Specifications

Chapter 1 Outlines of the HA -655 driver
- 10 -
1-9 Outlines of protective functions
1-9-1 Alarms
HA-655 drivers provide various functions to protect actuators and drivers from the occurrence of
abnormalities. When a function detect faults, the actuator enters a free rotation state, a two-digit alarm
code is indicated on the display, and a set of 4-bit alarm signals is transmitted to the host.
Alarm
code
Alarm description
4-bit
code
ALM
-D
ALM
-C
ALM
-B
ALM
-A
Releasing
10 Over speed 1011 ON OFF ON ON Impossible
20 Over load 0001 OFF OFF OFF ON Possible
21 Overheat 1000 ON OFF OFF OFF Impossible
30 Over current 1001 ON OFF OFF ON Impossible
41 Abnormal regeneration 1010 ON OFF ON OFF Impossible
50 Encoder failure 1101 ON ON OFF ON Impossible
51 Abnormal encoder signal 1101 ON ON OFF ON Impossible
52 UVW failure 1101 ON ON OFF ON Impossible
53 *ABS system failure 1101 ON ON OFF ON Impossible
54 *ABS MTD over flow 1101 ON ON OFF ON Impossible
55 *ABS multi-turn data error 1101 ON ON OFF ON Impossible
56 *ABS low battery voltage 1101 ON ON OFF ON Impossible
57 *ABS send data rule error 1101 ON ON OFF ON Impossible
60 Error counter overflow 0010 OFF OFF ON OFF Possible
70 Memory failure (RAM) 0101 OFF ON OFF ON Impossible
71 Memory failure (EEPROM) 0101 OFF ON OFF ON Impossible
76 CPU failure 0100 OFF ON OFF OFF Impossible
Note: the alarm codes 53 through 57 are valid for absolute encoders only.