Harmonic Drive HA-675 Series, Manual

Page 1: ...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 Keep thi...

Page 2: ...caution could damage the encoder and may cause uncontrollable operation Avoid handling of actuators by cables Failure to observe this caution may damage the wiring causing uncontrollable or faulty op...

Page 3: ...1 10 1 Alarms 14 1 10 2 Protection functions 15 Chapter 2 Functions 18 2 1 Control system of HA 675 driver 18 2 2 Encoder system 19 2 2 1 Incremental encoder INC 19 2 2 2 Absolute encoder ABS 19 2 3 T...

Page 4: ...Allowable size of cables 52 4 5 3 Connecting the power cable 53 4 5 4 Insulation transformer 53 4 5 5 Protecting power lines 54 4 6 Connecting a ground wire 54 4 7 Connecting motor and regeneration re...

Page 5: ...117 Chapter 7 Operations of the teach box 118 7 1 Outlines of the teach box 118 7 2 Attaching and detaching the teach box 118 7 3 Operation keys 119 7 4 Outlines of indications 121 7 5 Operations of t...

Page 6: ...ation 169 8 2 3 Poor positioning accuracy 171 8 3 Exchanging batteries ABS 172 8 3 1 Duration of keeping a revolution count 172 8 3 2 Exchanging procedures 172 Chapter 9 Options 173 9 1 Extension cabl...

Page 7: ...play with four lines by 20 digits without any complicated operation For both absolute and incremental encoders The FHA C series actuators provide two kinds of encoders for detecting a position the one...

Page 8: ...n absolute encoder ABS EWC S B08 3M14 means cable length 03 3m 05 5m 10 10m three kinds of length are available Connectors optional CNK HA65 S1 CNK HA65 S2 Software for setting up parameters optional...

Page 9: ...phere metal powder dust oil mist and corrosive gas are not allowed Ventilation Self cooling Installation Base mount Wall mount Encoder interface Serial transmission line driver input type Input signal...

Page 10: ...xternal drawing is shown as follows Unit mm Third angle projection method Note 1 When HA 675 drivers are installed in a cabinet leave enough ventilation space as shown below The dimensions marked with...

Page 11: ...r is connected to r s terminals and main power is connected to R S T terminals R S Single Phase R S T Three Phase External regeneration resistor terminals R1 R2 If the built in regeneration resistor i...

Page 12: ...utput bit 1 OUT DATA 1 Output 13 Input bit 16 INPUT DATA 16 Input 38 Output bit 2 OUT DATA 2 Output 14 Input bit 32 INPUT DATA 32 Input 39 Output bit 4 OUT DATA 4 Output 15 Emergency stop ESTOP Input...

Page 13: ...e for each parameter obtains the optimum performance of the actuator Parameter mode The parameter mode sets various parameter values relating to the fundamental operational functions such as limiting...

Page 14: ...o Automatic gain control P Alarm history clear Test mode Jo JOG operation Operation is possible SP JOG speed Setting is possible Ac JOG acceleration rdy Output port operation Operation is possible c...

Page 15: ...ommercially available EIA 232C RS 232C cable to extend the 2 meter teach box cable The extension cable should be less than 3 meters Recommended commercially available cable Classification Straight ful...

Page 16: ...mode Center Test mode Right Parameter mode Operation keys All programs are created with forty four keys of 5 rows by 8 lines and 4 On the key faces instruction codes and numerals for operation are ma...

Page 17: ...the key press CANCEL CCW CW Both keys adjust the position precisely Moves the actuator by JOG operation Both keys adjust the software origin precisely SON This turns the motor drive circuit for the HA...

Page 18: ...cified BACK Steps backward by an address Steps backward by an address when individual positioning is specified These cursor keys scrolls indications ___ CLR This works as the minus key or clears a com...

Page 19: ...ed changing position pulse 1 100mm 1 1000 2 000 000 to 2 000 000 The equivalent converted in p s 360 000 to 360 000 SLP Acceleration time 0 01 s 0 to 1000 DIV Indexing 0 to 200 TIM Delay time 0 01 s 0...

Page 20: ...ignal 1101 ON ON OFF ON Impossible 52 INC UVW failure 1101 ON ON OFF ON Impossible 53 ABS System failure 1101 ON ON OFF ON Impossible 54 ABS Revolution counter overflow 1101 ON ON OFF ON Impossible 55...

Page 21: ...ordance with a program SPD speed POS stop position and SLP acceleration time are essential to be programmed If any one of the data has not been set the alarm occurs To clear the alarm input an ON sign...

Page 22: ...clear the alarm shut off the control power once and turn it on again ABS Abnormal encoder signal 51 The alarm occurs when the driver has failed to receive two sequential signals To clear the alarm aft...

Page 23: ...pply is inactive the data may be lost due to further voltage drop after around 30 minutes from the alarm Exchange the battery to new one promptly Send data rule error 57 ABS The absolute encoder rotat...

Page 24: ...on data is different than the command the motor rotates until the position data equals the command This is an example of a servo system The fundamental configuration of the HA 675 driver is as follows...

Page 25: ...encoder measures its absolute position regardless the power supply and makes originating sequential motion at power establishment The absolute encoder outputs a current absolute pulse train combined w...

Page 26: ...ero pulse into a zero speed command in other words a stop command 3 If the position loop gain Kp is high a small error count is converted into a higher speed command That is to say higher gain provide...

Page 27: ...and and zero difference into zero current command in other words a stop command 3 Same as the position loop gain higher gain gives better response and too high gain results in hunting Low gain gives n...

Page 28: ...h box operation For the details of the modes refer the chapter 7 operations of the teach box Program mode In the mode you can create motion programs using commands of position speed acceleration time...

Page 29: ...The actuator moves directly to the start address and stops at the position of the address having POS command After that the actuator moves sequentially by every START signal to the next address positi...

Page 30: ...l distance from the origin and incremental value means between the specified target position and the current position To specify a stop position the POS command is programmed The CHP command is progra...

Page 31: ...h play the function can compensate it adding or abstracting from programmed position value at every reversing motion This function may increase the positioning accuracy Ball screw lead When the load m...

Page 32: ...acceleration time 3 It reverses at low speed of RS2 originating speed 2 4 After sensing the sensor again it reverses at very low speed of 500 pulse second 5 When the phase Z is sensed it stops immedi...

Page 33: ...ng allowance is a good solution to the problem that is in position range Tune mode 4 in position range sets the allowance The actuator position comes within the range calculated with the formula below...

Page 34: ...ngerous sudden rotation clearing the error count to 0 at re activating the servo power For the incremental system the actuator moves to the direction to make the error count 0 when the error count is...

Page 35: ...tomatically makes speed loop gain higher when an error pulse number becomes small For the reason that the speed loop gain is proportionate to error pulse number refer to 2 3 tuning servo gains a posit...

Page 36: ...DATA 1 Output 13 Input bit 16 INPUT DATA 16 Input 38 Output bit 2 OUT DATA 2 Output 14 Input bit 32 INPUT DATA 32 Input 39 Output bit 4 OUT DATA 4 Output 15 Emergency stop ESTOP Input 40 Output bit 8...

Page 37: ...f 4 signals for contact inputs as shown in the figure to the right Specifications Voltage DC24V 10 Current 20mA or less Inputs should keep ON for 2 ms or more Connection The HA 675 driver does not pro...

Page 38: ...n the figure to the right Specifications The phase A B and Z signals are transmitted by line drivers 26LS31 Connection Receive the signals by line receivers AM26LS32 or equivalent 33 34 35 43 36 37 38...

Page 39: ...edback count Connection Connect NO contact signal a contact Refer to CN2 1 input signal common CN2 3 Servo ON S ON input Function This turns the servo power for the HA 675 driver ON and OFF 100ms late...

Page 40: ...ervo power turns ON Even if CN2 6 start START is set to on when CN2 5 interlock INTERLOCK or CN2 7 stop STOP is on the operation cannot be started Connection Connect NO contact signal a contact The In...

Page 41: ...I O O O 9 O O I O O I 25 O I I O O I 41 I O I O O I 57 I I I O O I 10 O O I O I O 26 O I I O I O 42 I O I O I O 58 I I I O I O 11 O O I O I I 27 O I I O I I 43 I O I O I I 59 I I I O I I 12 O O I I O...

Page 42: ...actuator immediately reverses if parameter mode RTD originating direction of the teach box is 0 clockwise viewing from output When the CN2 19 20 REV limit RSTOP turns OFF input during originating moti...

Page 43: ...e motor current The relation between the voltage and the current is set so that the monitor voltage of 10V corresponds to the actuator maximum current Note that the voltage signal is not outputted dur...

Page 44: ...ror the counter should be cleared However when the back up battery is detached during normal operation for the purpose of exchanging to new one it is unnecessary to clear the counter because of the co...

Page 45: ...the originating motion Connection 1 An example of CN2 35 at origin ORG END connection is shown in the figure to the right 2 Plan the output circuit for the ports as follows Supply voltage 24V or less...

Page 46: ...I O 30 O I I I I O 46 I O I I I O 62 I I I I I O 15 O O I I I I 31 O I I I I I 47 I O I I I I 63 I I I I I I Note 1 I means ON and O means OFF When an alarm happens the set of four ports outputs the...

Page 47: ...output CN2 46 Phase B B output CN2 47 Phase B B output CN2 48 Phase Z Z output CN2 49 Phase Z Z output Function These ports transmit encoder signals of Phase A B Z from the line driver 26LS31 Connect...

Page 48: ...RSTOP ORG ORG Emer stop FWD limit REV limit Origin 33 34 35 43 36 37 38 39 40 41 42 READY Ready FINISH ORG END ALARM OUT DATA1 OUT DATA2 OUT DATA4 OUT DATA8 OUT DATA16 OUT DATA32 OUT COM Motion finish...

Page 49: ...BAT 4 SD 5 White Black Yellow Blue E Green Red Orange Gray Connector cell Use shield pair cable Clamp the end of shield surely to the cable clamp of the connector Absolute encoder AC Servo actuator FH...

Page 50: ...housed in the HA 675 driver for long time memorizing By those means the absolute encoder measures its absolute position regardless the power supply The allowed range of the counter is from 4095 to 409...

Page 51: ...pulse trains The examples to the right show that the absolute positions are 12 and 12 Incremental signals Following outputting pulse trains for position data incremental signals are outputted in two p...

Page 52: ...p the actuator with its appropriate driver 4 The HA 675 driver model is marked on the POWER line of the label of the HA 675 driver 200V 3 phase or single phase 200V 100 single phase 100V If the voltag...

Page 53: ...ose it to sunlight for long periods of time and do not store it in areas where temperatures are likely to fluctuate greatly 6 The allowable storage relative humidity is less than 95 Do not store it in...

Page 54: ...n there is a great deal of vibration near the driver attach a shock absorber under the base to dampen the vibration Impact less than 98m s2 10G Make sure that dust water condensation metal powder corr...

Page 55: ...erference 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 675 driver by external noise from hosts w...

Page 56: ...5A Single phase HA 675 4 SUP P10H EPR 250V 10A HA 675 1 HA 675 2 3SUP H5H ER 4 250V 5A Main power Three phase HA 675 4 3SUP H10H ER 4 250V 10A Control power All models SUP P5H EPR 250V 5A Okaya electr...

Page 57: ...ivity is less than 0 04 ohm m Optional cables of 3m 5m 10m long are available 3 Always Install surge protector devices to coils such as magnetic relays electromagnetic contactor and solenoids 4 Separa...

Page 58: ...le Note 1 When bundling wires or encasing into conduits plastic or metal pipes use the wire of one upper size Note 2 In hot environments such as the temperature in a cabinet use heat resistant cable I...

Page 59: ...tage fluctuation avoid daisy chain wiring of the power lines and connect units with a main switch 4 5 4 Insulation transformer The use of an insulation transformer is recommended to prevent problems c...

Page 60: ...5 driver provides two ground terminals as shown the figure to the right Connect the ground wire from the cabinet to either terminal and connect the ground wire from the actuator to the other terminal...

Page 61: ...cables and I O signal cables more than 30cm Do not encase both cables in one pipe or duct nor bundle them 4 Do not open the end of analog signal cables as speed signal cables Terminals and Connectors...

Page 62: ...Connector for HA 655Driver side D sub 9pins female with unified coarse thread screws No 4 4 OUNC Pin assignments refer the figure to the right The cable is not included in our options but is commerci...

Page 63: ...ation is too frequent resisters for suppressing the transient current may deteriorate The switching frequency should not exceed 5 times in an hour and 5 times in a day Furthermore the interval between...

Page 64: ...5 After turning on the control circuit power enter Servo ON after turning on the main power even though the time to turn on the main power is not specified 4 9 4 Power OFF sequence Plan the power OFF...

Page 65: ...necessary 1 Is the wiring correct 2 Is there any temporary wiring Are all wires connected to the terminals 3 Are there any loose terminal connections 4 Are the wires grounded properly 2 Clean around...

Page 66: ...connections Shut off power and inspect the wiring The HA 675 1 driver identifies the code of the actuator connected to it automatically When identified code is same as the pre registered code The ind...

Page 67: ...ning the servo power ON Start with the procedure 18 When the identified code of the connected actuator is not listed A combined indication of nF and a pre registered code appears on the display of the...

Page 68: ...the next step Though one of the alarm 53 to 56 occurs it would not be abnormal but it may come from incomplete pressing both keys of ADJ and SET Shut off the control power and start from the operation...

Page 69: ...ount to be 0 always to keep a commanded position while CN2 3 servo ON S ON is ON state However while the S ON is OFF and servo power is OFF the error count may not keep 0 and an actual position may di...

Page 70: ...will stop when the key is released 23 To operate the actuator reverse press the DOWN key The actuator will rotate when the key is pressed and will stop when the key is released 24 To exit from the JOG...

Page 71: ...key for more than 1 second ABS For the absolute system set 0 to the parameter mode H ABS send data timing and press the ABSREQ key on the teach box 31 To rotate the actuator to clockwise press the CW...

Page 72: ...there is fault in output functions of the host Shut off power and inspect them OUTPUT CN2 41 Output bit 16 CN2 42 Output bit 32 3rd digit CN2 33 Ready CN2 34 Motion finish CN2 35 At origin CN2 38 Out...

Page 73: ...re received 40 To terminate operation of the output port press SET key for 0 1 second or more Flashing of 1st digit stops and output port operation is inhibited If abnormal the output functions of the...

Page 74: ...ting 1 not outputting F or J ABS Revolution counter clear Sets back the revolution count to zero by key operation 0 revolution count 0 n Regeneration resistance Existence of regeneration resistance 1...

Page 75: ...memory The new value has been instituted 48 To cancel change in operation and to make the previous value effective before defining press ADJ key for 0 1 second or more The previous value is restored...

Page 76: ...ve response to commands High better response too high hunting Low no hunting too low overshoot 3 Reserved Out of use 4 In position range Allowable error range for positioning Integer between 1 and 999...

Page 77: ...e new value is effective 58 To cancel change of operation and to make the previous value effective before press ADJ key for 0 1 second or more The previous value is restored 59 To terminate the tune m...

Page 78: ...nipulate the cursor downward by the key Entering and erasing command data Selecting a command for data input Two ways are provided to select a command for data input in the program mode or in the para...

Page 79: ...screw lead and availability of shortcut motion Refer the 7 9 parameter mode for setting data The parameter mode provides the following commands Command Function Default Unit Data ASP Acceleration pro...

Page 80: ...t every address position one by one However the origin is able to shift all together without program correction As for the actual orinating motion the actuator performs the origination to the mechanic...

Page 81: ...ounts The start position is between the REV limit and the origin sensor The actuator originates following the sequence below 1 The actuator starts at high speed of RSP originating speed 1 toward RTD o...

Page 82: ...ates following the sequence below 1 The actuator starts at high speed of RSP originating speed 1 toward RTD origin direction 2 After sensing the REV limit it decelerates and stops in RAD originating a...

Page 83: ...ause electric shock or may cause abnormal mechanical motion resulting in serious physical injury 2 Do not touch terminals for at least five minutes after power has been shut off POWER OFF Even during...

Page 84: ...sists of various parameters to control the actuator motion Setting the most suitable value for each parameter obtains the optimum performance of the actuator Parameter mode The parameter mode sets var...

Page 85: ...eed monitor offset Tune mode b Current monitor offset Setting is possible 5 Error count clear by S ON 6 Position error allowance A Speed limit b Current limit c Signal logic Setting is possible For J...

Page 86: ...mber Low G Actuator serial number High Monitor mode H Actuator serial number Affix Setting is impossible 6 4 1 Operation in the monitor mode After powering or finishing operations in other modes the d...

Page 87: ...e motor speed indicates the present motor speed in r min The actuator speed is obtained by dividing the motor speed by the reduction ratio of the actuator gear Details of display 1st digit 1 Motor spe...

Page 88: ...part of the current error pulse count Details of display 1st digit 3 error pulse count low 2nd digit No indication means positive counts and indicates negative counts 3rd 6th digit Indicates current q...

Page 89: ...actuator When the driver is overloaded it accumulates the amount of overload and the indication increases the rate When the driver released from the overload the indication decreases it When you want...

Page 90: ...tes a feedback quadrature pulse count accumulated which has been reset to the 0 position when the HA 675 driver powered Feedback pulse High Function This indicates the high part of a feedback quadratu...

Page 91: ...ndication 3 4th digit Indicates output signal states 5th 6th digit Indicates input signal states Output CN2 41 Output bit 16 CN2 42 Output bit 32 3rd digit CN2 33 Ready CN2 34 Motion finish CN2 35 At...

Page 92: ...lure EEPROM 76 or flickering 0 CPU failure Operations 1 To indicate earlier alarm codes press UP key Every time you press the UP key it increases the alarm order on the second digit and indicates the...

Page 93: ...5737 5747 5718 5738 5748 FHA 8C 6304 6314 6334 FHA 11C 6504 6514 6534 FHA 14C 6704 6714 6734 FHA 17C 5117 5137 5147 5118 5138 5148 FHA 25C 5317 5337 5347 5318 5338 5348 100 V FHA 32C 5517 5537 5547 55...

Page 94: ...the serial number of 12311131 001 High part 1231 F actuator serial number Low Low part 1131 G actuator serial number High Affix part 001 H actuator serial number Affix When an actuator except the FHA...

Page 95: ...the UP or DOWN key to change the functional items of tune mode Every time you press the UP key it shifts a code of the first digit one by one from 0 to b and indicates a value corresponding to the co...

Page 96: ...e memory From now on the new value is effective 4 To cancel a change in operation and to make the previous value effective before defining press ADJ key for 0 1 second or more The previous value is re...

Page 97: ...used no decimal point is indicated for the speed loop gain To get the speed loop gain for a system using a PSF650 and an HA 675 1 driver multiply 0 1 by an indicated value Operations 1 To change a va...

Page 98: ...n A value from 1 to 9999 can be set Operations 1 To change a value press ADJ key for 0 1 second or more 1st digit 1 flashes You can change the value 2 When the actuator does hunting press DOWN key to...

Page 99: ...gain is permissible Details of display 1st digit 2 position loop gain 2 6th digit Indicates current position loop gain A value from 10 to 9999 can be set Operations 1 To change a value press ADJ key f...

Page 100: ...e Speed monitor offset Function CN2 23 Speed monitor SPD MON output signal may have offset voltage of 0 8V at the maximum or 0 8V at the minumum Though the output has been adjusted at our shipment opt...

Page 101: ...lue press the UP key And to decrease the value press the DOWN key 3 To define the new value press the SET key at least 0 1 second Flashing of 1st digit b stops and the new value is defined 4 To cancel...

Page 102: ...ing mode Note While CN2 3 servo ON S ON signal is ON changing to parameter mode turns the signal OFF and the system goes into the servo OFF state Even if you change the setting to Monitor mode in this...

Page 103: ...memory From now on the new value is effective 4 To cancel a change in operation and to make the previous value effective before defining press ADJ key for 0 1 second or more The previous value becomes...

Page 104: ...beyond the range of 5000 5000 when CN2 3 servo ON S ON is turned on clear the deviation pulse to 0 unconditionally to prevent a dangerous rapid revolution However you need to return to the origin agai...

Page 105: ...digit Indicates that the state is in the parameter mode 3rd 6th digit Indicates the current position error allowance A value from 1 to 1000 can be set Operations 1 To change a value press ADJ key for...

Page 106: ...ve Current limit Function This function limits the maximum motor current to protect the actuator and driven mechanism The maximum motor current corresponds to 100 Details of display 1st digit b curren...

Page 107: ...17 FWD limit FSTOP 0 4 CN2 19 REV limit RSTOP 0 8 Details of display 1st digit c signal logic 2nd 4th digit No indication Decimal point of the second digit Indicates that the state is in the paramete...

Page 108: ...for 0 1 second or more Flickering of 1st digit G stops and the previous value becomes effective ABS send data timing ABS Function Following the powering sequence the ports of the CN2 44 phase A A thro...

Page 109: ...mes effective Revolution data clear ABS Function It is required to clear the revolution counter to zero at the origin after the first powering to the HA 675 driver and after recovering from alarm 53 a...

Page 110: ...ching Details of display 1st digit n Regenerative resistance Decimal point of 2nd digit parameter mode 3rd to 5th digit No indication 6th digit Indicates no attaching attaching setting Operation 1 To...

Page 111: ...gher than the automatic gain the registered gain has priority Value Automatic gain control 0 No control 1 Control The automatic gain control function is not provided for other actuators than FHA C min...

Page 112: ...0 or 1 with the keys of UP and DOWN 3 To define the new value press the SET key at least 0 1 second Flashing of 1st digit P stops and the new value is defined 4 To cancel a change in operation press t...

Page 113: ...indicates a value corresponding to the code Every time you press the DOWN key it shifts a code of the first digit one by one from An to Jo and indicates a value corresponding to the code Function 1 Du...

Page 114: ...m now on the new value is effective 4 To cancel a change in operation and to make the previous value effective before defining press ADJ key for 0 1 second or more The previous value becomes effective...

Page 115: ...ation test mode Ac JOG acceleration D O W N U P A D J S E T JOG operation CW forward CCW reverse Turns on servo to operate the motor D O W N U P A D J S E T D O W N U P A D J S E T Turns servo OFF JOG...

Page 116: ...ration mode is set by the accelerating time from 0 to JOG speed in 100msec unit After re powering the value returns to the default of 1 Details of display 1st 2nd digit Ac JOG acceleration 3rd 6th dig...

Page 117: ...ort to be operated Every time you press it shifts the code number in the order of the figures to the right 3 Press DOWN key to operate ON OFF the selected port Every time you press the change the port...

Page 118: ...ation 3rd 4th digit Indicates output signal states 5th 6th digit Indicates input signal states D O W N U P A D J S E T I O monitor Output Input 1st digit 6th digit Output CN2 41 Output bit 16 CN2 42 O...

Page 119: ...pressing the pin continues to output varying voltage signal within the range of 10V to 10V Ending the pressing keeps output voltage continuously 4 To terminate analog monitor manual output operation...

Page 120: ...0 0 0 0 0 I ABS Low battery voltage alarm 0 0 0 0 0 0 0 0 0 n Regenerative resistance 0 0 0 0 0 0 0 0 0 o Automatic gain control 1 1 1 1 1 1 1 1 1 Parameter mode P Alarm history clear 0 0 0 0 0 0 0 0...

Page 121: ...0 0 0 0 H ABS Send data timing 0 0 0 0 0 0 0 0 0 I ABS Low battery voltage alarm 0 0 0 0 0 0 0 0 0 n Regenerative resistance 0 0 0 0 0 0 0 0 0 o Automatic gain control 1 1 1 1 1 1 1 1 1 Parameter mod...

Page 122: ...oltage alarm 0 0 0 0 0 0 0 0 0 0 0 0 n Regenerative resistance 0 0 0 0 0 0 0 0 0 0 0 0 o Automatic gain control 1 1 1 1 1 1 1 1 1 1 1 1 Parameter mode P Alarm history clear 0 0 0 0 0 0 0 0 0 0 0 0 For...

Page 123: ...etting value is kept 5 Error count cleared by S ON 6 Position error allowance A Speed limit b Current limit c Signal logic G Mechanical origin Initial value of the new actuator F J ABS Revolution data...

Page 124: ...rovided for emergency stop operation Pressing the switch turns the state of the HA 675 driver to the same state of signal inputting OFF to CN2 15 16 emergency stop To recover from the emergency stop s...

Page 125: ...asing after pressing the key press CANCEL CCW CW Both keys adjust the position precisely Moves the actuator by JOG operation Both keys adjust the software origin precisely SON This turns the servo pow...

Page 126: ...Steps forward by an address Steps forward by an address when individual positioning is specified BACK Steps backward by an address Steps backward by an address when individual positioning is specifie...

Page 127: ...ble to be edited The keys cursor keys on the bottom line of the teach box scroll up and down the cursor Operation mode Three modes are provided for teach box operation as follows PSET Parameter mode D...

Page 128: ...sor The cursor is provided to select a command with the keys The key moves the cursor upward and makes the upper part of the indication appear The key moves the cursor downward and makes the lower par...

Page 129: ...ld data enter the correct data Erasing defined data 1 To erase the all defined data of the indicating address press DEL key The indication of ERASE OK shown in the figure to the right will appears 2 P...

Page 130: ...To clear the revolution counter clears press the key for around five seconds until making peee sound The count in the revolution counter is cleared to zero There are another ways to clear the counter...

Page 131: ...28 Position data request ABS REQ Related functions CN2 44 through 49 phase A B Z Parameter mode H ABS send data timing 7 5 3 Turing servo power ON and OFF Servo ON This turns the servo power for the H...

Page 132: ...000 The equivalent converted in p s 360 000 to 360 000 SLP Acceleration time 0 01 s 0 to 1000 DIV Indexing 0 to 200 TIM Delay time 0 01 s 0 to 9999 JMP Jump 0 to 63 LOP Repeat cycle Number of repeat...

Page 133: ...00 DIV Indexing 0 to 200 TIM Motion Delay time 0 01 s 0 to 9999 JMP Jump 0 to 63 LOP Repeat cycle Number of repeat is 01 to 99 NOP No operation Program mode END Logical End of motion Note Symbol INC a...

Page 134: ...he driver waits the next address specifying inputs and the START signal Groups of addresses closed with the POS command are independent with each other and there are no relations among the groups Ther...

Page 135: ...m mode are divided in two groups Motion commands relate to actuator motion SPD Speed POS INC increments ABS positions CHP Speed changing position SLP Acceleration time TIM Delay time DIV Indexing Note...

Page 136: ...tion from start to stop Command usage and parameter functions are different by the speed profile Speed profile Single speed profile Compound speed profile Example POS CHP Enter a value in POS of stop...

Page 137: ...8 specifying the address from a host After positioning and 0 1 sec delay the HA 675 driver outputs the motion finish signal and the current address of 10 2 8 Address 10 Speed 1000 p s Position 5000 p...

Page 138: ...osition of address 11 After positioning the HA 675 driver outputs the motion finish signal and current address of 11 1 2 8 Address 10 Speed 1000 p s Position 5000 pulse Acceleration 0 5s SPD 1000 POS...

Page 139: ...the current address of 13 7 7 7 Fine adjustment of positions Fine adjustment of address positions is possible to get better precision using CCW and CW keys Operations 1 To establish the origin press...

Page 140: ...ion The actuator does not move without the speed data The lowest speed data is 500p s converted in p s unit However the following formula should be met to move the actuator even if the speed is higher...

Page 141: ...peed change position data in the same address Entering it in one field clears the other Operations 1 To set increments and positions press POS key Or move the cursor on POS by and keys 2 To set a posi...

Page 142: ...ering it in one field clears the other CHP Speed change position is set to the place where POS INC increments ABS positions is supposed to be set CN2 34 Operation complete FINISH signal won t be issue...

Page 143: ...e middle figure of which top speed does not reach the speed specified by the SPD is as follows When the CHP command specifies a position the acceleration time is the time from the current speed to the...

Page 144: ...sition command Operations 1 To enter the indexing value press DIV key Or move the cursor on DIV by and keys 2 Enter the data by numeral keys 3 To define the entered data press ENTER key 4 To cancel th...

Page 145: ...red data press ENTER key 4 To cancel the entering and to recover old data before defining press CANCEL key JMP Range 0 to 63 Unit 1 TIM 0 DIV 0 JMP DSET pps pls No 00 Jump 1 Use the JMP jump command o...

Page 146: ...cycle time LOP Operations 1 To enter the address to jump press LOP key Or move the cursor on LOP by and keys 2 To erase the old data press key 3 Enter the data by numeral keys 4 To define the entered...

Page 147: ...than the NOP are deleted 3 To cancel the programming and to recover old state before defining press CANCEL key End of motion Function The END terminates the program and outputs CN2 34 motion finish si...

Page 148: ...limit RSTOP of the HA 675 driver If the servo power does not turn on verify these inputs 7 8 2 Originating Two kinds of origination are provided for the incremental system Origination to origin sensor...

Page 149: ...l positioning profile 1 Press the MODE key on the teach box to indicate TEST The center LED indicator lights 2 Press START key The actuator moves to the addressed position The actuator moves and stops...

Page 150: ...unit is 10 milliseconds 3 Press ENTER key JOG operations 1 For forward rotation press CW key for more than 1 second 2 For reverse rotation press CCW key for more than 1 second 3 For stopping leave yo...

Page 151: ...mm SPU Speed unit 0 0 p s 1 1 100 r min RTD Originating direction 0 0 CW viewed from output 1 CCW viewed from output RS2 Originating speed 2 20 000 p s 1 100 r min 500 to 50 000 The equivalent convert...

Page 152: ...has a backlash BLR compensates it adding or abstracting from programmed position value at every reversing motion to increase a positioning accuracy For opposite direction to originating direction the...

Page 153: ...rst address of the motion profile At every positioning the HA 675 driver outputs the CN2 34 motion finish signal and the current address 2 Programmed motion By the START input signal the actuator move...

Page 154: ...nit into POS of program mode The relation between leads and movement is as follows Incremental system Absolute system Actuator model FHA xxC 30 E 200 FHA xxC 50 E 200 FHA xxC 100 E 200 FHA xxC 50 E 25...

Page 155: ...alue makes a difference in the actuator speed depending on the units 0 p s 1 1 100 r min The following formulas are able to convert pulse value into linear and rotary values Incremental system Absolut...

Page 156: ...e the index Z of the encoder after passing over and reversing Details of the speed The RS2 allows a value from 500 to 50000 However the meaning of the value is different by a definition of parameter m...

Page 157: ...EL key Setting at the actual position by operating the actuator 1 Finish all operations for mechanical origin setting 2 Input a signal to CN2 3 servo ON port of the HA 675 driver Servo power turns on...

Page 158: ...n to re sense the sensor after passing over and reversing 3 The third motion to sense the index Z of the encoder after passing over and reversing Details of the speed The RS2 allows a value of from 50...

Page 159: ...he entering and to recover old value before defining press CANCEL key Shortcut motion Function For rotation of more than 180 degrees turning to oposite direction may get shorter time for positoning th...

Page 160: ...1101 ON ON OFF ON Auto recov 57 ABS Send data rule error 1101 ON ON OFF ON Impossible 60 Error counter overflow 0010 OFF OFF ON OFF Possible 70 Memory failure RAM 0101 OFF ON OFF ON Impossible 71 Memo...

Page 161: ...clear CLEAR port shut off the control power once and turn it on again To avoid the emergency stop state and to operate the system normally after detaching the teach box press the ESTP DENB key Follow...

Page 162: ...rning ON the CN2 6 start START after specifying a program number To move the actuator in accordance with a program SPD speed POS INC increments ABS positions and SLP acceleration time are essential to...

Page 163: ...urn it on Diagnostic tip 1 Alarm occurs when control power is turned on Cause 1 The control circuit of the HA 675 driver may have failed Remedy Contact Harmonic Drive Systems Replace The HA 675 driver...

Page 164: ...d Remedy Verify connection of encoder connector CN1 3 The alarm occurs while running operation can be restarted after shutting off control power and turning it on Cause 1 Running at over load state Re...

Page 165: ...or cable U V W is disconnected from the driver Cause 1 Short connection in the motor cable Remedy Verify the connection of the motor cable and correct it as needed Cause 2 Short connection in the moto...

Page 166: ...o R1 and R2 terminals And set 1 attached to parameter mode n regenerative resistance Remedy 2 Prolong acceleration and deceleration periods Remedy 3 Reduce the maximum speed Remedy 4 Reduce moment of...

Page 167: ...actuator temperature rises Remedy Review the actuator operating load duty cycle and its cooling system Abnormal encoder signal alarm clear impossible Description This alarm occurs when the driver fail...

Page 168: ...t the first power supply after purchasing And it also occurs at power supply after disconnecting the cable between the driver and the encoder for a long duration Moreover it occurs when all power supp...

Page 169: ...may have failed Remedy Contact Harmonic Drive Systems Replace the actuator 2 Alarm occurs during running Cause 1 The motor turns goes beyond the range of 4095 to 4096 revolution Remedy Input the CN2 3...

Page 170: ...er keeps the revolution counter data if the control power supply is active On the contrary if the control power supply is inactive the data may be lost due to further voltage drop after around 30 minu...

Page 171: ...y 1 Contact Harmonic Drive Systems Replace actuator Remedy 2 Input CN2 30 multi revolution data clear ABS CLR signal for 4 seconds or more Then shut off the power and turn it on again Error counter ov...

Page 172: ...CN1 connector firmly Memory failure RAM alarm clear impossible Description This alarm occurs when the driver s RAM memory fails It is impossible to clear the alarm Diagnostic tip occurs 1 Alarm occurs...

Page 173: ...eferring chapter 4 3 Location and installation of this manual CPU failure alarm clear impossible Description This alarm occurs when the driver s CPU fails It is impossible to clear the alarm When CPU...

Page 174: ...N Y MS open with power ON sequence N Driver failure Y Recover power after removing the cause Y N Turn NFB and MS ON Alarm indicated Refer section 8 1 alarm and diagnostic tip Y N Y Note NFB No fuse b...

Page 175: ...river correct Correct it between them Y N No layer short grounding in motor Y Y Actuator failure Is output shaft locking Y Release locking N Actuator failure Is CN2 2 CLEAR ON Turn OFF CN2 2 CLEAR N Y...

Page 176: ...higher output actuator N Y Gain adjustment possible N Y Adjust gains correctly N Motor wiring from driver correct Verify motor cable connections Y N Is b current limit value too small Set b current li...

Page 177: ...Y Improve mechanism Actuator or driver failure Is host program correct Correct the program N Is HA 675 program correct Correct the program Y N Y Start Is load inertia proper Lower load inertia N Y Gai...

Page 178: ...at least 3 hours at ambient temperature 25degC no rotation 8 3 2 Exchanging procedures When alarm 56 low battery voltage occurs exchange to new battery by the following procedures Shut off all power...

Page 179: ...cross cable with a D sub female 9 pin connector for HA 675 driver side with unified coarse thread screws No 4 40UNC 9 2 Connectors Connectors for CN1 and CN2 connectors of HA 675 and terminal blocks f...

Page 180: ...et operating data that are set on the PC and the data can be checked and changed For the details of the software please ask us the instructions of PSF 650 software Ordering model PSF 670 Operating sys...

Page 181: ...Isolation class B class Isolation Ins resistance 500M ohm or more DC 1000V Withstand voltage AC2000V 1minute 50 60Hz Amb temperature 10 to 55 Overheat protection Built in thermal protector cutoff temp...

Page 182: ...3 50 60 1 140 2 4 7 3 0 500 3 100 2 4 50 60 1 HA 675 2X 100XX 100 0 3 50 60 1 140 2 4 7 3 0 500 3 200 4 1 2 4 50 60 1 3 HA 655 2X 200XX 200 0 15 50 60 1 280 2 4 7 3 0 500 3 200 4 1 2 4 50 60 1 3 HA 6...

Page 183: ...HA 675 2X 200XX 240V 10A less than 30 A 1 HA 655 4X 100XX HA 675 4X 100XX 120V 20A less than 75 A 1 HA 655 4X 200XX HA 675 4X 200XX 240V 20A less than 75 A 1 HA 655 4X 200 CT2 240V 20A less than 75 A...

Page 184: ...ables 52 Connecting regeneration resistor cables 54 Connector 55 56 173 Contact inputs 31 Correcting the entering data 73 CPU failure 17 167 CUR MON 37 Current address 81 Current command 21 Current li...

Page 185: ...ish 38 141 Motion profile 147 Motor speed 81 MQU 149 No operation 141 No rotation 168 Noise filter 50 Noise suppression 49 Nominal values 3 NOP 141 Notices on handling 47 Operation key 11 118 Operatio...

Page 186: ...101 Single speed profile 130 SLP 137 Software for setting up parameters 174 Software origin 27 74 151 S ON 33 SPD 134 SPD MON 37 Specifications 3 Specifications of EIA 232C cable 56 Specifications of...

Page 187: ...t to 1 User s misapplication improper installation inadequate maintenance or misuse 2 Disassembling modification or repair by others than Harmonic Drive Systems Inc 3 Imperfection caused by the other...

Page 188: ...Hoenbergstrasse 14 D 65555 Limburg a d Lahn Germany TEL 49 6431 5008 0 FAX 49 6431 5008 119 Harmonic Drive L L C 42 Dunham Ridge Beverly Massachusetts 01915 U S A TEL 1 978 532 1800 FAX 1 978 532 9406...