Harmonic Drive HA-520 Series, Technical Manual

Page 1: ...so as to prevent an accident resulting in a serious physical injury damaged by a malfunction or improper operation Product specifications are subject to change without notice for improvement purposes...

Page 2: ...from impact or shock No corrosive inflammable or explosive gas Provide sufficient noise suppression and safe grounding Always keep signal wire away from noises to avoid vibration and malfunction Keep...

Page 3: ...CN1 10 Selecting the command pulse input configuration 11 2 pulse train FWD and REV pulse train 11 1 pulse train polarity pulse train 11 2 pulse train 2 phase pulses with 90 degree difference 11 Contr...

Page 4: ...2 Usual operation 34 Notices for daily operations 34 Daily maintenance 35 Chapter 6 Operating the display panel 36 Outline of modes 36 Changing a mode 36 Monitor mode display details 37 Servo state di...

Page 5: ...ation of actuator 67 Unstable rotation of actuator 68 Poor positioning accuracy 70 Chapter 10 Options 72 10 Extension cables 72 10 Extension connectors 72 10 EIA 232C RS 232C communication cable 73 10...

Page 6: ...AC servo driver HA 520 Series Memo...

Page 7: ...wing Parameter mode the seven segment LED display Substantial monitoring functions The status of operation can be continuously displayed as either Status display mode or Numeric monitor mode and the s...

Page 8: ...with HA 520 drivers Actuator model Combined driver type RSF 8A HA 520 1M 100 RSF 11A HA 520 1N 100 RSF 14A HA 520 1P 100 RSF 17A HA 520 1R 200 RSF RKF 20A HA 520 1R 200 RSF RKF 25A HA 520 3 200 HA 52...

Page 9: ...can be monitored The operation waveform can also be monitored with using the dedicated software Protective functions Memory failure overload encoder failure regeneration failure system failure over cu...

Page 10: ...Chapter 1 Outline of HA 520 driver 4 1 5 External drawing of the HA 520 drivers The external drawing is shown below HA 520 1 HA 520 3 Unit mm Name plate Name plate...

Page 11: ...operation of actuators Charge voltage monitor Indicate the monitored voltage of the power supply terminal While the LED is on do not touch the terminal because it is at high voltage CN1 external I O...

Page 12: ...100 V and AC 200V power supply terminals Be sure to use only the voltage not shown on the driver TB1 grounding terminal E Used for grounding To prevent electric shock be sure to connect the ground wir...

Page 13: ...On Turns on or off the servo 6 A M RST Alarm Reset Resets the alarm output Detected at the edge 7 CLEAR Error Counter Reset Resets the position error counter Detected at the edge Control input 8 IN CO...

Page 14: ...onitor Phase A Output 26 MON B Encoder Monitor Phase B Output M o n i t o r O u t p u t 27 MON Z Encoder Monitor Phase Z Output Encoder monitor pulse output open collector output 28 NC Non Terminating...

Page 15: ...0 2mm2 shielded electric wire 3 Maximum wiring length 10m or less 4 Configure the communication cables Configure the communication cables according to the following figure Personal computer monitoring...

Page 16: ...ion If the 1k resistor is omitted the driver may break Caution Encoder signal processing The HA 520 driver executes the internal feedback process with a signal that is obtained by multiplying the enco...

Page 17: ...FWD port pair only and the REV port pair accepts the sign of rotary direction as shown in the figure below Off or Low level state is for the FWD command and On or High level is for the REV command 3...

Page 18: ...mples and details of the functions with respect to the CN1 input signals 3 3 1 CN1 input signal connection and functions The input signals are S ON ALM RST and CLEAR The input circuit power supply is...

Page 19: ...ready The edge is used for detection If an unclearable alarm occurs turn off the power once In this case turn the power on again after removing the cause of the alarm 2 The logic can be changed by se...

Page 20: ...orward or reverse torque while the input signal is being generated If both of the input signals are generated the actuator generates neither forward nor reverse torque The inputs may be used to limit...

Page 21: ...mA per circuit CN1 13 output signal common OUT COM Function This is a common terminal for the READY ALARM IN POS and Z IS output signals CN1 9 ready output READY Function 1 When a servo on input when...

Page 22: ...n position range setting the output transistor goes on Connection Design the receiving circuit so that the following are satisfied Voltage DC 30V or less Current 100mA or less CN1 12 encoder Phase Z o...

Page 23: ...output the Phase A B or Z pulse with the appropriate voltage to indicate the monitored result of the encoder Prepare DC 5V for the output circuit power separately Connection 1 The external supply vol...

Page 24: ...ctuator RSF RKF Series encoder Connection 1 Connect the shielded wire securely to CN1 35 and 36 A B Z U V W U V W 15 16 17 18 19 20 220 FG Equivalent toAM26LS31 Actuator RSF RKF Series A B Z 5V 0V 5V...

Page 25: ...ransformer Power input 50 60Hz Line filter L F NFB CP Regeneration unit CN AC Servo Actuator RSF RKF Series TB2 U M V RED BLK WHT GRN 1 3 2 4 CN 35 36 Shield CN2 1 4 5 8 9 10 12 13 5V 0V 11 14 FG 15 1...

Page 26: ...F RKF Series TB2 U M V RED BLK WHT GRN 1 3 2 4 CN 35 36 Shield CN2 1 4 5 8 9 10 12 13 5V 0V 11 14 FG 15 18 19 17 20 16 E BLW BLK YEL BLK BLW YEL BLU GRN BLU BLK GRN BLK 13 1 14 2 WHT BLK BLK GLY WHT G...

Page 27: ...age is shown in the INPUT VOL on the nameplate and at the top of the front panel of the driver Refer to Section 1 6 Front panel Do not combine the driver with any actuator that differs from the one sh...

Page 28: ...t or transport the HA 520 driver in a manner where it would be subjected to high levels of vibration 3 Do not put the HA 520 driver on the place from where it can easily fall down 4 Do not put anythin...

Page 29: ...an 4 9m s2 0 5G 10Hz to 55Hz When there is a great deal of vibration near the driver attach a shock absorber under the base to dampen the vibration Impact less than 19 6m s2 2G Make sure that dust wat...

Page 30: ...equipment or radio noise interference due to poor cabling or poor grounding In addition it is necessary to provide proper cable management in order to suppress incorrect motion of the HA 520 driver by...

Page 31: ...igure below Driver Model Ratings Manufacturer HA 520 1 SUP P5H EPR 250V 5A HA 520 3 SUP P10H EPR 250V 10A Okaya Electrics Install the noise filters and the HA 520 driver as near as possible with one a...

Page 32: ...s responsibility 10m or less providing that the condition of wire conductivity is less than 0 04 ohm m 4 Install surge protector devices to magnetic relays coils magnetic switches and solenoids 5 Sepa...

Page 33: ...onnector CN1 0 2mm2 shielded cable Encoder connector CN2 0 3mm2 twist pair shielded cable Note 1 When bundling wires or encasing into conduits plastic or metal pipes use the wire of one upper size Not...

Page 34: ...f the power lines and connect units with a main switch 4 5 4 Isolation transformer sold optionally The use of an isolation transformer is recommended to prevent problems caused by improper grounding a...

Page 35: ...tric wire of the following size or more Terminal connector Symbol Minimum allowable wire size mm2 Grounding terminal E Grounding mark 3 5 The HA 520 driver is provided with grounding terminal Make con...

Page 36: ...ectors Symbol Allowable Wire Sizes mm 2 External I O connector CN1 0 2mm 2 twist pair cable or twist pair whole shielded cable Encoder connectors CN2 0 3mm 2 twist pair shielded cable 4 8 2 Pin layout...

Page 37: ...quence on the high level equipment to power on and off the HA 520 driver at the following timings Power on off sequences ON Release Servo on ON Power Alarm Servo on Command OFF ON Output Input Input M...

Page 38: ...data mode display appears on the HA 520 driver 1 Inspect the cabling before turning the power ON and correct poor cabling if necessary 1 Is the cabling correct 2 Is there any temporary cabling Are al...

Page 39: ...OG By working with the built in display panel pulse command input can be checked and the actuator rotation can be checked without connecting the input signal Refer to Chapter 6 Operating the display p...

Page 40: ...tion 9 1 The actuator does not rotate in Chapter 9 Troubleshooting This section describes notices on usual operations and daily maintenance 5 2 1 Notices for daily operations 1 Do not make any wiring...

Page 41: ...or change no faults no abnormalities Consult with Harmonic drive systems 1 Shut down electric power before maintenance Maintenance while power is active may cause electric shock 2 Immediately after th...

Page 42: ...be changed from this page to another mode by operating a key as shown in the figure below Parameter setup mode This mode allows you to view or change servo parameters Parameters related to the basics...

Page 43: ...de To take action against display of an alarm number refer to Chapter 8 Protective functions Example When Alarm 02 encoder failure occurs the alarm number blinks 6 3 3 Resetting the alarm Some alarms...

Page 44: ...P and DOWN keys to select the desired parameter number to display or change Select the parameter mode by pressing the MODE key repeatedly Press the DATA key The initial state returns by pressing it ag...

Page 45: ...display Rated torque Low order digits only 14 Command pulse frequency display Frequency kHz Low order digits only 15 Stop cause display Refer to Section 6 5 4 16 Control state display Refer to Sectio...

Page 46: ...xternal input signal has been detected REV LMT On when the REV LMT external input signal has been detected POS OVR On when a position error allowance excessive alarm has occurred SPD LMT On when the s...

Page 47: ...ct the JOG mode by pressing the MODE key repeatedly Turn on off JOG using the DATA key The actuator rotates in forward direction while the UP key is held own and in reverse order while the DOWN key is...

Page 48: ...ep takes place for the pulse count that has been set for 20 JOG feed pulse count of Parameter setup mode Consecutive feed actuator When the UP or DOWN key is pressed and held down the operation in the...

Page 49: ...onitor can only display a numeric value without permitting you to change it Press the DATA key to display the high order digits Press the UP key to display the high order digits Press the DOWN key to...

Page 50: ...OG speed min 500 500 500 500 500 500 20 JOG feed pulse count Pulse 100 100 100 100 100 100 24 Step correction switching range Pulse 4000 4000 4000 4000 4000 4000 28 Control input filter time constant...

Page 51: ...500 500 500 20 JOG feed pulse count Pulse 100 100 100 100 100 100 24 Step correction switching range Pulse 4000 4000 4000 4000 4000 4000 28 Control input filter time constant 0 0 0 0 0 0 29 Note 3 0...

Page 52: ...mum pulse command In addition rotary operation is no longer enabled due to a mechanical failure against the actuator that attempts rotary operation by the command pulse input and an alarm is output wh...

Page 53: ...actual setting varies with the AC servo actuator model When changing the value consider the defaults shown in Section 7 1 Default parameters as the standard guide setting Speed loop proportional gain...

Page 54: ...ing the value consider the defaults shown in Section 7 1 Default parameters as the standard guide setting Speed loop action gain Function This parameter specifies the speed loop action gain Generally...

Page 55: ...is changed the driver must be powered on again Function This parameter specifies the rotary direction of the actuator Note For AC servo actuator RSF series the rotary direction is reverse to the rotat...

Page 56: ...lt Numerator 1 999 1 Denominator 1 999 1 Note By default the internal pulse is performed with the encoder resolution 4 times The amount of movement of the actuator will thus be the one corresponding t...

Page 57: ...imit Upper limit Default 0 9999 0 The setting relates to the one in 24 Step correction switching range of Parameter setup mode Forward torque limit Reverse torque limit Function This parameter specifi...

Page 58: ...Reduction ratio JOG feed pulse count Function When the UP or DOWN key is pressed in JOG mode during JOG operation forward or reverse rotation takes place until the pulse count set for this parameter...

Page 59: ...eds the amount speed step correction and torque step correction will take effect Setting Unit Lower limit Upper limit Default Pulse 0 9999 0 Note For ordinary use leave this parameter unchanged from 0...

Page 60: ...tion This parameter specifies the logic that enables the functionality of external input signals Setting procedure Using the table below in decimal notation sum up the desired values of the logics to...

Page 61: ...CN1 10 Alarm ALARM 0 4 Setting Unit Lower limit Upper limit Default 0 7 4 After the setting is changed the power must be turned on again JOG acceleration deceleration time constant Function This para...

Page 62: ...f 2 phase pulse train 1 1 time 2 2 times 4 4 times Setting Unit Lower limit Upper limit Default 1 4 4 After the setting is changed the power must be turned on again JOG operation character S selection...

Page 63: ...8 11 14 17 20 23 Setting Unit Lower limit Upper limit Default 0 23 12 Speed limit Function This parameter limits the revolution speed of the motor shaft When this value 10r min is exceeded by 0 5s or...

Page 64: ...or the servo is turned off When the driver is powered off the dynamic brake is always in operation Setting Unit Lower limit Upper limit Default 0 2 1 Regeneration brake on off Function If this paramet...

Page 65: ...ent exceeding the predetermined level flowed for 1ms or longer Impossible 07 Excessive error Indicates that the amount of accumulated pulses for command pulses exceeded the parameter error limit Possi...

Page 66: ...on of instruction Do this according to the instructions in Section 4 3 Location and installing Overload Alarm clear Possible Description This function continuously monitors the motor current When both...

Page 67: ...tion according to the instructions in Chapter 4 Installing the HA 520 driver Encoder failure Alarm clear Impossible Description This alarm occurs when the signal from the encoder stops The only way to...

Page 68: ...when the temperature of the HA 520 driver radiator plate exceeds the allowable temperature 75 C After the temperature decreases below the operation detection temperature reset the alarm or power on t...

Page 69: ...rding to the instructions in Section 4 4 Suppressing noise Cause 2 HA 520 driver control circuit failure Action Contact a business office of Harmonic Drive System Replacing the HA 520 driver Over curr...

Page 70: ...ds the pulse count being set for 00 Transmission error allowance of Parameter setup mode It can be reset by inputting the signal to CN1 7 Error counter clear CLEAR or CN1 6 Alarm reset ALM RST The err...

Page 71: ...M does not operate normally The only way to reset it is to turn on the power Possible causes 1 If the alarm occurs when the power is turned on Cause 1 A motor wire has been earth fault Action Ensure t...

Page 72: ...sconnection or wiring failure of encoder cable Action Check the encoder cables and their wiring Cause 3 HA 520 driver control circuit failure Action Contact a business office of Harmonic Drive System...

Page 73: ...power normal Are NFB and MS on Power failure NFB or MS failure Wrong wiring N N Y Is MS open with power on sequence N Driver failure Y Recover power after removing the cause Y Turn on NFB and MS Is a...

Page 74: ...tor shaft N Actuator fault Is CN1 7 CLEAR sometimes being input Shut off CN1 7 CLEAR N Y Previous Is the power supply voltage normal Apply the proper voltage N Is the power supply voltage fluctuation...

Page 75: ...Decrease the load fluctuation Use a large actuator N Y Does gain adjustment succeed N Y Set the gain to the proper value Y Is the motor wire disconnected Reconnect the motor wire N Y Is the Torque lim...

Page 76: ...the actuator Y Does rattle or resonance occur in the mechanical system N Improve the mechanical system Replace the actuator or driver Is the higher level system program normal Amend the program N Is t...

Page 77: ...nertia of the load proper Decrease the moment of inertia of the load N Y Previous page Does gain adjustment succeed N Y Correct the gain properly N Does rattle or resonance occur in the mechanical sys...

Page 78: ...ble Cable length 03 3 05 5 10 10 10 2 Extension Connectors The connectors include those for HA 520 driver CN1 CN2 motor wire connection and power supply connection Connector model CNK HA52 S1 4 models...

Page 79: ...n the HA 520 driver CN3 and a personal computer in which the software servo parameter setup software PSF 520 has been installed driver servo parameters can be changed and the driver state can be monit...

Page 80: ...erature blocked 130 C 3 External dimensions The external dimensions of the transformers are as follows Third angle projection method Unit Model A B C D E F PT1 10002 105 60 100 80 140 5 5 PT1 20002 12...

Page 81: ...oss torque RSF 17A RSF RKF 20A RSF RKF 25A Model 1 50 1 100 1 50 1 100 1 50 1 100 TA N m 3 7 6 8 4 8 8 7 7 2 12 7 3 Capacitor absorbed energy EC C F Capacitor capacity in driver 780 x 10 6 for HA 520...

Page 82: ...ensions mm 55 W 130 D 160 H Weight kg 0 8 Basic specifications Input power 110 to 370VDC supplied from HA 520 Service temperature 0 to 50 C Storage temperature 20 to 85 C Service storage humidity 90 R...

Page 83: ...driver connection example Note The examples in this chapter are shown for reference only With these connections the driver may be unable to operate normally depending on your system configuration Harm...

Page 84: ...chapter are shown for reference only With these connections the driver may be unable to operate normally depending on your system configuration Harmonic Drive System is not responsible for any damage...

Page 85: ...520 9 73 R 7 27 28 READY 7 15 40 REV 7 10 11 REV 7 10 11 REV LMT 8 14 40 51 55 REV operation pulse 7 REV operation pulse 7 RS 232C compliant 6 9 RS 232C communication cable 9 73 RTS 9 V ON 37 40 RXD...

Page 86: ...I O 10 12 Control I O connector 6 Control I O signal 3 Control input filter time constant 45 53 Control method 3 Forward inhibit 8 14 Forward torque limit 45 51 Isolation transformer 28 74 Connector 2...

Page 87: ...t that has been subject to 1 user s misapplication improper installation inadequate maintenance or misuse 2 disassembling modification or repair by others than Harmonic Drive Systems Inc 3 imperfectio...

Page 88: ...263 83 6901 Harmonic Drive AG Hoenbergstra e 14 65555 Limburg Germany TEL06431 5008 0 FAX06431 5008 18 Harmonic Drive L L C 247 Lynnfield Street Peabody MA 01960 U S A TEL 1 978 532 1800 FAX 1 978 532...