Specifications

Chapter 7 Trouble shooting
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◆ 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. To recover the alarm, 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 absolute encoder rotates more than 127 resolvable pulses by external torque
during transmitting absolute data.
⇒Remedy: 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)
Error counter overflow (release: possible)
● Description
The alarm occurs when an error count exceeds the set value in [parameter mode]→[6: position error
allowance]. It is possible to release the alarm by inputting ON signal to [CN2-2 clear: CLEAR]. The error
count is reset simultaneously.
● 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)
(2) Alarm occurs during acceleration or deceleration
◆ Cause 1: Gain is too low
⇒Remedy: Adjust gains [parameter mode]→[0: speed loop gain], [1: speed loop integral
compensation] and [2: position loop gain].