Product specifications

Chapter 7 Troubleshooting
HA-680_V04
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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. (Replace the HA-680 driver)
(2) Alarm occurs by input signal of [CN2-7: S-ON (servo-ON)] is activated:
Cause 1: The control or main circuit of the HA-680 driver may have failed.
Remedy: Contact Harmonic Drive Systems. (Replace the HA-680 driver)
(3) Alarm occurs by input signal of [CN2-7: S-ON (servo-ON)] is activated, but doesn’t
occur when the input signal is ON and the motor cable (U, V, W) is disconnected:
Cause 1: Short connection in the motor cable
Remedy: Verify the connection of the motor cable and correct it or replace it if
necessary.
Cause 2: Short connection in the motor winding
Remedy: Contact Harmonic Drive Systems. (Replace actuator)
(4) Alarm occurs during acceleration or deceleration:
Cause 1: Excessive load inertia and the accelerating or decelerating time is too short.
Remedy 1: Reduce the load inertia.
Remedy 2: Set longer times for [parameter][33: acceleration time constant] and [34:
deceleration time constant].
Cause 2: Gain is set too high or too low
Remedy 1: 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.
(5) The alarm occurs while running (it is possible to restart after 4 to 5 minutes):
Cause 1: Running at over load state
Remedy: Review the actuator’s actual load profile to lower the duty.
Cause 2: Ambient temperature of the HA-680 driver is more than 50°C.
Remedy: Review the driver’s installation and it’s cooling system.