Specifications

Chapter 7 Trouble shooting
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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.
(Replace the HA-655 driver)
(2) The alarm occurs during running (restarting is possible after 4 to 5 minutes
from the alarm.):
◆ Cause 1: Running at over load state
⇒Remedy: Review the actuator’s actual load profile to lower the duty.
◆ Cause 2: The temperature around the HA-655 driver exceeds 50℃.
⇒Remedy: Review the location of the HA-655 driver and its cooling system.
Over current (release: impossible)
● Description
This alarm occurs when the servo control element of the driver detects over current. To release the
alarm after troubleshooting, shut off the control power 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.
(Replace the HA-655 driver)
(2) Alarm occurs by input signal of [CN2-3: S-ON (servo-ON)] is activated:
◆ Cause 1: The control or main circuit of the HA-655 driver may have failed.
⇒Remedy: Contact Harmonic Drive Systems.
(Replace the HA-655 driver)
(3) Alarm occurs by input signal of [CN2-3: S-ON (servo-ON)] is activated,
but doesn’t occur when off the motor cable (U,V,W) is disconnected from the
driver:
◆ Cause 1: Short connection in the motor cable
⇒Remedy: Verify the connection of the motor cable and correct it as needed.
◆ Cause 2: Short connection in the motor winding
⇒Remedy: Contact Harmonic Drive Systems.
(Replace actuator)