Product specifications
Chapter 7 Troubleshooting
HA-680_V04
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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.”
● Diagnostic tips
(1) If the alarm occurs when the power is turned on:
◆ Cause 1: Main circuit was turned ON while inputting command pulse. The power was applied
while the actuator was driving.
⇒ Remedy: Stop command pulse or the actuator, and turn on the power, again.
◆ Cause 2: HA-680 driver control circuit failure
⇒ Remedy: Contact Harmonic Drive Systems. (Replace the HA-680 driver)
(2) If the alarm occurs during acceleration or deceleration:
◆ Cause 1: Gain is too low.
⇒ Remedy: Adjust gains in [parameter]→[00: position loop gain], [01: Speed loop
proportional gain], [02: speed loop integral gain] and [03: Speed loop
derivative gain] proportional according to the load.
◆ Cause 2: Parameters of the [Command pulse input factor] are wrong.
⇒ Remedy: Set the parameter correctly in [parameter]→[23: Command pulse input
factor-numerator], [24: Command pulse input factor-denominator], again.
◆ Cause 3: [Command pulse frequency] is too large.
⇒ Remedy: Decrease the [Command output pulse frequency] setting of the higher-level
system. The appropriate frequency is normal rotation speed of actuator
(r/min) × 60 or less.
◆ Cause 4: The load inertia is too large.
⇒ Remedy 1: Reduce the load inertia.
⇒ Remedy 2: Modify the command pulse frequency of the host to accelerate and
decelerate more slowly.
(3) If the speed does not increase according to the command and the alarm occurs
after a while:
◆ Cause 1: OFF state of input signal [CN2: FWD inhibit] or [CN2: REV inhibit].
⇒ Remedy: Verify breakage of CN2 connector cable.
(4) Actuator did not rotate.
◆ Cause 1: Incorrect motor cable connection or wrong phase order
⇒ Remedy 1: Correct the connection between the motor cable and the connector.
⇒ Remedy 2: Connect the motor cable and the connector in correct phase order referring
to [Chapter 3-7: Connecting motor and regeneration resistor cables] of this
manual.
◆ Cause 2: Poor encoder connector (CN1) connection.
⇒ Remedy: Plug the CN1 connector firmly.