Product specifications
Chapter 7 Troubleshooting
HA-680_V04
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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. (Replace the HA-680 driver)
(2) Alarm occurs when you enter a rotation command and the actuator rotates at high
speed:
◆ Cause 1: (Position control) “Command pulse frequency” is too large.
⇒ Remedy: Lower the “command pulse frequency” in the host device.
Set it to a frequency lower than the maximum rotation speed (r/min) of the
actuator.
◆ Cause 2: (Speed control) “Speed command input voltage” is too high.
⇒ Remedy: Lower the “speed command output voltage” in the host device.
◆ Cause 3: “Speed command input factor” is too high.
⇒ Remedy: Lower [30: Speed command input factor] in [Parameter].
◆ Cause 4: Wrong setting of “analog voltage command gain”
⇒ Remedy: Change [30: Speed command input factor] in [Parameter].
◆ Cause 5: A significant overshoot due to insufficient gain adjustment
⇒ Remedy: Adjust gains in [parameter]→ [01: Speed loop proportional gain], [02: speed
loop integral gain] and [03: Speed loop derivative gain] proportional
according to the load.
◆ Cause 6: Wrong connection of the motor or encoder
⇒ Remedy: Perform connection properly by referring to “Chapter 3 Installing HA-680
driver” in this manual.