Specifications

Chapter 7 Trouble shooting
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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.
● Diagnostic tips
(1) Alarm occurs when the control power is turned on:
◆ Cause 1: The first power supply after purchasing
⇒Remedy: Input the multi-turn data clear signal at least 4 seconds, and shut off the control
power once and turn it on again.
◆ Cause 2: The power supply after disconnecting the cable between the driver and the encoder
for a long duration：
⇒Remedy: Input the multi-turn data clear signal at least 4 seconds, and shut off the control
power once and turn it on again.
◆ Cause 3: The control circuit of the HA-655 driver may have failed.
⇒Remedy: Contact Harmonic Drive Systems. (Replace the HA-655 driver)
◆ Cause 4: 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 5: The encoder circuit may have failed.
⇒Remedy: Contact Harmonic Drive Systems. (Replace actuator)
ABSMTD overflow (release: impossible)
● Description
For the absolute encoder, the alarm occurs when the count for multi-turn data (MTD) goes beyond the
range of +4095 to - 4096 turns (motor axis). To recover the alarm, input the multi-turn data clear signal at
least 4 seconds, and shut off the control power once 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)