Specifications

Chapter 7 Trouble shooting
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(2) Alarm 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.)
● Description
For the absolute encoder, during an energy-saving mode, where no power by power supply but the
encoder circuit is active only by the power of a built-in condenser and a built-in battery, the alarm occurs
when the encoder rotates too fast at the acceleration rate and speed exceeding the recording ability of
the multi-turn counter on the mode. 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 encoder rotates during no control power supply.
⇒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 control circuit of the HA-655 driver may have failed.
⇒Remedy: Contact Harmonic Drive Systems. (Replace the HA-655 driver)
◆ Cause 3: 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 4: The encoder circuit may have failed.
⇒Remedy: Contact Harmonic Drive Systems. (Replace actuator)
ABS low battery voltage (release: imp.)
● Description
For the absolute encoder, when voltage of the built-in battery is low. To recover the alarm, change the
battery for a new one, and shut off the control power once and turn it on again.
● Diagnostic tips
(2) Alarm occurs when the control power is turned on:
◆ Cause 1: The voltage of the built-in battery isles than 2.80V.
⇒Remedy: Change the battery for a new one.
◆ Cause 2: The control circuit of the HA-655 driver may have failed.
⇒Remedy: Contact Harmonic Drive Systems. (Replace the HA-655 driver)
◆ Cause 3: The encoder connector (CN1) may not be connected or may be connected poorly.
⇒Remedy: Verify connection of encoder connector (CN1) and connect it firmly.