Specifications

Chapter 2 Functions

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The reset command should be sent after 300 milliseconds or more from receiving the code “q 0Dh”,

otherwise the [alarm 51: Abnormal encoder signal] may occur.

Reset

Command from the host: ORW+ 00000 0Dh

Response from HA-655: q 0Dh for normal resetting

x 0Dh for abnormal resetting

u Back-up system for absolute data

For protecting the absolute memory against volatilizing while control power is OFF, the absolute encoder

system housed in the FHA-C actuator equips a condenser, and the HA-655 driver provides a battery.

Condenser:

Valid duration: about half hour after control power OFF

(conditions: charged at least 3 hours, at ambient temperature: 25 degree C, no rotation)

Battery:

Lifetime: about one year after control power OFF

(conditions: at ambient temperature: 25 degree C, no rotation)

actual lifetime depends on servicing conditions.

Specifications: lithium battery

model: ER17/33 (3.6V 1600mAh) manufactured by Hitachi Maxell co., Ltd.

Harmonic Drive Systems Inc. is possible to supply the batteries on request.

Exchanging procedures:

When [alarm 56: battery low voltage] occurs, exchange to new battery by the following

procedure:

(1) Shat off all power supply for the HA-655 driver.

(2) Detach a cover of battery case on the front panel of the HA-655 driver.

(3) Pull out the battery from the case by pulling both end of a ribbon.

Note:

“

”

means zero.