Specifications

Chapter 7 Trouble shooting

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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. (Replace the HA-655 driver)

◆ Cause 2: The encoder connector (CN1) may not be connected or may be connected poorly.

⇒Remedy: Verify connection of encoder connector (CN1) and connect it firmly.

◆ Cause 3: The encoder circuit may have failed.

⇒Remedy: Contact Harmonic Drive Systems. (Replace actuator)

(2) Temporally alarm occurs during running:

◆ Cause 1: Malfunction may be caused by surrounding electrical noise.

⇒Remedy: Install the driver correctly referring [Chapter 4−4: Noise Suppression] in this

manual.

UVW failure (release: impossible)