AC Servo Driver for 24 VDC Power Supply HA-680 Series Manual (For FHA-8C, 11C, 14C/RSF-3A, and 5A) ● Thank you very much for your purchasing our HA-680 series AC servo driver for 24 VDC power supply. ● Parameter setting for this servo driver requires dedicated communication software PSF-520. (The dedicated communication software can be downloaded from our website at http://www.hds.co.jp/.
SAFETY GUIDE For FHA series, RSF series, HA series SYSTEMS manufactured by Harmonic Drive Systems Inc Read this manual thoroughly before designing the application, installation, maintenance or inspection of the actuator. WARNING Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious personal injury. Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate personal CAUTION injury and/or damage to the equipment.
HA-680 series servo driver manual Contents Chapter 1 Outlines of HA-680 driver ................................................................... 1 1-1 Main features............................................................................................................... 1 1-2 Model of HA-680 driver ............................................................................................... 2 1-3 Combinations with actuators .....................................................................
HA-680 series servo driver manual Chapter 3 Installing HA-680 driver ................................................................... 53 3-1 Receiving Inspection ................................................................................................. 53 3-2 Notices on handling................................................................................................... 54 3-3 3-3-1 3-3-2 3-3-3 Location and installation...................................................................
HA-680 series servo driver manual Chapter 7 Troubleshooting .............................................................................. 101 7-1 Alarms and diagnostic tips ...................................................................................... 101 7-2 7-2-1 7-2-2 Troubleshooting for improper actuator motions........................................................112 Improper motions in position control ........................................................................
HA-680 series servo driver manual MEMO
Chapter 1 Outlines of the HA-680 driver Chapter 1 Outlines of HA-680 driver The HA-680 driver for 24VDC power supply is a dedicated driver that drives the FHA-C mini 24VAC type, an ultra-thin, hollow shaft structure actuator with a combination of an ultra-thin, precision control reduction gear Harmonic Drive® and flat AC servo motor, and the RSF supermini series, an ultra-small AC servo actuator with a combination of an ultra-small Harmonic Drive and ultra-small AC servo motor.
Chapter 1 Outlines of the HA-680 driver 1-2 Model of HA-680 driver Model and sign of HA-680 driver are described as follows: Note that the model varies depending on the actuator used.
Chapter 1 Outlines of the HA-680 driver 1-4 Specifications of HA-680 drivers Driver model HA-680-4-24 Item Combined actuator Allowable continuous current note2 (Arms) Instantaneous max. current note3 (Arms) Control circuit power Supply supply (CP) voltage Main circuit power supply (MP) Control method FHA-14C-xx-E200-CE 1.8 3.9 6.0 0.65 1.2 3.4 8.4 16.5 1.2 2.3 DC24V(20~28V) DC24V(20~28V) Sinusoidal PWM control switching frequency 12.
Chapter 1 Outlines of the HA-680 driver 1-5 External drawing of the HA-680 drivers The HA-680 driver model indication and the mark shown in this manual are as follows: Unit: mm Ground mark Specification indication plate Cover Software version No. seal 2-washer cross pan-head machine screw (brass round) M3x6 Regenerative resistance internal/external switch terminal Heat sink When HA-680 drivers are installed in a cabinet, leave enough ventilation space for cooling as shown below.
Chapter 1 Outlines of the HA-680 driver 1-6 Names and functions of parts • CN5: Not available (on the side) • CN4: CAN connector • CN3: EIA-232C serial port connector • CAN terminal resistance switch jumper • LED display • TB2: Power supply connection terminal • Ground connection terminal • CN2: Control I/O connector • CN1: Encoder connector • TB1: Actuator/external regenerative resistance connection terminal • Regenerative resistance switch jumper (on the side) LED display unit Displays the oper
Chapter 1 Outlines of the HA-680 driver CN3: Serial port connector The connector for connection with a PC. This is used for monitoring the output current and setting parameters. Connection with a PC requires dedicated communication cable “HDM-RS232C.” Parameter setting requires dedicated communication software PSF-520. CN4: CAN connector Connector for CAN communication. Note: Currently not available. For details, contact one of our branch offices. CN5: Not available This connector is for manufacture only.
Chapter 1 Outlines of the HA-680 driver 1-7-4 Pin No. 1 2 3 4 5 6 7 8 CN3: Serial port connector Signal name FG RXD TXD DTR GND DSR NC NC Description Frame ground Transmission data Reception data Data terminal ready Signal ground Data set ready Do not connect. Do not connect. (Dedicated communication cable “HDM-RS232C” is required.) 1-7-5 Pin No. 1 2 3 4 5 6 7 8 CN4: CAN connector Signal name CANH CANL NC NC NC NC NC NC Description CAN-High signal CAN-Low signal Do not connect. Do not connect.
Chapter 1 Outlines of the HA-680 driver 1-8 CN2: Overview of I/O signal The CN2 connector performs input and output of control signals with the host control device. The connector has 26 pins, which are assigned for “position control,” “speed control,” and “torque control” as shown in the table below. Position control Speed control Pin No. Signal Symbol I/O Pin No.
Chapter 1 Outlines of the HA-680 driver Torque control Pin No.
Chapter 1 Outlines of the HA-680 driver 1-9 LED display The 2 LEDs (green and red) indicate the state of the HA-680 driver. State Control power ON The connected actuator and the actuator set to the driver are different. Servo-ON LED green ON LED red OFF Blinking OFF ON ON Alarm (*1) ON Blinking CPU error Blinking Blinking Remarks The number of times it blinks varies depending on the alarm. Refer to 1-10. The green and red LEDs blink alternately.
Chapter 1 Outlines of the HA-680 driver The following example illustrates how the LED blinks in case of an alarm. 0.5s 0.5s 0.5s 2s 0.5s 0.5 s 0.5s In the above example, the LED blinks 4 times at 0.5-s intervals, which indicates an “encoder reception error.” 1-11 Protective functions HA-680 drivers provide the following protective functions and show the alarm displays on 1-10.
Chapter 1 Outlines of the HA-680 driver ◆ Encoder break detection This alarm occurs when the signal from the encoder is lost. To reset the alarm, you must shut down the power and turn it on again after diagnosing the cause. ◆ Encoder reception error This alarm occurs when data cannot be received from the encoder successfully, or encoder signal output cannot be performed. ◆ UVW error The alarm occurs when the encoder UVW signals are abnormal.
Chapter 2 I/O ports Chapter 2 I/O ports The HA-680 driver exchanges signals with the host device via the CN2 connector (26-pin half-pitch connector). This chapter describes the details of the I/O signals. 2-1 Assignment of I/O signals 2-1-1 Assignment of input signals Assignment of input signals varies depending on the setting value of “11: Input function assignment” in “Parameter” as shown below. For the setting method, refer to Chapter 6 “Parameter setting” and PSF-520 User’s Manual.
Chapter 2 I/O ports 2-1-2 Assignment of output signals Assignment of output signals varies depending on the setting value of “12: Output function assignment” in “Parameter” as shown below. For the setting method, refer to Chapter 6 “Parameter setting.” ・Position control, output signal assignment parameter CN2 Pin No.
Chapter 2 I/O ports 2-2 Position control 2-2-1 I/O port layout The I/O port layout is shown as follows: Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 Signal name Output 1 (in-position ready) Output 2 (alarm output) Output 3 Output 4 Output 5 (Phase-Z OC output) Output signal common Input 1 (Servo-ON) Input 2 Input 3 Input 4 Input 5 Input signal common Encoder Monitor ground Symbol IN-POS ALARM ― ― Z OUT-COM S-ON ― ― ― ― IN-COM MON-GND I/O Output Output Output Output Output Output Input Input Input Input Input Inp
Chapter 2 I/O ports 2-2-2 I/O port connections in the position control This section describes the connection between the I/O ports and a host in the position control. z Input signal The HA-680 driver provides five ports for inputs as shown in the figure to the right. External power DC24V 0V IN-COM 12 S-ON 7 3.3k Servo-ON 3.3k 8 Input 2 ◆ Specifications Voltage: DC24V±10% Current: 20mA or less (per port) 3.3k Input 3 9 Input 4 10 Input 5 11 3.3k 3.
Chapter 2 I/O ports z Monitor outputs The HA-680 driver provides 6 ports of 3 signals for encoder monitoring as shown in the figure to the right. ◆ Specifications 21 Encoder Phase-A+ signal output Encoder Phase-A- signal output 22 Encoder Phase-B+ signal output 23 24 Encoder Phase-B- signal output The phase-A, -B, and -Z signals are transmitted by line drivers (26LS31).
Chapter 2 I/O ports (I/O signal functions for position control) CN2-3 Ready: READY (output) ● Function The output turns ON when the driver becomes ready to drive after initialization, and the driver is possible to communicate with a host. Note: The signal keeps ON even at alarm happening. Logic change can be performed with “14: Output pin logic setting” in “Parameter.” With the fault value, the transistor is turned on in the operation ready state.
Chapter 2 I/O ports (I/O signal functions for position control) CN2-5 Phase-Z (OC): Z (output) ● Function The port outputs phase-Z pulse signal of the encoder. The signal is outputted one pulse per every one motor rotation. The signal may be used with the mechanical origin signal as a precise origin of the driven mechanism. The transistor is turned on during Phase-Z output. ● Connection (1) The figure to the right is a connection example of [CN2-5 Phase-Z: Z] port.
Chapter 2 I/O ports Can be set to CN2-8 FWD inhibit: FWD-IH (input) Can be set to CN2-9 REV-inhibit: REV-IH (input) ● Function [FWD inhibit]: open state (OFF) of the input inhibits forward rotation. [REV inhibit]: open state (OFF) of the input inhibits reverse rotation. Open states (OFF) of both inputs inhibit rotation. The inputs may be used to limit the motion range of load mechanism between limit sensors. Logic change can be performed with “13: Input pin logic setting” in “Parameter.
Chapter 2 I/O ports (I/O signal functions for position control) Can be set to CN2-9 or 11 Deviation clear: DEV-CLR (input) ● Function This signal clears the deviation counter and sets the deviation pulse count to “0.” At the same time, the command pulse count is set to the same value as the returned pulse count. Logic change can be performed with “13: Input pin logic setting” in “Parameter.” With the fault value, the deviation clear function works at the ON edge of the input signal ON.
Chapter 2 I/O ports (I/O signal functions for position control) CN2-13 Encoder monitor ground: MON-GND (output) ● Function The common for encoder monitor terminals C2-21 to 26. ● Connection Make connection as the ground for encoder monitor terminals C2-21 to 26. CN2-14,15 FWD pulse: FWD+, FWD- (input) CN2-16,17 REV pulse: REV+, REV- (input) CN2-18 +24V:+24V (input) ● Function These ports receive position commands in the position control.
Chapter 2 I/O ports (I/O signal functions for position control) The connections are deferent by the supply voltage. CAUTION The pin numbers to be connected are deferent by the supply voltage of [+5V] or [+24V]. The wrong connection may damage the driver. ◆ Connection for open collector commands and +24V power supply User’s power supply (1) Connect FWD command to [CN2-15: FWD-] and [+24V]. (2) Connect REV command to [CN2-17: REV-] and [+24V].
Chapter 2 I/O ports (I/O signal functions for position control) CN2-21 CN2-22 CN2-23 CN2-24 CN2-25 CN2-26 Phase-A +(LD): A+ (output) Phase-A -(LD): A- (output) Phase-B +(LD): B+ (output) Phase-B -(LD): B- (output) Phase-Z+(LD): Z+ (output) Phase-Z -(LD): Z- (output) ● Function These ports transmit encoder signals of Phase-A, -B, -Z through the line driver (26LS31). ● Connection Receive the signals using a line receiver (AM26LS32 or equivalent). Note: Use EIA-422A standard for line receiver.
Chapter 2 I/O ports 2-2-4 Connection examples in the position control ◆ Connection example 1-1: FHA-C mini 24VAC type The figure below shows a connection example in the position control for [open collector] signals. The command format is “2 pulse method,” and the setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment” are “0.” Note that the connection example varies depending on the actuator.
Chapter 2 I/O ports ◆ Connection example 1-2: RSF supermini series The figure below shows a connection example in the position control for [open collector] signals. The command format is “2 pulse method,” and the setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment” are “0.” Note that the connection example varies depending on the actuator. +5V power supply & external resistance R1, R2 are user’s responsibility. Signal current should be 16mA.
Chapter 2 I/O ports Connection example 2-1: FHA-C mini 24VAC type The figure below shows a connection example in the position control for [line driver] signals. The command format is “2 pulse method,” and the setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment” are “0.” Note that the connection example varies depending on the actuator. HA-680-*-*** Always keep at least 3.5V. CN2 2.
Chapter 2 I/O ports Connection example 2-2: RSF supermini series The command format is “2 pulse method,” and the setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment” are “0.” Note that the connection example varies depending on the actuator. HA-680-4B-24 Always keep at least 3.
Chapter 2 I/O ports 2-3 Speed control 2-3-1 Pin numbers and names of I/O signals The I/O port layout is shown as follows: Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 Signal name Output 1 (Attained speed) Output 2 (Alarm output) Output 3 Output 4 Output 5 (Phase-Z OC) Output common Input 1 (Servo-on) Input 2 (FWD enable) Input 3 (REV enable) Input 4 Input 5 Input signal common Encoder Monitor ground Symbol HI-SPD ALARM ― ― Z OUT-COM S-ON FWD-EN REV-EN ― ― IN-COM MON-GND I/O Output Output Output Output Output Out
Chapter 2 I/O ports 2-3-2 I/O port connections in the speed control This section describes the connections between the I/O ports and the host in the speed control. z Inputs: The HA-680 driver provides five ports for inputs as shown in the figure to the right. 3.3k S-ON Servo-ON 7 3.3k FWD-EN Input 2 8 3.3k REV-EN Input 3 ◆ Specifications 12 IN-COM DC24V 0V External power 9 3.3k 10 Input 4 Voltage: DC24V±10% Current: 20mA or less (per port) 3.
Chapter 2 I/O ports z Monitor outputs: The HA-680 driver provides 6 ports of 3 signals for encoder monitoring as shown in the figure to the right. Phase-A+ 21 Phase-A- ◆ Specifications Phase-B+ 22 23 Phase-B- 24 The phase-A, -B, and -Z signals are transmitted by line drivers (26LS31). Phase-Z+ 25 Phase-Z- 26 ◆ Connection Monitor ground 13 26LS31 Receive the signals by line receivers (AM26LS32 or equivalent).
Chapter 2 I/O ports (I/O signal functions for speed control) Can be set to CN2-3 Ready: READY (output) ● Function The output turns ON when the driver becomes ready to drive after initialization, and the driver is possible to communicate with a host. Logic change can be performed with “14: Output pin logic setting” in “Parameter.” With the default value, the transistor is turned on in the normal operation ready state. Note: The output keeps ON even in alarm status.
Chapter 2 I/O ports (I/O signal functions for speed control) CN2-5 Phase-Z (OC): Z (output) ● Function The port outputs phase-Z pulse signal of the encoder. The signal is outputted one pulse per every one motor rotation. The signal may be used with the mechanical origin signal as a precise origin of the driven mechanism. The transistor is turned on during Phase-Z output. ◆ Connection (1) An example of [CN2-5 phase-Z: Z] connection is shown in the figure to the right.
Chapter 2 I/O ports (I/O signal functions for speed control) CN2-8 FWD enable: FWD-EN (input) CN2-9 REV enable: REV-EN (input) ● Function While the [FWD enable] is [ON] the actuator rotates forward when the [CN2-19 speed command: SPD-CMD] is [+command]. In contrast, the actuator rotates in reverse for the [CN2-19] is [-command]. While the [REV enable] is [ON] the actuator rotates in reverse when the [CN2-19 speed command: SPD-CMD] is [+command].
Chapter 2 I/O ports (I/O signal functions for speed control) Can be set to CN2-10 Alarm clear: ALM-CLR (input) ● Function This signal clears the alarm state and makes it ready for operation. When an alarm that cannot be cleared occurs, shut down the main circuit power supply and control circuit power supply, remove the cause of the alarm, and then turn on the power again. ◆ Connection Connect “NO (a contact) contact signal.
Chapter 2 I/O ports (I/O signal functions for speed control) CN2-12 Input signal common: IN-COM (input) ● Function The common for input signals CN2-7, 8, 9, 10, and 11. It provides the input signal external power supply. ◆ Connection Connect +24 V of the input signal external power supply. CN2-13 Encoder Monitor ground: MON-GND (output) ● Function This is the common port for the monitor ports [CN2-21~26]. ◆ Connection Make connection as the ground for encoder monitor terminals C2-21 to 26.
Chapter 2 I/O ports (I/O signal functions for speed control) ◆ Connection Connect the voltage signal to the [CN2-19: speed command: SPD-COM] and the [CN2-20: SPD-GND]. Because the impedance of the analog command input of HA-680 is low, use an output impedance of 1 Kohms or lower. If the output impedance is too high, there may be a difference in voltage between the command and driver sides.
Chapter 2 I/O ports (I/O signal functions for speed control) CN2-21 CN2-22 CN2-23 CN2-24 CN2-25 CN2-26 Phase-A +(LD): A+ (output) Phase-A -(LD): A- (output) Phase-B +(LD): B+ (output) Phase-B -(LD): B- (output) Phase-Z +(LD): Z+ (output) Phase-Z -(LD): Z- (output) ● Function Phase-A+ 21 These ports transmit encoder signals of Phase-A, -B, -Z from the line driver (26LS31). Phase-APhase-B+ 22 23 ◆ Connection Phase-BPhase-Z+ 24 Receive the signals using a line receiver (AM26LS32 or equivalent).
Chapter 2 I/O ports 2-3-4 Connection examples in the speed control ◆ Connection example 1: FHA-C mini 24VAC type The figure below shows a connection example in the speed control for the incremental system. The setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment” are “0.” Note that the connection example varies depending on the actuator. HA-680-*-*** CN2 2.2k 18 14 2.
Chapter 2 I/O ports ◆ Connection example 2: RSF supermini series The figure below shows a connection example in the speed control for the incremental system. The setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment” are “0.” Note that the connection example varies depending on the actuator.
Chapter 2 I/O ports 2-4 Torque control 2-4-1 Pin numbers and names of I/O signals The pin numbers and their names for torque control are as shown in the table below.
Chapter 2 I/O ports 2-4-2 I/O port connections in torque control This section describes the connection between the I/O ports and a host in torque control. z Inputs: The HA-680 driver provides five ports for inputs as shown in the figure to the right. 12 IN-COM DC24V External power 3.3k 0V S-ON 7 FWD-EN 8 REV-EN 9 Servo-ON 3.3k Input 2 ◆ Specifications 3.3k Input 3 Voltage: DC24V±10% Current: 20mA or less (per port) 3.3k 10 Input 4 11 Input 5 3.
Chapter 2 I/O ports ● Monitor outputs: The HA-680 driver provides 6 ports of 3 signals for encoder monitoring as shown in the figure to the right. Phase-A+ 21 Phase-A- ◆ Specifications Phase-B+ 22 23 Phase-B- 24 The phase-A, -B, and -Z signals are transmitted by line drivers (26LS31). Phase-Z+ 25 Phase-Z- 26 ◆ Connection Encoder Monitor ground 13 26LS31 Receive the signals by line receivers (AM26LS32 or equivalent).
Chapter 2 I/O ports (I/O signal functions for torque control) CN2-3 Ready: READY (output) ● Function The output turns ON when the driver becomes ready to drive after initialization, and the driver is possible to communicate with a host. Logic change can be performed with “14: Output pin logic setting” in “Parameter.” factory-shipped value, the transistor is turned on during normal operation. With the Note: The output keeps ON even in alarm status.
Chapter 2 I/O ports (I/O signal functions for torque control) CN2-6 Output common: OUT-COM (output) ● Function This is the common port for the [CN2-1, 2, 3, 4, 5] ports. CN2-7 Servo-ON: S-ON (input) ● Function This turns the servo power for the HA-680 driver ON and OFF. After about 100ms from turning the input ON, the servo power of the HA-680 driver is ON and the actuator can be driven. When OFF, the servo power turns OFF and the motor is free to rotate.
Chapter 2 I/O ports (I/O signal functions for torque control) Can be set to CN2-10 Alarm clear: ALM-CLR (input) ● Function This signal clears the alarm state and makes it ready for operation. When an alarm that cannot be cleared occurs, shut down the main circuit power supply and control circuit power supply, remove the cause of the alarm, and then turn on the power again. Logic change can be performed with “13: Input pin logic setting” in “Parameter.
Chapter 2 I/O ports (I/O signal functions for torque control) CN2-13 Monitor ground: GND (output) ● Function This is the common port for the monitor ports [CN2-21~26]. ◆ Connection Make connection as the ground for encoder monitor terminals C2-21 to 26. CN2-19 Torque command: TRQ-CMD (input) ● Function Input the torque command voltage signal which is obtained by [parameter]→[41: torque command input factor]. Motor torque = Torque command voltage × Torque command input factor 10.
Chapter 2 I/O ports (I/O signal functions for torque control) ◆ Connection Connect the voltage signal to the [CN2-19: Torque command: TRQ-COM] and the [CN2-20: Torque command ground TRQ -GND]. Because the impedance of the analog command input of HA-680 is low, use an output impedance of 1 Kohms or lower. TRQ-CMD 20kΩ CN2-19 CN2-20 If the output impedance is too high, there may be a difference in voltage between the command and driver sides.
Chapter 2 I/O ports (I/O signal functions for torque control) CN2-21 CN2-22 CN2-23 CN2-24 CN2-25 CN2-26 Phase-A +(LD): A+ (output) Phase-A -(LD): A- (output) Phase-B +(LD): B+ (output) Phase-B -(LD): B- (output) Phase-Z +(LD): Z+ (output) Phase-Z -(LD): Z- (output) ● Function These ports transmit encoder signals of Phase-A, -B, -Z from the line driver (26LS31). ◆ Connection Receive the signals using a line receiver (AM26LS32 or equivalent). Note: Use EIA-422A standard for line receiver.
Chapter 2 I/O ports 2-4-4 Connection examples in torque control ◆ Connection example 1: FHA-C mini 24VAC type The figure below shows a connection example in torque control. The setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment” are “0.” Note that the connection example varies depending on the actuator. HA-680-*-*** CN2 2.2k 18 14 2.
Chapter 2 I/O ports ◆ Connection example 2: RSF supermini series The figure below shows a connection example in torque control. The setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment” are “0.” Note that the connection example varies depending on the actuator.
Chapter 3 Installing HA-680 driver Chapter 3 Installing HA-680 driver 3-1 Receiving Inspection Check the followings when products are received. ● Inspection procedure (1) Check the shipping container and item for any damage that may have been caused during transportation. If the item is damaged, contact us immediately. (2) There is a nameplate attached to the heat sink of the HA-680 driver. Check whether the item is the one you ordered by looking at the nameplate.
Chapter 3 Installing HA-680 driver 3-2 Notices on handling The HA-680 drivers are electronic devices. Handle them with care and take the following precautions: WARNING (1) Do not drop screws, solder balls, wire chips, or any other foreign objects into the inside of the HA-680 driver. Failure to observe this caution may result in electric shock or personal injury. (2) Do not insert electric wire, steel wire, or a screwdriver into the inside of the HA-680 driver.
Chapter 3 Installing HA-680 driver 3-3 Location and installation 3-3-1 Environment of location The environmental conditions of the location are described blow. Decide the location by definitely observing the following conditions. ◆ Service temperature: 0°C to 50°C Use the driver in a cabinet. The temperature in the cabinet may be higher than the atmosphere because of power loss of the housed devices and its size.
Chapter 3 Installing HA-680 driver 3-3-3 Installing The HA-680 driver should be mounted on a wall as shown in the figure to the right. Wall Two mounting holes are provided on the back of the driver. The thickness of the wall should be more than 2mm. ● Procedure (1) Screw an M4 machine screw in the tapped hole on the wall. (2) Put the lower mounting hole (cut hole) of the back of the HA-680 driver on the M4 screw. (3) Screw tightly through the upper mounting hole with M4 screws.
Chapter 3 Installing HA-680 driver ◆ Grounding motor frame When actuators are grounded at driven machine through the motor frame, current flows through floating capacity (Cf) of the motor from power amplifier of the driver. To avoid influence of the current, always connect the ground terminal (motor frame) of the motor to the ground terminal of the driver, and connect the ground terminal of the driver to the ground directly.
Chapter 3 Installing HA-680 driver 3-4-3 Instructions for cabling In addition to the noise suppression mentioned previously, the following instructions must be observed. (1) Use twisted pair cables for I/O signals, and for encoder signals cables. When a host controls several drivers, prepare I/O signal cables for each driver individually. (2) Make the length of signal cables as short as possible.
Chapter 3 Installing HA-680 driver 3-5 Connecting power cables 3-5-1 Instructions for power supply Before connecting the power cable to the HA-680 driver, turn-OFF the electricity to avoid electric shock. WARNING (1) Connect the power cable to the HA-680 driver only after installing the driver on a wall. CAUTION 3-5-2 (2) Ground the HA-680 driver, to avoid electric shock, malfunctions caused by external noise, and for the suppression of radio noise emissions.
Chapter 3 Installing HA-680 driver 3-5-3 Connecting power cables The terminal block for the power is located on the front panel of the HA-680 driver. 7mm Shown the figure to the right, strip the end of wires of the power supply cable and the motor cable, and connect wires to each terminal firmly. When working the connection cable, be careful not to damage the wire. To prevent malfunction of the HA-680 driver due to external noise, insert the “noise filter” into the power line.
Chapter 3 Installing HA-680 driver 3-6 Connecting the ground wire Use an electric wire of the following size or more: 2 Terminal/connector Allowable Wire Sizes (mm ) Ground(PE) 1.25 The HA-680 driver is provided with grounding terminal. 3-7 Connecting motor and regeneration resistor cables Connect the motor cable to [U, V, W] terminals of the HA-680 driver as shown in the figure below.
Chapter 3 Installing HA-680 driver 3-8 Connecting regenerative absorption resistance / capacitors HA-680 has a regenerative absorption circuit as standard. The capacity of the regenerative resistance incorporated into the main unit is 2 W. Under the operating conditions in which operation can be performed only with the main unit, set the tact time above the calculation result shown in the table below.
Chapter 3 Installing HA-680 driver (2) If an external resistance is connected, or the load inertia ratio is 2 or more: The resistance is 30 ohms. Use the following formula for the capacity. 2× Tact time calculation result (W) Actual tact time Connect it to the R and GND terminals of the HA-680 driver, as shown below. VM R External resistance GND U V W VM R GND U V W Terminal block model: MC1.5/6-G-3.
Chapter 3 Installing HA-680 driver 3-9 Connecting cables for the encoder and the I/O 3-9-1 Preparing the encoder cable and the I/ O cable Follow these instructions for the preparation of the encoder cable and the I/O cable. (1) Use twisted pair cables for I/O signals, and for encoder signals cables. When a host controls several drivers, prepare I/O signal cables for each driver individually. (2) Make the length of signal cables as short as possible.
Chapter 3 Installing HA-680 driver ◆ Pin layout 2: RSF supermini series The models and the pin layout of the encoder connectors are as follows: Note that pin layout may vary depending on the actuator.
Chapter 3 Installing HA-680 driver 3-9-3 Pin-layouts of the I/O signal connector (CN2) The models and the pin layout of the encoder connector are as follows: Connector: Cover: Model 10126-3000VE Manufacturer: 3M Model 10326-52F0-008 Manufacturer: 3M ◆ For position control 12 10 IN- COM Input 4 4 2 Output 4 Output 2 ALARM 13 11 9 7 5 3 1 MONInput 5 Input 3 Input 1 Output 5 Output 3 Output 1 GND S-ON Z IN-POS 25 23 21 19 17 15 Z+ B+ A+ REVFWD26 Z- 24 B- 8 Input 2 22 A- 6 OUTCOM 20 18 +24V 16 REV+
Chapter 3 Installing HA-680 driver 3-9-4 Connecting cables for the encoder and I/O signals Firmly connect both connectors of the encoder cable and the I/O signal cable to [CN1] and [CN2] sockets of HA-680 driver respectively. CN2 socket I/O signal connector CN1 socket Encoder connector 3-9-5 EIA-232C (RS-232C) cable specifications For EIA-232C (RS-232C), dedicated cable “HDM-RS232C” (cable length 1.5 m) is provided.
Chapter 3 Installing HA-680 driver 3-10 Power ON and OFF sequences 3-10-1 Power ON / OFF sequence circuit Configure the sequence circuit to operate the switch for main power individually by an [emergency stop] signal and the [CN2 alarm: ALARM] signal of the HA-680 driver. Do not make switching operation (turning ON or OFF) at the state that the servo-ON [CN2-7: Servo-ON: S-ON] is OFF.
Chapter 4 software PSF-520 Chapter4 Functions of dedicated communication software PSF-520 Dedicated communication software PSF-520 is communication software for parameter setting and change for the HA-680 driver. Note: To set and/or change parameters, dedicated communication software PSF-520 is required. The overview of the functions of PSF-520 is shown below. For details and operation methods, refer to a separate document, “PSF-520 User’s Manual.
Chapter 5 Operations Chapter5 Operations Follow these instructions prior to operations. WARNING When electric power is active, do not make any wiring works. In advance of wiring work, shut off electric power supply to be free from electric shock. 1. Inspect the cabling before turning the power ON and correct poor cabling if necessary.
Chapter 5 Operations ● Procedure of trial run ◆ Power-ON procedure for control circuit of HA-680 Following power supply turning-ON to the driver, the driver identifies the code of the actuator connected to it automatically. The following operations vary whether the identified code is same as a pre-registered code or not. (1) Turn on power to the HA-680 driver. Turn on power to the host. • Make sure there is not an abnormality. • If no indication appears, there may be faulty power connections.
Chapter 5 Operations ◆ Operating the actuator by JOG operation (5) JOG operation can be performed using the host device on which communication software PSF-520 is installed. Start up PSF-520. (6) Open the Parameter Setting window. (7) Specify the operation pattern using “43: JOG operation acceleration/deceleration time constant,” “44: JOG operation feed pulse count,” “45: JOG operation S-shape selection,” and “46: JOG operation speed” in “Parameter.” (8) Open the Command Transmission window.
Chapter 6 Setting up parameters Chapter 6 Setting up parameters All operations such as parameter setting, display, and adjustment can be performed using dedicated communication software PSF-520. This chapter describes details of the parameters. For information on how to use the software, refer to a separate document, “PSF-520 User’s Manual.
Chapter 6 Setting up parameters 6-2 Function of the parameters 00: Position loop gain (position / speed) ● Function This parameter specifies the gain of the position loop. Determine the value based on the frictional torque and rigidity of the machine. High setting ⇒ The position error is small, and high tracking performance to commands is obtained. If the setting is too high, the servo system will be unstable and hunting may easily occur; it should be decreased so that no hunting can occur.
Chapter 6 Setting up parameters 02: Speed loop integral gain (position / speed) ● Function This parameter specifies the speed loop integral gain. High setting ⇒ If the setting is too high, the servo system will be unstable, and hunting and overshoot will easily occur. Low setting ⇒ If the setting is too low, the responsiveness and tracking performance will be poor. ● Setting unit Lower limit Upper limit Default - 10 9999 note Note: The actual setting varies with the AC servo actuator model.
Chapter 6 Setting up parameters 04: Speed feed-forward factor (position) ● Function This parameter specifies the factor used to give the first-order derivative value to a speed command. Usually set this factor to 0. This setting is usually required to improve the speed. ● Setting unit Lower limit Upper limit Default - 0 9999 0 05: Acceleration feed-forwad factor (position) ● Function This parameter specifies the factor used to give the second-order derivative value to a torque command.
Chapter 6 Setting up parameters 07: Speed step correction (position) ● Function This parameter specifies the speed command correction amount that is to be added to the speed command, depending on the positive or negative amount in the command. Usually set this parameter to 0. It should be set when the speed is to be improved. High setting ⇒ If the setting is too high, the servo system will be unstable, and hunting and overshoot will easily occur.
Chapter 6 Setting up parameters 09: Step correction switch range (position) ● Function This parameter specifies the amount of position deviation for the deviation counter where the following will take effect: speed step correction ([Parameter] ⇒ [07: Speed step correction]) and torque step correction ([Parameter] ⇒ [08: Torque step correction]). The values of “Speed step correction” and “Torque step correction” become effective when the amount of position deviation becomes bigger than those set values.
Chapter 6 Setting up parameters 11: Input function assignment (The power must be turned on again after setting a change.) (position / speed / torque) ● Function This function selects the function of the input signal. The relations between the setting value and function selection are as follows. ・Position control, input signal assignment parameter CN2 pin no.
Chapter 6 Setting up parameters 12: Output function assignment (The power must be turned on again after setting a change.) (position / speed / torque) ● Function This function selects the function of the output signal. The relations between the setting value and function selection are as follows. ・Position control, output signal assignment parameter CN2 pin no.
Chapter 6 Setting up parameters 13: Input pin logical setting (The power must be turned on again after setting a change.) (position / speed / torque) ● Function This function sets the logic to enable the functions of the external input signals. Set the sum of the desired logic values in the following table. Example: To enable Input 4 and Input 5 as normal open: 8+16=24 Therefore, set the value as 24.
Chapter 6 Setting up parameters 15: Control input filter time constant (position / speed / torque) ● Function This function sets the time constant of the soft low-pass filter applied to the signals at the control input terminal other than forward rotation/reverse rotation command pulses. If it is used in an environment where there is external high-frequency noise, set the value so that the control input signal is not easily affected by the noise.
Chapter 6 Setting up parameters 17: FWD current limiting (The power must be turned on again after setting a change.) 18: REV current limiting (The power must be turned on again after setting a change.) (position / speed / torque) ● Function This function sets the current limit value at the forward rotation and reverse rotation sides in the current limit state when the current limit function is assigned to the signal input in the parameter “13: Input pin logical setting.
Chapter 6 Setting up parameters 20: Rotary diection (The power must be turned on again after setting a change.) (position / speed / torque) ● Function This function specifies the rotary direction of the actuator when responding to rotary direction commands (FWD or REV) of “Command input signal”.
Chapter 6 Setting up parameters 22: In-position ready range (position) ● Function When the difference between “command pulse count” and “returned pulse count,” which is “deviation pulse count,” decreases below the setting value of “in-position ready range,” the signal is outputted to “CN2 In-position ready output: IN-POS” as completion of positioning. This value only monitors the state of position deviation and does not directly affect the rotation control of the servo actuator.
Chapter 6 Setting up parameters 25: Command pulse input form (position) (The power must be turned on again after setting a change.
Chapter 6 Setting up parameters 27: Servo-on deviation clear (position) ● Function Even when the servo power is OFF, the control power is still ON. If the position of the load mechanism shifts due to gravity or manual force while the servo power is OFF, the deviation count changes. If the servo power is turned ON, the actuator rotates rapidly to make the deviation count return to [0]. This rapid motion may be dangerous.
Chapter 6 Setting up parameters 29: Auto gain setting at positioning (position) ● Function To get short period for positioning, the function automatically makes speed loop gain higher when a deviation pulse number becomes small. For the reason that the speed loop gain is proportionate to deviation pulse number, a positioning speed at small error pulse number becomes comparatively low. In the case, the responsibility for the positioning may be improved by the higher speed loop gain.
Chapter 6 Setting up parameters 31: Attained speed determination value (speed / torque) ● Function This parameter is set at [speed control] or [torque control]. The [CN2 attained speed: HI-SPD] signal is outputted when the actuator speed is more than the value of [attained speed].
Chapter 6 Setting up parameters 33: Acceleration time constant (speed) ● Function This function sets the time in which the motor is accelerated from 0 r/min to the maximum rotation speed during speed control. For external speed commands, when a speed command faster than the setting value is entered, the setting value has higher priority; when a speed command slower than the setting value is entered, the speed command has higher priority.
Chapter 6 Setting up parameters 36: Analog command A/D value (Max) (Speed / torque) ● Function This function sets the offset value when the analog command is -10V. Enter -10V to the analog command, and set the “analog command A/D value” in the value monitor of the state display window of communication software PSF-520. For details, refer to a separate document, “PSF-520 User’s Manual.
Chapter 6 Setting up parameters 39: Reserved for the system This parameter is reserved for the system. Do not change the setting. 40: Internal command input factor (torque) ● Function “Internal torque command value” allows you to operate the actuator without an input signal. It is useful for a test run of the actuator alone and for system diagnosis. The command value can be set here.
Chapter 6 Setting up parameters 42: Reserved for the system This parameter is reserved for the system. Do not change the setting. 43: JOG operation acceleration/ deceleration time constant (position / speed / torque) ● Function This function sets the time in which the motor is accelerated from 0 r/min to the maximum rotation speed and the time in which the motor is decelerated from the motor maximum rotation speed to 0 r/min during JOG operation.
Chapter 6 Setting up parameters 46: JOG operation speed (position / speed / torque) ● Function This function sets the motor maximum rotation speed for operation by JOG commands. ● Setting unit Lower limit Upper limit Default r/min 0 Motor maximum rotation speed 500 Remark: Motor rotation speed = Actuator rotation speed × ratio 47: Communication setting ● Function This function selects whether the end code of the communication data is in uppercase or lowercase.
Chapter 6 Setting up parameters 6-3 Default parameter list No.
Chapter 6 Setting up parameters No.
Chapter 6 Setting up parameters No.
Chapter 6 Setting up parameters No.
Chapter 6 Setting up parameters No.
Chapter 7 Troubleshooting Chapter 7 Troubleshooting 7-1 Alarms and diagnostic tips The HA-680 drivers provide various functions to protect actuators and drivers against abnormal operating conditions. When these protection functions trip, driving of the actuator is stopped (the motor becomes servo-off), and the display LED blinks at 0.5-second intervals. (It illuminates in green and blinks in red: The number of times it blinks varies depending on the alarm. See below.
Chapter 7 Troubleshooting Do not make wiring works after powering the driver for troubleshooting. WARNING The troubleshooting while power is active may result in getting electric shocks. Shut off the electric power source before any wiring changes are made. 1. Clean around the device. Make sure there are no wire chips or tools inside the equipment. CAUTION HA-680_V04 2. When two or more persons are working on the equipment, make sure all are alerted and safe before power is restored to the machine.
Chapter 7 Troubleshooting Deviation counter overflow (Alarm clear: available) ● Description The alarm occurs when the value of the deviation counter exceeds the parameter setting value (PSF-520 No.21 Allowable position deviation). This alarm can be reset by inputting an ON signal to “CN2 Alarm Clear: ALM-CLR” after inputting an ON signal to “CN2 Clear: CLEAR” or “CN2 Deviation Clear: DEV-CLR.
Chapter 7 Troubleshooting Encoder break detection (Alarm clear: not available) ● Description This alarm occurs when the encoder signal ceases (primarily, encoder break is detected). To release the alarm after troubleshooting, shut off the control power and turn it on again. ● Diagnostic tips (1) Alarm occurs when the control power is turned on: ◆ Cause 1: The encoder connector (CN1) may not be connected or may be improperly wired, or encoder may be broken.
Chapter 7 Troubleshooting UVW error (Alarm clear: not available) ● Description The alarm occurs when the encoder UVW signals are abnormal. To release the alarm after troubleshooting, shut off the control power and turn it on again. ● Diagnostic tips (1) Alarm occurs when the control power is turned on: ◆ Cause 1: The encoder connector (CN1) may not be connected or may be connected poorly. ⇒ Remedy: Verify connection of encoder connector (CN1) and connect it firmly.
Chapter 7 Troubleshooting Operating temperature error (Alarm clear: not available) ● Description The alarm occurs when the temperature of the HA-680 main unit increases and the temperature sensor trips. To release the alarm after troubleshooting, shut off the control power and turn it on again. ● Diagnostic tips (1) Alarm occurs when the control circuit power is turned on: ◆ Cause 1: Failure of the temperature sensor of the HA-680 driver. ⇒ Remedy: Contact Harmonic Drive Systems.
Chapter 7 Troubleshooting Over current (Alarm clear: not available) ● Description This alarm occurs when the current detection circuit detects the over current. To release the alarm after troubleshooting, shut off the control power and turn it on again. ● Diagnostic tips (1) Alarm occurs when control power is turned on: ◆ Cause 1: The control circuit of the HA-680 driver may have failed. ⇒ Remedy: Contact Harmonic Drive Systems.
Chapter 7 Troubleshooting Load short circuit (Alarm clear: not available) ● Description The alarm occurs when excessive current flows through the FET. troubleshooting, shut off the control power and turn it on again. To release the alarm after ● Diagnostic tips (1) Alarm occurs when the control circuit power is turned on: ◆ Cause 1: Failure of the control circuit of the HA-680 driver ⇒ Remedy: Contact Harmonic Drive Systems.
Chapter 7 Troubleshooting Memory Error (EEPROM) (Alarm clear: not available) ● Description This alarm occurs when the driver’s EEPROM memory fails. To release the alarm after troubleshooting, shut off the control power 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-680 driver may have failed. ⇒ Remedy: Contact Harmonic Drive Systems.
Chapter 7 Troubleshooting Over speed (Alarm clear: not available) ● Description The alarm occurs when the motor axis speed exceeds the maximum rotation speed +100 rpm for 0.5 s or longer. It can be reset by shutting down the power and turning it on again. ● Diagnostic tips (1) Alarm occurs when the control circuit power is turned on: ◆ Cause 1: Failure of the control circuit of the HA-680 driver ⇒ Remedy: Contact Harmonic Drive Systems.
Chapter 7 Troubleshooting 7-2 Troubleshooting for improper actuator motions Troubleshooting procedures for problems other than alarms are described separately in the position control, in the speed control and in the Torque control. They are also described for the following cases: ◆ No rotation ◆ Unstable rotation ◆ Poor positioning accuracy Note: In the flowcharts, "Y" and "N" represent "Yes" and "No", respectively.
Chapter 7 Troubleshooting Previous page Is CN2 CLEAR ON? Y Turn OFF CN2 CLEAR. N Are motor wire connection screws loose? Is the motor wire disconnected? Y Check motor cable connection. N Is phase order correct between motor and driver? N Correct the phase order between them. Y No layer short, grounding in motor? Y Actuator fault N Is the actuator shaft locked? Y Unlock the actuator shaft.
Chapter 7 Troubleshooting Previous page Is normal temperature in cabinet? N Review heat generating devices, and cooling system. N Make the command pulse level (voltage, synchronization, frequency, etc.) normal. Check whether noise is being generated. N Decrease the actuator revolution speed below the allowance. Y Is the command pulse normal? Is any noise generated? Y Is the actuator revolution speed below the max.
Chapter 7 Troubleshooting Previous page Is the encoder signal normal? N Y Is there a noise included in the encoder signal? Y Securely shield and ground the encoder cable. N Replace the actuator. Does rattle or resonance occur in the mechanical system? N Improve the mechanical system. Y Replace the actuator or driver. Poor positioning accuracy in position control Start Is the higher-level system program normal? N Amend the program. N Correct the pulse count. Check the noise.
Chapter 7 Troubleshooting Previous page Does gain adjustment succeed? Is the load inertia proper? N Y N Decrease the load inertia. N Improve the mechanical system. Y Does rattle or resonance occur in the mechanical system? Correct the gain properly. Y Replace the actuator or driver.
Chapter 7 Troubleshooting Previous page A Are motor wire connection screws loose? Is the motor wire disconnected? Previous page B Y Check motor cable connection. Is voltage of driver’s UVW correct? N Is phase order correct between motor and driver? Correct the phase order between them. Y Motor rare short circuited? Is the motor grounded? Y Y Actuator failure Y Unlock the actuator shaft.
Chapter 7 Troubleshooting Previous page Is the command voltage normal? Is any noise generated? N If there is a ripple on signal, stabilize it. Check whether noise is being generated. Y Is the actuator revolution speed below the max. allowance? N Decrease the actuator revolution speed below the allowance. Y Is the load inertia proper? N Does gain adjustment succeed? N Decrease the load inertia. N ・ Has the load fluctuation decreased? ・Use a large actuator. Y Set the gain to the proper value.
Chapter 7 Troubleshooting Previous page Does rattle or resonance occur in the mechanical system? N Improve the mechanical system. Y Replace the actuator or driver.
Chapter 8 Options Chapter 8 Options 8-1 Relay cables ◆ Relay cable 1: FHA-C mini 24VAC type These are relay cables that connect the FHA-C mini 24VAC-type actuators and HA-680 driver. There are 3 types of relay cable: for motors, for encoders, and for EIA-232C. ● Relay cable models (“**” indicates the cable length (3m, 5m, or 10 m).
Chapter 8 Options 8-2 Connectors Connectors for CN1 and CN2 connectors of HA-680, and terminal blocks for motor connection and power supply for options are available as follows: ◆ ◆ Connector type: CNK-HA68-S1 For CN1 / For CN2 / For motor connection / For power supply........................ 4 types Connector type: CNK-HA68-S2 For CN2 / For power supply .............................................................................
Warranty Period and Terms The HA-680 series servo drivers are warranted as follows: ■ Warranty period Under the condition that the actuator are handled, used and maintained properly followed each item of the documents and the manuals, all the HA-655 series drivers are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or 2,000 hours of operation time.
‥ Certified to ISO14001(HOTAKA Plant)/ISO9001 (TUV Management Service GmbH) All specifications and dimensions in this manual subject to change without notice.