Product specifications

Chapter 7 Troubleshooting
HA-680_V04
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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. (Replace the HA-680 driver)
(2) Alarm occurs while the motor is running:
Cause 1: The motor is in an overload state while running.
Remedy: Review the effective load factor of the actuator to reduce the load factor.
Cause 2: The ambient temperature around the HA-680 driver is over 50°C.
Remedy: Review the installation location and cooling system of the HA-680 driver.
System error (Alarm clear: not available)
Description
This alarm occurs when an error of the current detection circuit 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 circuit power is turned on:
Cause 1: Failure of the current detection circuit of the HA-680 driver
Remedy: Contact Harmonic Drive Systems. (Replace the HA-680 driver)
(2) Alarm occurs occasionally while the motor is running:
Cause 1: Malfunction due to external noise
Remedy: Take noise prevention measures according to “3-4 Suppressing noise” in
this manual.
Cause 2: Failure of the current detection circuit of the HA-680 driver
Remedy: Contact Harmonic Drive Systems. (Replace the HA-680 driver)