated one? Y Is load inertia proper? N Gain adjustment possible? N Lower load inertia Y Adjust gains correctly.
Chapter 7 Trouble shooting From prior page Is encoder signal normal? N Y Is noise on encoder signal? Y Improve grounding and cable installation. Use shield cable. N Actuator failure Is there play or resonance in mechanism? N Improve mechanism. Y Actuator or driver failure ◆ Poor positioning accuracy Start In host program correct? N Correct it. Y Command pulse normal? N Correct pulse frequency. Check noise. N Check command pulse in the host. N Correct electronic gear parameters.
Chapter 7 Trouble shooting From prior page Gain adjustment possible? Is load inertia proper? N Y N Lower load inertia Y Is play or resonance in mechanism? Adjust gains correctly. N Improve mechanism.
Chapter 7 Trouble shooting Form A of prior page Loose screws in connection, broken wire? From B of prior page Y Verify motor cable connection. Is voltage of driver’s U V W correct? N Is phase order correct? Is phase order correct? N Correct them. Y Y Actuator failure Actuator failure N Is output shaft locking? Y Release locking. N Actuator failure ◆ Unstable rotation Start Supply voltage correct? Y Is voltage within its allowance? N Input correct voltage.
Chapter 7 Trouble shooting From prior page Command voltage form correct? N If there is a ripple on signal, stabilize it. Check for electrical noise. N Adjust actuator speed lower than rated speed. Y Speed lower than rated speed? Y Is load inertia proper? N Gain adjustment possible? N Lower load inertia Y Adjust gains correctly. Large fluctuation in load torque? N Y Gain adjustment possible? Lower its fluctuation. Use higher output actuator. N Y Adjust gains correctly.
Chapter 7 Trouble shooting From prior page Is there play or resonance in mechanism? N Improve mechanism.
Chapter 8 Options Chapter 8 Options 8-1 Extension cables Three kinds of optional extension cables of 3m/5m/10m long are available for connecting an FHA-C actuator and an HA-655 driver: for a motor including brake wires, for an incremental encoder system, and for an absolute encoder system.
Chapter 8 Options 8-3 Software for setting up parameters The software helps out with setting up parameters of HA-655 driver connecting a personal computer. For the details of the software, please ask us the instructions of PSF-650 software. Ordering model: PSF-650 Operating system: Windows95/98/Me/NT Notice: Windows is a registered trademark of Microsoft Corporation.
Chapter 8 Options 8-5 Isolation transformer u Models u Specifications The model of the Isolation transformer is as follows: The specifications of transformers are as follows: PT1-200 04-200 Ins. transformer: PT1 series 2nd volt. 200: AC 200V 2nd cur. 4A 8A 04: 08: Prim. volt 100: 115: 200: 220: AC100V AC115V AC200V AC220V PT1PT120004-XXX 20008-XXX Rated 2nd voltage 200V 200V Rated 2nd current 4A 8A Rated prim. Volt.
HA655 series servo driver manual Index +24V ･･･････････････････････････････ 36 1-pulse train ･････････････････････ 14,105 2-phase-pulse train ･･･････････････ 15,105 2-pulse-train ･････････････････････ 14,105 A-B phase with 90°difference･･････････ 15 Abnormal encoder signal ･････････････ 127 Abnormal regeneration ･･･････････････ 126 ABS-CLEAR ･････････････････････ 35, 50 ABS low battery voltage ･･････････････ 129 ABSMTD overflow ･･･････････････････ 128 ABS multi-turn data clear ･･･ 18, 35, 50, 111 ABS multi
HA655 series servo driver manual Internal speed command ･･････････････ 99 Isolation transformer ･････････････ 64, 143 JOG acceleration ････････････････････ 116 JOG operation ･･････････････････ 30, 11 5 JOG speed ･････････････････････････ 116 Kp ･････････････････････････････････ 24 Line-driver ･･･････････････････････ 16, 36 Manual JOG operation ････････････････ 30 Memory failure (EEROM) ･････････････ 132 Memory failure (RAM) ････････････････ 131 Monitor mode････････････････････････ 81 Motor speed ･･･････････
Warranty Period and Terms The HA-655 series drivers are warranted as follows: ■ Warranty period Under the condition that the actuator are handled, used and maintained properly followed each item of the documents and the manuals, all the HA-655 series drivers are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or 2,000 hours of operation time.
Harmonic Drive LLC Boston 247 Lynnfield Street Peabody, MA 01960 New York 89 Cabot Court Hauppauge, NY 11788 800-921-3332 F: 978-532-9406 www.HarmonicDrive.net Worldwide Locations: Harmonic Drive Systems, Inc.
