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Engineering Data AC Servo Drive HA-680

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1. correct is parameter 17 18 current limit value too smali N Set parameter 117 18 current limit normal is CN2 CLEAR sometimes being input Next page Open CN2 CREAR 96 Harmonic Drive AG HA680 900180 02 2010 Is there a noise included in the encoder signal Is the encoder signal normal Replace the actuator Does rattle or resonance occur in the mechanical improve the system mechanical system Replace the actuator or driver Poor positioning accuracy in position control Amend the program ls the command pulse normal Correct the pulse count Check the noise is the input command pulse timing normal Reconsider the command pulse circuit is the command pulse input factor valid Correct the command pulse input factor Securely shield and ground the encoder HA680 900180 02 2010 Harmonic Drive AG 97 Previous page ls gain Is the load adjustment inertia proper as pv ie load required Correct the gain Excelent Improve the properly in the mechanical mectianical system system Replace the actustor or driver 7 2 2 Improper motions in speed and torque control No rotation in speed and torque control Is the front is the power Are NFB and Y Power failure panel LED on normal MS on AC DC Power failure Wron
2. 2 If the alarm occurs during acceleration or deceleration m Cause 1 Gain is too low gt Remedy Adjust gains in parameter gt 00 po sition loop gain 01 Speed loop proportional gain 02 speed loop integral gain and 03 Speed loop derivative gain proportional to the load m Cause 2 Parameters of the Command pulse input factor are wrong gt Remedy Set the parameter correctly in pa rameter gt 23 Command pulse input factor numerator 24 Command pulse input factor denominator m Cause 3 Command pulse frequency is too large gt Remedy Decrease the Command output pulse frequency setting of the higher level system The appropriate frequency is normal rotation speed of actuator r min x 60 or less Encoder break detection Alarm clear not available Description This alarm occurs when the encoder signal ceases usually an encoder break is detected To release Diagnostic tips 1 Alarm occurs when the control power is turned on m Cause 1 The encoder connector CN1 may not be connected or may be improperly wired or encoder may be broken gt Remedy Verify connection of encoder connec tor CN1 and connect it firmly m Cause 2 The encoder circuit may have failed gt Remedy Contact Harmonic Drive AG Replace actuator m Cause 3 The control circuit of the HA 680 drive may have failed can be reset by inputting an ON signal to CN2 Alarm Clear ALM CLR after inputting an ON signal
3. tion control mode Both the line driver input or the open collector input can be used for the commands For the open collec tor system both signal voltages of 24 VDC and 5 VDC are acceptable The port connections are different Note 1 The power supply to the port CN2 26 24 V is the user s responsibility The HA 655 driver does not have an internal power sup ply for inputs Note 2 Three types of command configurations of 2 pulse 1 pulse 2 phase pulse are avail able by setting parameter gt 25 command pulse input configuration This has no effect on the connection specifications Note 3 The host circuitry for the command pulses should be negative logic circuitry in which a lower voltage OFF is used as a logic 1 active state and a higher voltage level ON is used as a logic O inactive state In the case of 2 pulse configuration the opt isolator of the no input pulses is OFF state Note 4 No command pulse can be accepted during servo off Connection for open collector system The details of the input ports are shown on the next page Specifications of the input ports are as follows Specifications of the input ports 1 Power voltage In case of 24 V 24 VDC 10 Incase of 5 V 5 VDC 10 2 Signal current 16 mA less than 20 mA 26 Harmonic Drive AG HA680 900180 02 2010 The connection depents on the supply voltage The pin numbers to be connected are conditio
4. Filter 1 Ground in Box a Ground in Box Ground in Box 3 4 3 Cabling In addition to the noise suppression mentioned previ ously the following must be observed 1 Use twisted pair cables for 1 0 signals and for en coder signals cables When a host controls several drivers prepare I O signal cables for each driver individually 2 Make the length of signal cables as short as pos sible a 1 0 signal cable 3 m or less b Encoder signal cable user s responsibility 20m or less providing that the wire conductivity is less than 0 04 ohm m Optional cables 3 m 5 m 10 m long are avail able 3 Install surge protector devices to magnetic relays coils magnetic switches conductor and sole noids GooD BAD GooD Filter Filter Grounding wires near power lines fs Wire Shield acceptable Ground in Box Ground in Box Ground in Box c 4 Separate power cables power source cables and motor cables and 1 0 signal cables in 30 cm or more Do not encase both cables in one pipe or duct and do not bundle them 5 Do not open the end of analog signal cables such as speed signal cables 6 As the HA 680 drive is designed for industrial use it provides no specific radio interference pro visions Accordingly line filters should be inserted for the power supply cables in the event that the driver is used in the vicinity of private residences causes apparent radio interference
5. Function Setting This parameter is set at speed control or torque Unit Lower limit Upper limit Default control The CN2 attained speed HI SPD signal is outputted when the actuator speed is more than the value of attained speed Motor maximum yanin rotation speed 2000 ote Motor rotation speed Actuator rotation speed x reduction ratio 32 Internal speed command speed Function Setting This function can operate the actuator without an Unit Lower limit Upper limit Default input signal This is convenient for test operations Motor maximum without hosts and for system diagnosis an g rotation speed d Actuator motion at the internal speed starts with the input CN2 external internal command CMD CHG and stops when the input is OFF To reverse an actuator with an internal speed com mand turn CN2 REV enable REV EN ON Note Motor rotation speed Actuator rotation speed x reduction ratio 74 Harmonic Drive AG HA 680 900180 02 2010 33 Acceleration time constant speed Function Setting This function sets the time for the motor to from O r min to the maximum rotation speed during speed control ms 1 9999 1 For external speed commands when a speed com mand faster than the set value is entered this set value has higher priority when a speed command slower than the set value is entered the speed com mand has higher priorit
6. REV pulse REV Inpu 16 7 REV pulse REV Input 17 8 24 VDC 24v Inpu 18 9 19 Speed command SPD CMD Input 20 20 Speed command ground SPD GND Input 21 Phase A output LD At Output 21 Phase A output LD A Output 22 Phase A output LD A Output 22 Phase A output LD A Output 23 Phase B output LD B Output 23 Phase B output LD B Output 24 Phase B output LD B Output 24 Phase B output LD B Output 25 Phase Z output LD Z Output 25 Phase Z output LD Zi Output 26 Phase Z output LD Z Output 26 Phase Z output LD Z Output Note 1 OC indicates the open collector LD indicates the line driver Note 2 For terminals without a signal name for input and output function assignment can be changed in parameter setting For details refer to 2 1 Note 3 Only neccessary for 24 VDC open collector systems ref to page 27 Do not connect the pins with in the Signal column to the external device Gono Ifyou do failure may occur because it is connected to the internal circuit 14 Harmonic Drive AG HA 680 900180 02 2010 Torque control Pin No a oo e o wm gt A WN ooN on h UNS O 25 26 Signal Output 1 attained speed Output 2 alarm Output 3 operation ready Output 4 limiting current Output 5 phase Z Output Oc Output signal common Input 1 servo ON Input 2 FWD start Inp
7. This alarm occurs when an error of the motor current detection circuit is detected To reset the alarm you must shut down the power and turn it on again after diagnosing the cause Overcurrent This alarm occurs when overcurrent is detected by the motor current detection circuit To reset the alarm you must shut down the power and turn it on again after diagnosing the cause Load short circuit The alarm occurs when excessive current flows through the FET To reset the alarm you must shut down the power and turn it on again after diagnos ing the cause Memory error The alarm occurs when read write fails due to fail ure of the EEPROM memory of the driver It can be reset by shutting down the power and turning it on again However if the same phenomenon persists it may be due to a driver failure Contact one of our branch offices Overspeed The alarm occurs when the rotation speed of the actu ator exceeds the motor axis maximum rotation speed 100 rpm for 0 5 s or longer To clear the alarm shut off the control power once and turn it on again 18 Harmonic Drive AG HA680 900180 02 2010 2 1 0 ports The HA 680 drive exchanges signals with the host device via the CN2 connector 26 pin half pitch con nector This chapter describes the details of the O signals 2 1 Assignment of I O signals 2 1 1 Assignment of input signals Assignment of the input signals varies depending on the setting value of 11 Input f
8. Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 30 Speed command input factor r min 6000 6000 6000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min 1 1 1 33 Acceleration time constant ms 1 1 34 Deceleration time constant ms 1 1 1 35 Analog command A D value Mid 3447 3447 3447 36 Analog command A D value Max 5984 5984 5984 37 Analog command A D value Min 910 910 910 38 Zero clamp 0 0 0 39 Reserved for the system note 0 0 0 40 Internal command input factor 1 1 1 41 Torque command input factor 293 365 261 42 Reserved for the system note 0 0 0 43 JOG operation acceleration deceleration m 500 500 500 time constant 44 JOG operation feed pulse count pulse 100 100 100 45 JOG operation S shape selection 0 0 0 46 JOG operation speed r min 500 500 500 47 Communication setting 0 0 0 48 CANID note 0 0 0 49 CAN communication speed note 0 0 0 ote This area is reserved for the system Do not perform any setting Harmonic Drive AG HA 680 900180 02 2010 7 Troubleshooting 7 1 Alarms and diagnostic tips The HA 680 drive provide various functions to pro tect the actuators and drivers against abnormal op erating conditions When these protection functions trip the actuator is stopped the m
9. For torque control amp 6 4 z inpia OUT Output 4f Output 2 en COM ieee Aes 3 ii Mo input 5 EA reat ats cap 3 Dapat 4 READY HESPD Viewed from soldering side 3 9 4 Connecting cables for the encoder 3 9 5 EIA 232C RS 232C cable specifications and 1 0 signals For EIA 232C RS 232C a dedicated cable HDM Firmly connect both connectors of the encoder cable RS232C cable length 1 5 m is provided and the I O signal cable to CN1 and CN2 sockets If you provide cables separately refer to the following of the HA 680 drive respectively specifications 1 Applicable terminal type for cables driver side Socket terminal DF11 2428 SCF Mfg by Hirose Socket DF11 8DS 2C Mfg by Hirose 2 Applicable diameter for cables 0 2 mm shield CN2 socket line 3 Maximum wiring length within 10 m Pin assignments refer the fiqure below HA 680 driver side Host side e CN1 socket RxD TxD G DTR 4 GND G DSR NC O NC HA680 900180 02 2010 Harmonic Drive AG 57 Encoder connector BWMOLOOL 3 10 Power ON and OFF sequences 3 10 1 Power ON OFF sequence circuit The following diagram shows the required On and Off sequence of the HA 680 drive 3 10 2 Frequency of power ON OFF operation Since the HA 680 drive provides a capacitor as an input filter of the rectifier circuit large transient current flows at every operation of the main power switch If the switching is operated too frequently the re
10. Input pin logic setting in Parameter With the default value the operation is as follows Open external command value Close internal command value Connection Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common 34 Harmonic Drive AG HA680 900180 02 2010 Setting for CN2 10 or 11 Speed limit SPD LMT input Function This signal limits the speed for value set in 16 Speed limit in Parameter Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value the speed limit state occurs when the input signal is on Setting for CN2 11 Current limit CUR LMT input Function This signal limits the current to below the value set in 17 Forward rotation current limit and 18 Reverse rotation current limit in Parameter Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value the current limit state occurs when the input signal is on CN2 12 Input signal common IN COM input Function The common value for input signals CN2 7 8 9 10 and 11 Connection Connect NO a contact contact signal Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common Connection Connect NO contact signal a contact Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common Connection Conn
11. Terminal block model vV ICA mci 5 6 G 3 81 W EH Phoenix contact e lt c9 5 Change the setting of the regenerative resistance internal external switch terminal of the HA 680 drive as shown below The external resistance is not effective unless the setting is changed Regenerative resistance internal external switch terminal iL pume Default setting When an external resistance is connected internal regenerative resistance Regenerative resistance internal switch terminal Regenerative fesisiance internal external switch terminal Default setting Heat sink HA680 900180 02 2010 Harmonic Drive AG 55 3 9 3 9 1 Preparing the encoder cable and the I O cable Follow these instructions for the preparation of the encoder cable and the 1 0 cable 1 Use twisted pair cables for 1 0 signals and for encoder signals cables When a host controls sev eral drivers prepare I O signal cables for each driver individually Make the length of the signal cables as short as possible a 1 0 signal cable 3m or less b Encoder signal cable user s responsibility 20 m or less providing that the wire conductivity is less than 0 04 ohm m Cable for 3 m 5 m 10 m are available as an option 2 Connecting cables for the encoder and the 1 0 3 Separate power cables power source cables and motor cables and 1 0 signal cables by 30 cm or more Do not encase both cables in one pipe or duct nor bundle t
12. This section describes the connection between the 1 0 ports and a host controller in position control mode Input signal The HA 680 drive provides five ports for inputs as shown in the figure to the right Specifications Voltage DC 24 V 10 Current 20 mA or less per port Connection The HA 680 drive does not provide the power supply for the input signals Connect a DC 24 V 10 power sup ply for the signals to CN2 12 input signal common External i wry power w Soro ON eee Input s npa jz Input 4 3 Ze inp 5 IA POS5A Erama power In COM 12 I pO Otu F x3 Voltage DGZ4V 10 hou signal Current 201A oF les per pod HA680 900180 02 2010 Harmonic Drive AG 21 Output signal The HA 680 drive provides five ports for outputs as shown in the figure to the right Specifications Port Open collector Voltage DC 24 V or less Current 40 mA or less per port Every port is insulated by an photocoupler Connections Connect output signals between their respective out put ports and CN2 6 output signal common port Monitor outputs The HA 680 drive provides 6 ports of 3 signals for en coder monitoring as shown in the figure to the right Specifications The phase A B and Z signals are transmitted by line drivers 26LS31 Connections Receive the signals by line receivers AM26LS32 or equivalent 2 2 3 1 0 port functions for position control Output 2
13. command TRQ COM and the CN2 20 Torque com mand ground TRQ GND Because the impedance of the analog command in put of HA 680 is low use an output impedance of 1 Kohms or lower If the output impedance is too high there may be a difference in voltage between the command and TROQ GND driver sides If it is impossible to use impedance below 1 Kohms for reasons of the system adjust the differ ence using the parameters 35 Analog command A D value Mid 36 Analog command A D value Max and 37 Analog command A D value Min For mor information on how to make adjustment refer tothe PSF 520 Software Manual Plan the torque command input circuit referring to the examples below Example of external torque command CN2 20 Torque command ground TRQ GND input oe Function The port is the common ground for the CN2 19 torque command TRQ CMD CN2 21 Phase A LD A output CN2 22 Phase A LD A output CN2 23 Phase B LD B output CN2 24 Phase B LD B output CN2 25 Phase Z LD Z output CN2 26 Phase Z LD Z output Function These ports transmit encoder signals of phase A B Z from the line driver 26LS31 Phase At Connection Receive the signals using a line receiver AM26LS32 or equivalent Note Use EIA 422A standard for line receiver HA680 900180 02 2010 Harmonic DriveAG 43 2 4 4 Connection example in torque control mode The figure below shows
14. sccccccn cece cette snasacteaceebectbcrrtesccctbetccaeeries 60 Setting Parameters eseccccsssssescecssetesceecsssecesseecesesteeseessnnteeseesseneteeeeeees 61 EndoftnaliUnsansin hnne a 61 Setting UP parameterS ssssssssssssrsrirrrrrrrrrrrrrernnnnnnnnsesenenernrererr 62 Parameter list Parameters HA680 900180 02 2010 Harmonic Drive AG 5 Content 6 3 De fallt parameter lists ccscssescsstssiesssssierstsvesssssiosionsaessnsensesredenvactapencseneens 79 7 Troubleshooting 71 Alarms and diagnostic tips 7 2 Troubleshooting for improper actuator motions 7 2 1 Improper motions in position control s sssssssssssrrssserssserersssseressese 94 7 2 2 Improper motions in speed and torque control seeeceseen 98 8 OPHONS aaan aain 102 8 1 RelayiGaBles scale eset aY 102 82 CONNECTOR GERRIE 103 8 3 Dedicated communication software PSF 520 free 103 Harmonic Drive AG HA 680 900180 02 2010 1 Characteristics of the HA 680 drive The HA 680 drive for 24 VDC power supply is a dedi cated driver that drives the FHA C mini 24 VAC type an ultra thin hollow shaft structure actuator with a combination of an ultra thin precision control reduc tion gear Harmonic Drive and flat AC servo motor and the RSF supermini series an ultra small AC servo 1 1 Main features m Small and compact design It is about half the size of a postcard just the size of a card case Its ultra lig
15. 1 Operates the regenerative brake 20 Rotary diection The power must be reset after making a change Function This function specifies the rotary direction of the ac tuator when responding to rotary direction commands FWD or REV of Command input signal The relation among them is as follows Setting FWD command REV command 0 FWD rotation REV rotation 1 REV rotation FWD rotation position speed torque Function The deviation counter calculates deviation count subtracting the feedback count from the position command A large position deviation may result in an error When the position error exceeds the Allowable posi tion deviation a max deviation alarm occurs and the servo power shuts off The relationship between the allowable position deviation position loop gain command pulse input factor and pulse command speed is determined by the following formula in a stationary state Set an ap propriate maximum pulse command value according to the speed Setting Unit Lower limit Upper limit Default 0 1 0 Note The power must be reset after a change The previous value is effective until you turn on the power again 21 Allowable position deviation position Setting Unit Lower limit Upper limit Default Pulse 0 32767 30000 Pulse command speed p S x Command pulse input factor numerator Allowable position de
16. 5 SD Input terminal for the encoder data input signal from the actuator 6 NC Do not connect 7 SD Input terminal for the encoder data input signal from the actuator 8 GND Common terminal of the 5 V power supplied to the encoder g 10 11 12 NC Do not connect 13 14 12 Harmonic Drive AG HA 680 900180 02 2010 1 7 3 2 CN1 Encoder connector For RSF series actuators and FHA C mini with 14 wire encoder Pin No Signal name Description 1 Vcc The power is supplied from the inside of the servo amplifier with the 5 V power supplied to the encoder 2 B Phase B signal input LD 3 BP Phase Z signal input LD 4 B Phase B signal input LD 5 A Phase A signal input LD 6 Z Phase Z signal input LD 7 A Phase A signal input LD 8 GND Common terminal of the 5 V power supplied to the encoder 9 U Phase U signal input LD 10 U Phase U signal input LD 11 V Phase V signal input LD 12 V Phase V signal input LD 13 W Phase W signal input LD 14 W Phase W signal input LD Note 1 LD indicates the line driver 1 7 4 CN3 Serial port connector Pin No Signal name Description 1 FG Frame ground 2 RXD Transmission data 3 TXD Reception data 4 DTR Data terminal ready 5 GND Signal ground 6 DSR Data set ready 7 NC Do not connect 8 NC Do not connect Dedicated communication cable HDM RS232C is required 1 7 5 CN4 CAN connector Pin No Signal name De
17. Encodercable FHA xxC xxx E200 E HA 680 CN1 Encoder cable RSF 11B RSF 14B PIN Signal Colour PIN Signal Colour Colour 5V Red 5V Red a red e White 2 N c 2 B Yellow c Red 3 Nuc 3 Z Green d Yellow 4 N c 4 B Black c Green 5 SD Z Yellow 5 A Blue b 2 Brown 6 G Nic 6 ZA Black d 2 Orange 7 SD e Blue 7 A Black b 2 Blue a ov Black e l ov we g Black T black a is 9 N c 9 U Blue f a Brown 10 ii Nec 10 U White amp Blue 11 N c 11 V Yellow g Red 12 N c 12 VW White g Green 13 N c 13 Ww Green h Yellow 14 N c 14 W White h Orange Numbers in refers to the cable pairs HA 680 900180 02 2010 Harmonic Drive AG 45 2 4 5 Motor connection HA 680 TB1 HA 680 TB1 Motor cable FHA xxC xxx D200 E HA 680 T81 Motor cable en PIN Signal a Colour PIN Signal Colour U U za Red u Ju 5 Red v v g White WV Se White amp SF W w 8 Black Ww w Black PE PE Green yellow PE PE Green yellow RSF 8B HA 680 TB1 Motor cable FHA xxC xxx E200 E HA 680 TB1 Motor cable RSF 11B RSF 14B PIN Signal Colour PIN Signal r Colour U U RS Red U U RS Red v vV White v v i White Yo Yo Ww Ww lt Black Ww Ww Z lt Black PE PE Green yellow RE PE Green yellow 46 Harmonic Drive AG HA 680 900180 02 2010 3 Installing the HA 680 drive 3 1 Receiving Inspection Check the followings whe
18. Lower limit Upper limit Default 0 9999 note Note The actual setting varies with the AC servo actuator model When changing the value consider the defaults shown in Section 6 3 Default parameters as the standard guide se Function This parameter specifies the factor used to give the first order derivative value to a speed command Usu ally set this factor to 0 This setting is usually required to improve the speed 04 Speed feed forward factor position Setting ting Unit Lower limit Upper limit Default 0 9995 0 Function This parameter specifies the factor used to give the second order derivative value to a torque command Usually set this factor to 0 This setting is usually required to improve the accel eration 05 Acceleration feed forward factor position Setting Unit Lower limit Upper limit Default 0 9999 0 Function For the purpose of suppressing self excited oscilla tions within the mechanical system this parameter specifies the factor for the cutoff frequency of the low pass filter of a torque command Usually set this factor to 0 06 Torque command filter position speed torque Setting Unit Lower limit Upper limit Default 0 9999 0 64 Harmonic Drive AG HA680 900180 02 2010 Functio
19. Output 3 Z phase OC oulput Output signal common OUT CO Vollage DCZ4V 210 Curent 40mA or less per port nadar Phase A sgnal ouput Encader Phase A sigra output neader Phase 2 signal autput Enoadir Phase Z agral ouiput Encoder montor ground This section describes the 1 0 port functions for position control CN2 1 In position IN POS output Function The signal is outputted as in position ready when the deviation count becomes less than the value of parameter gt 22 in position ready range The out put may be used to confirm in position ready signal etc in a host Connection 1 The figure to the right is a connection example of CN2 1 in position ready IN POS port 2 Configure the output circuit for the ports as fol lows Supply voltage Signal current 24 VDC or less 40 mA or less per port Logic changes can be performed with 14 Output pin logic setting in Parameter With the default value the output transistor is turned on when the pulse accumulated amount of the deviation counter is less than the positioning completion range setting value 22 Harmonic Drive AG HA680 900180 02 2010 CN2 2 Alarm ALARM output Function The output turns OFF when HA 680 drive senses an alarm The output is NC contact b contact signal Logic changes can be performed with 14 Output Connection 1 The figure to the right is a connection example of the CN
20. a connection example in torque control mode The values of Parameter 11 Input func tion assignment and Parameter 12 Output function assignment are 0 Note that the encoder connection varies depending on the actuator Torque command RO CMDs __ 19 m gt 24V DC Torque command common RO GND Ni bl m 2 a p oN IN COM ji o PE External power 2o i Ge he t Servo ON ZON Aiax j FWO enable SE AC Servo Actuator REV enable RI Ni S AGY ar SLEAR I l La Red Feier idon So R aes i J Black Altsined apaid ip spp hei Dia 4 i i Ready Reaoy Gurren Wi CURANTA t t Phase 2 tot Output common oyr com phase As I se Aiel wi Phase B hes P Npa Phase Z Nebel K nec konita n L 13 Sheld 44 Harmonic Drive AG HA680 900180 02 2010 2 4 5 Encoder connection HA 680 CN1 HA 680 CN1 Encoder cable FHA xxC xxx D200 E HA 680 CN1 Encoder cable ver PIN Signal Colour PIN Signal Colour Colour 1 5V Red 5V white red Red 2 B Grey 2 B Red Green 3 Z Yellow 3 Z Green Yellow 4 B White 4 B Blue Si 5 A x Green 5 A White 2 White 6 Z T Clear 6 Z Yellow 2 7 A s Dark green 7 A Black 8 ov 3 Black 8 OV White black Black 9 U Brown 9 U Orange lt Brown 10 u Purple 10 U Grey Fa 11 V Blue 11 V Gurple Blue 12 VY Light blue 12 VY Brown 13 Ww Orange 13 Ww Pink Orange 14 W Pink 14 W Light blue RSF 8B HA 680 CN1
21. and driver Actuator failure Driver failure Correct the phase order between them HA680 900180 02 2010 Harmonic Drive AG 99 Previous page Is the command voltage normal s any noise generated Is the actuator revoluborn speed below the max allowance N Decrease the actuator revolution speed below the allowance ts the load N Does gain inertia correct adjustment succeed Set the gain to the proper value Is the load fluctuation normal Does gain adjustment succeed Set the gain to the proper value 15 motor wiring N Verify motor cable from driver s connections disconnected or itthe phase orter correct Is parameter 17 18currant limit value too small N Set parameter 17 18 current limit normal Is there a noise included in the encoder signal ls the encoder signal normal Replace the actuator N If there is a npple on signal stabilize it Check whether noise is being generated Decrease the load inertia gt Has the load fluctuation decreased gt Use a large actuator Securely shield and ground the encoder cable 100 Harmonic Drive AG HA680 900180 02 2010 Does ratti resonance whet Improve the in the mechanical mechanical system system Replace the actuator or driver HA680 900180 02 2010 Harmonic D
22. depending on the actuator combined with it It cannot be used for any other actuator The value of the rated ouput current is affected by the combination of the actuator The value of the output maximum current is affected by the combination of the actuator HA 680 900180 02 2010 Harmonic Drive AG g 1 5 External drawing of the HA 680 drive Unit mm round mark L O m Specification indication plate Software version no seal 2 washer cross pan head machine screw rs brass round M3x6 ay Regenerative resistance internal Heat sink external switch terminal When HA 680 drive are installed in a cabinet leave enough ventilation space for cooling as shown below Control cabinet Cooling fan SUIT 30mm or more mdre Wall mount 50mmor Driver Air more Air i a Air filter 10 Harmonic Drive AG HA 680 900180 02 2010 1 6 Names and functions of parts e CN4 CAN connector e CAN terminal resistance switch jumper e TB2 Power supply connection terminal e Ground connection terminal e TBI Actuator external regenerative resistance connection terminal LED display unit Displays the operation state of the HA 680 drive with the green and red LEDs TB2 Power supply connection terminals The terminals for power supply These are divided into terminals for the control circuit power supply and ter minals for the main circuit pow
23. gt Ifthe setting is too high the servo system will tuator model When changing the value consid be unstable and hunting and overshoot may er the defaults shown in Section 6 3 Default occur parameters as the standard guide setting Low setting gt Ifthe setting is too low the responsiveness and tracking performance will be poor Overshoot Time ptimal Time When no hunting occurs and neither overshoot nor undershoot occurs increase gain HA680 900180 02 2010 Harmonic Drive AG 63 Function This parameter specifies the speed loop integral gain High setting gt lf the setting is too high the servo system will be unstable and hunting and overshoot may occur Low setting gt Ifthe setting is too low the responsiveness and tracking performance will be poor 02 Speed loop integral gain position speed Setting Unit Lower limit Upper limit Default 10 9999 note Note The actual setting varies with the AC servo actuator model When changing the value consider the defaults shown in Section 6 3 Default parameters as the standard guide setting Function This parameter specifies the speed loop derivative gain Usually set this factor to 0 High setting gt Ifthe setting is too high the servo system will be unstable and hunting and overshoot may occur 02 Speed loop integral gain position speed Setting Unit
24. input signals Connect a 24 VDC power supply for the signals to CN2 12 Input signal common Outputs The HA 680 drive provides five ports for outputs as shown in the figure to the right Specifications Voltage DC 24 V 10 Current 40 mA or less per port All ports are insulated by photocouplers Externa power E Dear w Samo ON p5 O input 2 input 3 i t Inula dopa 5 F I IN COM PO354 External pows DCR Volga OGAH input signat Cineni 20TA or hee tor wach tamsnal Output 2 Output 3 Output 4 Phase Z OC Oulpul common 30 Harmonic Drive AG HA680 900180 02 2010 output ports and CN2 6 Output common port Votugo bazavrios ONS Current dimh or less IF cach termina Connections Poe W of Connect output signals between their respective x Jourcom Pe ik Monitor outputs The HA 680 drive provides 6 ports of 3 signals for abs encoder monitoring as shown in the figure to the right Specifications The phase A B and Z signals are transmitted by the line drivers 26LS31 Connection Receive the signals by line receivers AM26LS32 or equivalent Monitor ground 26LS31 2 3 3 I O port functions for speed control This section describes O port functions in the speed control CN2 1 Attained speed HI SPD output Function HA 680 The output turns ON when the actuator motor ro Attained speed tates at a speed greater than the va
25. pin logic setting in Parameter With the default value the transistor is turned on while the speed is limited Limiting speed HA 680 CN2 3 SPD LMT M PC452 Can be set to CN2 4 current limiting CUR LMT M output Function This is outputted while the current limit input signal is inputted and the current is limited to the specified current Connection 1 The figure to the right is a connection example of the CN2 4 Current limiting CUR LMT M port 2 Configure the output circuit for the ports as follows Supply voltage 24 VDC or less Signal current 40 mA or less per port Logic change can be performed with 14 Output pin logic setting in Parameter HA 680 900180 02 2010 Harmonic Drive AG 23 CN2 5 phase Z OC Z output Function The output of the Z pulse of the encoder The signal is outputted one pulse per motor rotation Connection 1 The figure to the right is a connection example of the CN2 5 phase Z Z port 2 The output signal is insulated by photocouplers Response frequency 10 kHz max 3 Configure the output circuit for the ports as fol lows Supply voltage Signal current 24 VDC or less 40 mA or less per port The transistor is turned on during Phase Z output CN2 6 Output signal common OUT COM output signal Funtions The common terminal for output signals are CN2 1 2 3 4 and 5 CN2 7 Servo ON S ON input Function This turns the
26. ready range pulse 10 10 10 23 Command pulse input factor numerator 1 1 1 24 Command pulse input factor denominator 1 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 30 Speed command input factor r min 6000 6000 6000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min 1 1 1 33 Acceleration time constant ms 1 1 34 Deceleration time constant ms 1 1 35 Analog command A D value Mid 3447 3447 3447 36 Analog command A D value Max 5984 5984 5984 37 Analog command A D value Min 910 910 910 38 Zero clamp 0 0 0 39 Reserved for the system note 0 0 0 40 Internal command input factor 1 41 Torque command input factor 211 234 200 42 Reserved for the system note 0 0 0 43 JOG operation acceleration deceleration i 500 500 500 time constant 44 JOG operation feed pulse count pulse 100 100 100 45 JOG operation S shape selection 0 0 0 46 JOG operation speed r min 500 500 500 47 Communication setting 0 0 0 48 CANID note 0 0 0 49 CAN communication speed note 0 0 0 ote This area is reserved for the system Do not perform any setting Harmonic Drive AG HA 680 900180 02 2010 No Description unit FHA 14C 30 FHA 14C 50 FHA 14C 100
27. terminal firmly When working with the connection cables be careful not to damage the wire To prevent malfunction of the HA 680 drive due to CP Lal external noise insert the noise filter into the power CP EJ CP MP a O CP amp MP MP La Model A MP Coy Mcis s c 3 81 Phoenix contact line DC24V AC DC converter Noise filter The HA 680 drive contains a surge current suppress circuit of capacitor type Although the circuit reduces Power gt Main switch line voltage fluctuation avoid daisy chain wiring of the power lines and connect units with a main switch The HA 680 drive is the DC power input type Use the power supply with the following power supply capacity Good cable management Main switch device Bad cable management Drive Actuator 5 saa supply capacity W Continuous rating Instantaneous HA 680 4 FHA 8C RSF 8 40 120 FHA 11C 80 240 HA 680 6 FHA 14C RSF 11 RSF 14 120 360 HA 680 4B RSF 3B RSF 5A 20 50 To supply power use the secondary side power supply with double insulation WARNING from the primary side HA680 900180 02 2010 Harmonic Drive AG 53 3 6 Connecting the ground wire Use a wire of the following size or more Terminal connector Allowable wire sizes mm Ground PE 1 25 The HA 680 drive is provided with a grounding terminal 3 7 Connecting the motor and regeneration resistor c
28. the allowable input voltage WARNING The range of the input voltage is between 10 V and 10 V Any voltage outside this range may damage the driver HA 680 900180 02 2010 Harmonic Drive AG 35 Connection Connect the voltage signal to the CN2 19 speed command SPD COM and the CN2 20 SPD GND Because the impedance of the analog command in SPD CMD put of HA 680 is low use an output impedance of 1 CN2 19 20kQ Kohms or lower If the output impedance is too high there may be CN2 20 a difference in voltage between the command and driver sides If it is impossible to use impedance be low 1 Kohms for reasons of the system adjust the difference using the parameters 35 Analog com SPD GND mand A D value Mid 36 Analog command A D value Max and 37 Analog command A D value Min Plan the speed command input circuits by referring to SPD CMD the examples below Example of external speed command CN2 20 Speed command ground SPD GND input SPRAY Function The port is the common ground for the CN2 19 speed command SPD CMD CN2 21 Phase A LD A output CN2 22 Phase A LD A output CN2 23 Phase B LD B output CN2 24 Phase B LD B output CN2 25 Phase Z LD Z output CN2 26 Phase Z LD Z output Function R These ports transmit encoder signals of Phase A B Z Phase A from the line driver 26LS31 Connection Receive the signals us
29. the encoder cable 3 Verifying the 1 0 signal communication with the host device Turning an control power If the actuator code set in the driver and the actua tor that is actually connected match gt The green LED power on of the HA 680 drive illuminates As a result of auto identification the actuator code matches The next operation is turning the servo power ON Start with the procedure 3 Turning on the main circuit power If the actuator code set in the driver and the actua tor that is actually connected do not match gt The green LED of the HA 680 drive blinks As a result of auto identification the actuator code does not match 60 Harmonic Drive AG HA 680 900180 02 2010 Turning on main circuit power 3 Turn on main circuit power and transmit ON signal to CN2 7 servo ON S ON gt The red LED of the HA 680 drive illuminates The drive circuit is turned on and a current flows through the actuator 4 For the position mode transmit ON signal to CN2 clear CLEAR or CN2 deviation clear DEV CLR gt Clear the internal error counter to zero Operating the actuator by JOG operation 5 JOG operation can be performed using a host de vice with the communication software PSF 520 installed Start up PSF 520 6 Open the Parameter Setting window 7 Specify the operation pattern using 43 JOG operation acceleration deceleration time con stant 44 JOG operation feed pulse
30. 0 0 14 Output pin logical setting 2 2 2 5 Control input filter time costant ms 0 0 0 16 Speed limit r min 10000 10000 10000 7 FWD current limiting 327 278 230 18 REV current limiting 32m 278 230 9 Regenerative brake ON OFF 0 0 0 20 Rotary direction 0 0 0 21 Allowable position deviation pulse 30000 30000 30000 22 In position ready range pulse 10 10 10 23 Command pulse input factor numerator 1 1 1 24 Command pulse input factor denominator l 1 1 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 0 0 0 30 Speed command input factor r min 10000 10000 10000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min 1 1 1 33 Acceleration time constant ms 1 34 Deceleration time constant ms 1 35 Analog command A D value Mid 3447 3447 3447 36 Analog command A D value Max 5984 5984 5984 37 Analog command A D value Min 910 910 910 38 Zero clamp 0 0 0 39 Reserved for the system note 0 0 0 40 Internal command input factor 1 41 Torque command input factor 327 278 230 42 Reserved for the system note 0 0 0 43 JOG operation acceleration deceleration iis 500 500 500 time constant 44 JOG operation feed pulse count pulse 100 100 100 45 JOG operation S shape selection 0 0 0 46 JOG operat
31. 0 02 2010 CN2 6 Output common OUT COM output Function This is the common port for the CN2 1 2 3 4 5 ports CN2 7 Servo ON S ON input Function This turns the servo power for the HA 680 drive ON and OFF About 100ms after the INPUT turns ON the servo power of the HA 680 drive is ON and the actua tor can be driven When OFF the servo power turns OFF and the motor is free to rotate Logic changes can be performed with 14 Output pin logic setting in Parameter With the default value CN2 8 FWD enable FWD EN input CN2 9 REV enable REV EN input Function While the FWD enable is ON the actuator rotates forward when the CN2 19 Torque command TRQ CMD is command In contrast the actuator ro tates in reverse when CN2 19 is command While the REV enable is ON the actuator rotates in reverse when the CN2 19 Torque command TRQ CMD is command Conversely the actuator ro tates forward when the CN2 19 is command When both signals of FWD enable and REV en able are ON or OFF the actuator is holding the position or zero speed depending on the setting of parameter gt 38 zero clamp the servo ON state occurs when the input signal is on Connection Connect NO contact signal a contact Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common Exchanging the signals of FWD enable and REV enable should be carried out when the
32. 00 Position loop gain 40 40 40 01 Speed loop proportional gain 250 250 250 02 Speed loop integral gain 20 20 20 03 Speed loop derivative gain 0 0 0 04 Speed feed forward factor 0 0 0 05 Acceleration feed forward factor 0 0 0 06 Torque command filter 0 0 0 07 Speed step correction 0 0 0 08 Torque step correction 0 0 0 09 Step correction switch range pulse 4000 4000 4000 10 Control mode 1 1 1 1 Input function assignment 0 0 0 12 Output function assignment 0 0 0 3 Input pin logical setting 0 0 0 14 Output pin logical setting 2 2 2 5 Control input filter time costant ms 0 0 0 16 Speed limit r min 6000 6000 6000 7 FWD current limiting 247 304 280 18 REV current limiting 247 304 280 9 Regenerative brake ON OFF 0 0 0 20 Rotary direction 0 0 0 21 Allowable position deviation pulse 30000 30000 30000 22 In position ready range pulse 10 10 10 23 Command pulse input factor numerator 24 Command pulse input factor denominator 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 30 Speed command input factor r min 6000 6000 6000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min 1 1 1 33 Acceleration time constant ms 1 34 Deceleration time constant
33. 102 Harmonic Drive AG HA680 900180 02 2010 8 2 Connectors Connectors for CN1 and CN2 connectors of HA 680 and terminal blocks for motor connection and power supply for options are available as follows Connector type CNK HA68 S1 For CN1 For CN2 For motor connection For power supply 4 types Connector type CNK HA68 S2 For CN2 For power supply s ssssissssrssssrsssrssserssserssserseees Connector for CN1 Mfg by Sumitomo 3M Connector 10114 3000PE eA Case 10314 52F0 008 1 w Terminal block for actuator Mfg by Phoenix contact Model MC1 5 6 ST 3 81 Or Mfg by OMRON Model XW4B 06B1 H1 Connector for CN2 Mfg by Sumitomo 3M Connector 10126 3000PE Case 10326 52F0 008 Terminal block for power supply Mfg by Phoenix contact Model MC1 5 5 ST 3 81 Or Mfg by OMRON Model XW4B O5B1 H1 8 3 Dedicated communication software PSF 520 free This software allows you to set and or change param eters to the HA 680 drive from your PC To change the servo parameters of the driver connect CN3 of the HA 680 drive and the PC with dedicated communication software PSF 520 installed with the EIA 232C cross cable dedicated cable HDM RS232C Cable length 1 5 m For details of dedicated communication software PSF 520 refer to a separate document PSF 520 User s Manual Dedicated communication software PSF 520 can be downloaded from our website at http www
34. 2 2 Alarm ALARM port 2 Configure the output circuit for the ports as fol lows Supply voltage Signal current 24 VDC or less 40 mA or less per port CN2 3 Ready READY output Function The output turns ON when the driver becomes ready to drive after initialization and the driver is ready to communicate with a host Note The signal stays ON even during an alarm Connections 1 The figure to the right is a connection example of the the CN2 3 Ready READY port 2 Configure the output circuit for the ports as fol lows Supply voltage Signal current 24 VDC or less 40 mA or less per port pin logic setting in Parameter With the default value the transistor is turned on during normal opera tion and turned off when an error is detected HA 680 Logic changes can be performed with 14 Output pin logic setting in Parameter With the default value the transistor is turned on with the operation ready state Setting for CN2 3 or 4 Speed limiting SPD LMT M output Function This is outputted while the speed limit input signal is in putted and the speed is limited to the specified speed Connection 1 Speed limited to CN2 3 An example of the con nections when SPD LTM M is set is shown 2 Configure the output circuit for the ports as fol lows Supply voltage Signal current 24 VDC or less 40 mA or less per port Logic changes can be performed with 14 Output
35. 2 2010 Harmonic Drive AG 25 Setting for CN2 11 Current limiting CUR LMT input Function This signal limits the current below the value set in 17 Forward rotation current limit and 18 Reverse rotation current limit in Parameter If you continue to input a command pulse while the current is limited and no acceleration to the speed is possible because the current is limited the deviation counter overflow alarm occurs This alarm can be cleared by CN2 Clear CLEAR or CN2 Alarm clear ALM CLR Be careful when you release it because the speed increases instantaneously when the limit is released while the current is limited CN2 12 Input signal common IN COM input Function The common for all input signals CN2 7 8 9 10 and 11 CN2 13 Encoder monitor ground MON GND output Function The common for encoder monitor terminals C2 21 to 26 Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value the current limit state occurs when the input signal is on Connection Connect NO a contact contact signal Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common Connection Connect 24 VDC of the input signal external power supply CN2 14 15 FWD pulse FWD FWD input CN2 16 17 REV pulse REV REV input CN2 18 24V 24 VDC input Function These ports receive position commands in the posi
36. 22 In position ready range 0 9999 23 Command pulse input factor numerator 999 24 Command pulse input factor denominator 999 Position control related 25 Command pulse input form 0 2 26 Multiplication at 2 phase input 24 27 Servo on deviation clear 0 1 28 Angle correction 0 1 29 Auto gain setting at positioning 0 1 30 Speed command input factor 1 1 31 Attained speed determination value 32 Internal speed command value 0 1 33 Acceleration time constant 9999 34 Deceleration time constant 1 9999 Speed control telated 35 Analog command A D value Mid 0 8192 36 Analog command A D value Max 0 8192 37 Analog command A D value Min 0 8192 38 Zero clamp 0 1 39 Reserved for the system 3 40 Internal command input factor 0 2 Torque control related 41 Torque command input factor 0 2 42 Reserved for the system 3 43 JOG operation acceleration deceleration time 1 9999 constant JOG related 44 JOG operation feed pulse count 1 9999 45 JOG operation S shape selection 0 1 46 _ JOG operation speed 0 1 47 Communication setting 0 1 Communication related 48 CANID 3 49 CAN communication speed 23 1 This is the maximum rotation speed of the applicable actuator x reduction ratio 2 The setting varies depending on the applicable actuator 3 This area is reserved for the system Do not perform any setting 62 Harmonic Drive AG HA 680 900180 02 2010 6 2 Parameters 00 Position
37. 4 deceleration time constant m Cause 2 Gain is set too high or too low Remedy 1 Adjust gains in parameter gt 00 position loop gain 01 Speed loop proportional gain 02 speed loop integral gain and 03 Speed loop derivative gain proportional to the load 5 The alarm occurs while running it is possible to restart after 4 to 5 minutes m Cause 1 Actuator overloaded gt Remedy Review the actuator s actual load profile to lower the duty m Cause 2 Ambient temperature of the HA 680 drive is more than 50 C gt Remedy Review the driver s installation and it s cooling system the HA 680 drive 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 m Cause 1 Short connection in the motor cable gt Remedy Verify the connection of the motor cable and correct it or replace it if necessary m Cause 2 Short connection in the motor winding gt Remedy Contact Harmonic Drive AG Replace actuator 92 Harmonic Drive AG HA680 900180 02 2010 4 Alarm occurs during acceleration or deceleration m Cause 1 Excessive load inertia and the accelerat ing or decelerating time is too short gt Remedy 1 Reduce the load inertia Remedy 2 Set longer times for parameter gt 33 acceleration time constant and 34 deceleration time constant m Cause 2 Gain is set too high or t
38. 447 3447 36 Analog command A D value Max 5984 5984 5984 37 Analog command A D value Min 910 910 910 38 Zero clamp 0 0 0 39 Reserved for the system note 0 0 0 40 Internal command input factor 1 1 41 Torque command input factor 190 195 193 42 Reserved for the system note 0 0 0 43 JOG operation acceleration deceleration m 500 500 500 time constant 44 JOG operation feed pulse count pulse 100 100 100 45 JOG operation S shape selection 0 0 0 46 JOG operation speed r min 500 500 500 47 Communication setting 0 0 0 48 CANID note 0 0 0 49 CAN communication speed note 0 0 0 ote This area is reserved for the system Do not perform any setting Harmonic Drive AG HA 680 900180 02 2010 No Description unit RSF 11B 30 RSF 11B 50 RSF 11B 100 00 Position loop gain 40 40 40 01 Speed loop proportional gain 140 140 140 02 Speed loop integral gain 20 20 20 03 Speed loop derivative gain 0 0 0 04 Speed feed forward factor 0 0 0 05 Acceleration feed forward factor 0 0 0 06 Torque command filter 0 0 0 07 Speed step correction 0 0 0 08 Torque step correction 0 0 0 09 Step correction switch range pulse 4000 4000 4000 10 Control mode 1 1 1 11 Input function assignment 0 0 0 12 Output function assignment 0 0 0 13 Input pin logical setting 0 0 0 14 Output pin logical setting 2 2 2 15 Control input fil
39. 680 900180 02 2010 Turn OFF CN2 CLEAR Check motor cable connection ls phase order correct between motor and driver Correct the phase order between them No layer short grounding in motor Actuator fault Is the actuator Unlock the actuator shaft blocked shaft Actuator fault Unstable rotation in position control l the power Apply the proper supply voltage voltage normal ts the power supply voltage Check the power lluctuation within capacity input capacity its allowance atc HA680 900180 02 2010 Harmonic Drive AG 95 Is he temperature inside the cabinet OK N Review heat generating devices and cooling system is the command pulse normal Is any noise generated N Make the command pulse level voltage synchronization frequency etc normal Check whether noise is being generated Is the actuator revolution speed below the max allowance N Decrease the actuator revolution speed below the allowance ts gain adjustment required N Decrease the load inertia Is the load inertia acceptable Set the gain to the proper value Is the load i gain fluctuation N adjustment N Has the yan fluctuation normal required Seoreaser Use a large actuator Set the gain to the proper value ps beta N Verity motor cable connections phase order
40. ANID note 0 0 0 49 CAN communication speed note 0 0 0 ote This area is reserved for the system Do not perform any setting The value shown inside of parentheses is for the acturator with brakes HA 680 900180 02 2010 Harmonic Drive AG 85 The value shown inside of parentheses is for the acturator with brakes 86 No Description unit RSF 14B 30 RSF 14B 50 RSF 14B 100 00 Position loop gain ii 40 40 40 01 Speed loop proportional gain 120 120 120 02 Speed loop integral gain 20 20 20 03 Speed loop derivative gain 0 0 0 04 Speed feed forward factor 0 0 0 05 Acceleration feed forward factor 0 0 0 06 Torque command filter 0 0 0 07 Speed step correction 0 0 0 08 Torque step correction 0 0 0 09 Step correction switch range pulse 4000 4000 4000 10 Control mode 1 1 1 11 Input function assignment 0 0 0 12 Output function assignment 0 0 0 13 Input pin logical setting 0 0 0 14 Output pin logical setting 2 2 2 15 Control input filter time costant ms 0 0 0 16 Speed limit r min 6000 6000 6000 17 FWD current limiting 293 365 261 18 REV current limiting 293 365 261 19 Regenerative brake ON OFF 0 0 0 20 Rotary direction 0 0 0 21 Allowable position deviation pulse 30000 30000 30000 22 In position ready range pulse 10 10 10 23 Command pulse input factor numerator 24 O pulse input factor denomina 1 1 1 25
41. Ae 0 50 100 150 200 250 Output torque FHA C mini AC24 V type The alarm occurs when a current of more than 1 25 times the allowable continuous current of the actuator flows for about 170 seconds The alarm occurs when a current of 3 times the allowable continuous current of the actuator flows for about 16 seconds 2 RSF supermini series The alarm occurs when a current of more than 1 2 times the allowable continuous current of the actuator flows for about 35 45 seconds 1 The alarm occurs when a current of 2 times the allowable continuous current of the actuator flows for about 5 6 seconds 2 It is possible to clear the alarm by inputting an ON signal to CN2 Clear or Alarm clear if it is not over oad again Deviation counter overflow The alarm occurs when the value of the deviation counter exceeds the parameter setting value PSF 520 No 21 Allowable position deviation This alarm can be reset by inputting an ON signal to CN2 Alarm Clear ALM CLR after inputting an ON signal to CN2 Clear CLEAR or CN2 Deviation Clear DEV CLR Values in brackets for RSF 3B Encoder break detection This alarm occurs when the signal from the encoder is lost To reset the alarm you must shut down the power and turn it on again after diagnosing and rem edying the cause Encoder reception error This alarm occurs when data cannot be received from the encoder successfully or encoder signal outpu
42. CN2 16 17 Reverse Polarity Phase B Setting 0 2 Setting Unit Lower limit Upper limit Default 0 2 0 Note The power must be reset after a change The pulse 26 Multiplication at 4 phase input position Function When command pulse input form is set at 2 phase it is possible to make the motion command pulse count two or four times greater than the com 72 mand pulse count Setting Unit Lower limit Upper limit Default 1 4 4 ote The power must be reset after a change The previous value is effective until you turn on the power again The power must be reset after making a change 1 Same as the command count 2 Two times the command count 4 Four times the command count Harmonic Drive AG HA 680 900180 02 2010 Function Even when the servo power is OFF the control power is still ON If the position of the load mechanism shifts due to gravity or manual force while the servo power is OFF the deviation count changes If the servo pow er is turned ON the actuator rotates rapidly to make the deviation count return to 0 This rapid motion may be dangerous The Servo ON function allows the deviation count to be reset to 0 when the servo power is turned on Thus the actua Setting Unit Lower limit Upper limit Default 0 1 0 27 Servo on deviation clear position tor will not move when the servo power is restored However the p
43. Engineering Data AC Servo Drive HA 680 QUICKLINK www harmonicdrive de 1110 SAFETY GUIDE For FHA series RSF series HA series Read this manual thoroughly before designing the application installation maintenance or inspection of the actuator Indicates a potentially hazardous situation which if not avoided could result in death or serious personal injury WARNING LIMITATION OF APPLICATIONS Indicates a potentially hazardous situation on Which if not avoided may result in minor or moderate personal injury and or damage to the equipment The equipment listed in this document may not be used for the applications listed below Space equipment Aircraft aeronautic equipment Nuclear equipment Household apparatus Vacuum equipment Automobile automotive parts Amusement equipment sport equipment game machines Machine or devices acting directly on the human body Instruments or devices to transport or carry people Apparatus or devices used in special environments If the above list includes your intending application for our products please consult us Safety measures are essential to prevent accidents resulting in death injury or damage of the equipment due to malfunction or faulty operation SAFETY FOR ACTUATOR DESIGN Always use under followings conditions m Ambient temperature 0 C to 40 C m Ambient humidity 20 to 80 RH Non condensation m Vibration Max 24 5 m S2 m No contam
44. For the reason that the speed loop gain is proportion ate to deviation pulse number the positioning speed at small error pulse numbers becomes comparatively low In the case the positioning response may be im proved by the higher speed loop gain If the speed loop gain registered in parameter gt 01 Speed loop proportional gain is higher than the automatic gain the speed loop gain has priority 0 without auto gain setting for positioning 1 with auto gain setting for positioning Setting Unit Lower limit Upper limit Default 0 1 HA 680 900180 02 2010 Harmonic Drive AG 73 30 Speed command input factor The power must be reset after making a change speed Function Setting This function sets the motor s rotation speed when ae ae Unit Lower limit Upper limit Default the input command voltage is 10 V raa The relation between the input voltage and motor t min 1 rotation speed rotation speed is determined by the speed command input factor in the following formula Speed command input factor 10 0 V Motor rotation speed Input command voltage x Note The power must be reset after a change The The value varies depending on the model of the previous value is effective until you turn on actuator the power again ote Motor rotation speed Actuator rotation speed x reduction ratio 31 Attained speed determination value speed torque
45. HA 680 900180 02 2010 Harmonic Drive AG 51 3 5 Connecting power cables 3 5 1 Instructions for power supply WARNING Before connecting the power cable to the HA 680 drive turn OFF the electric 1 Connect the power cable to the CAUTION ity to avoid electric shock 3 5 2 Allowable sizes of cables The minimum allowable wire sizes for the power ca bles ground wires and other cables are listed below We recommend wires as thick as possible HA 680 drive only after installing the driver on a wall 2 Ground the HA 680 drive to avoid electric shock malfunctions caused by external noise and for the suppression of radio noise sup pression Allowable wire sizes mm HA 680 4 HA 680 6 HA 680 4B HA 680 6B Cable Symbol FHA 8C FHA 14C RSF 3B RSF 8B RSF 11B FHA 11C RSF 5A RSF 14B Main Power Supply MP MP 1 25 Control Power Supply CP CP 1 25 Motor Leads Note 3 U V W E 0 5 075 0 33 0 5 075 Ground FG line Ground mark 125 For external resistance VM R GND 125 external capacitor Encoder Port Note 3 CN1 0 3mm twist pair shielded cable Note 3 1 0 Signal Port CN2 0 35mm twist pair or twist pair whole shielded cable Note 1 When bundling wires or enclosing in conduits plastic or metal pipes use wire one size larger Note 2 In hot environments such as the temperature in a cabinet use heat resistant cable IV or HIV Note 3 We provide the following relay c
46. Installations aeea as ated a eiaa a 49 MSAN Ginen ai 49 Suppressing noise Grounding Installing noise filters CABIN G4 e a aa a EE 51 Connecting power CableS scccscssssscsesssesessseessseeteescecssnteeeeesennesess 52 Instructions for pOWer SUPDLY seseseccscsssetseccessseeteeceecceeteteeesesnteteeeees 52 Allowable sizeof cables isiiscisccctiscdiessntcaissticlabeccetilisnaiishainishvnss 52 Connecting power cables Connecting the ground wire Connecting the motor and regeneration resistor cables Connecting regenerative absorption resistance capacitot 54 Connecting cables for the encoder and the 0 sscsseeeee 56 Preparing the encoder cable and the O Cable 56 Pin layout of encoder connector CN1 csssesesscssesssssssssnnees 56 Pin layouts of the 1 0 signal connector CN2 ssssssssseeseeeseeee 57 Connecting cables for the encoder and 1 0 signals EIA 232C RS 232C cable specifications Power ON and OFF sequences Power ON OFF sequence circuit sss ssserssssrsserrsserssserssesrsseressersssens 58 Frequency of power ON OFF operation sssscsccssseeesesseseeee 58 Power on and off S qUueMCES cssssestsccsesseetsecseecessteeceesennneessecesnsessess 58 Functions of dedicated communication software PSF 520 59 POPALIONS sicecssecsacedecseseersencieudcascbeastc eedierisenladieedterdqsteenceties 60 Mialan 60 Drivingracttat r only
47. LD A output CN2 23 Phase B LD B output CN2 24 Phase B LD B output CN2 25 Phase Z LD Z output CN2 26 Phase Z LD Z output Function These ports transmit encoder signals of phase A B Z through the line driver 26LS31 Connection Receive the signals using a line receiver AM26LS32 or equivalent Note Use EIA 422A standard for the line receiver Phase A Phase A Phase B Phase B HA 680 900180 02 2010 Harmonic Drive AG 27 2 2 4 Connection examples for the position control mode a Connection example for position control mode with open collector signals The figure below shows a connection example of position control for open collector signals The command for mat is 2 pulse method and the setting values of Parameter 11 Input function assignment and Parameter 12 Output function assignment are 0 Note that the encoder connection varies depending on the actuator 5 HA 680 5V a2 szav 2a FWD a Lula t O rwo ANE ps Op eee pen any vee i pea REV pulse Ni tol EE E COM OV ob aN pens N OO BE o PE External p war Coy FE HE Servo ON Aa p FWD inhibit FWO na Ag vev mn a ev Ly Alerm clear 4 5 MCR AE f nevecir A da R d pae Stare E TY m E o He In positon N PO I W Alarm ALARM rant Ready READY Speed limit SPD LMT M Phase Z a Output common gur com Prase A I a Nfa K Pa B Nipa z Npa Shied 28 Harmonic Dr
48. ables Connect the motor cable to the U V W terminals of the HA 680 drive as shown in the figure below Refer to the phase order of the motor cable in the actuator manual and connect the end terminal of the cables to the driver terminals that have the same symbol GND U actuator v wW No alarms are provided for wrong phase order or for open phases In addition refer to 3 5 3 Connecting power cables VM JCH R O GND uU C v Model MC1 5 6 G 3 81 w CA Phoenix contact may cause abnormal actuator motion WARNING Wrong phase order and connection or disconnection of the motor cable during driving 3 8 Connecting regenerative absorption resistance capacitors HA 680 has a regenerative absorption circuit as stand ard The capacity of the regenerative resistance incor porated into the main unit is 2 W Under the operating conditions in which operation can be performed only For the RSF supermini series actuators the regenera tive absorption circuit incorporated as standard has sufficient capacity No external resistance or capaci tor is required with the main unit set the tact time above the calcula tion result shown in the table below Drive Actuator Formula HA 680 4 FHA 8C RSF 8B 0 3 x Load inertia 0 1 second FHA 11C 0 6 x Load inertiat 0 5 second HA 680 6 FHA 14C RSF 11B RSF 14B 1 7 x Load inertia 2 0 second m If the tact time is shorter than the calculat
49. ables 3 m 5 m 10 m for the motor and encoder Note that the model varies depend ing on the actuator used Servo drive Actuator Motor feedback Motor cable Brake cable Encoder cable Input RSF 3B xxx D020 C 8 wire encoder with EWA Mxx JSTO4 TN2 EWA Bxx JSTO3 TMC EWA Exx M09 3M14 HALL sensor Open H RSF 5A xxx D050 xC A 680 4B 24 ate j collector RSF 8B xxx F100 24A C EEREN EWC MBxx A06 TN2 not available EWB EMOR HA 680 6B 24 3M14 RSF 14B xxxF100 24A C 14 wire encoder with HALL sensor RS422 HA 680 4 24 FHA 8C xxx D200 E line driver not available FHA 11C xxx D200 E HA 680 6 24 FHA 14C xxx D200 E not available HA 680 4 24 FHA 8C xxx E200 CE FHA 11CxxxE200 cg Wire encoder with EWC MBxxA06TN2 not available EWC ExxM06 3M14 serial interface HA 680 6 24 FHA 14C xxx E200 CE Note 1 The encoder connecting cable includes an xx 03 3 m cable length electronical circuit to transform the Open 05 5m cable length collector signal into a differential signal The 10 10m cable length encoder extension cables are available in the following three versions 52 Harmonic Drive AG HA 680 900180 02 2010 3 5 3 Connecting power cables The terminal block for the power is located on the front panel of the HA 680 drive As shown in the figure to the right strip the end of tze wires of the power supply cable and the motor cable and connect the wires to each
50. actuator stops and the CN2 7 servo ON S ON is ON state Otherwise the actuator may move rapidly falling into dangerous situation Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value rotation starts at signal on CN2 19 Torque command TRQ CMD Torque command Torque command CN2 8 FWD enable FWD EN ON OFF ON OFF Torque zero REV rotation Torque zero FWD rotation CN2 9 REV enable REV EN z OFF FWD rotation Torque zero REV rotation Torque zero Connection Connect NO contact signal a contact Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common Setting for CN2 10 alarm clear ALM CLR input Function This signal clears the alarm state and makes it ready for operation When an alarm that cannot be cleared occurs shut down the main circuit power supply and control circuit power supply remove the cause of the alarm and then turn on the power again Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value the alarm clear function works at the edge of the in put signal ON Connection Connect NO contact signal a contact Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common HA680 900180 02 2010 Harmonic Drive AG 41 Setting for CN2 10 or 11 external internal common CMD CHG input Function T
51. al common HA680 900180 02 2010 Harmonic Drive AG 33 CN2 8 FWD enable FWD EN input CN2 9 REV enable REV EN input Function While the FWD enable is ON the actuator rotates forward when the CN2 19 speed command SPD CMD is command In contrast the actuator ro tates in reverse when the CN2 19 is command While the REV enable is ON the actuator rotates in reverse when the CN2 19 speed command SPD CMD is command Conversely the actuator ro tates forward when the CN2 19 is command When both signals of FWD enable and REV en able are ON or OFF the actuator is holding the position or zero speed depending on the setting of parameter gt 38 zero clamp Exchanging the signals of FWD enable and REV enable should be carried out when the actuator stops and the CN2 7 servo ON S ON is ON state Otherwise the actuator may move rapidly falling into dangerous situation Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value rotation starts at signal on CN2 19 Speed command SPD CMD Command Command CN2 8 FWD enable FWD EN ON OFF ON OFF ON Zetorclainp REV rotation zero clamp FWD rotation zero speed zero speed CN2 9 REV enable REV EN 7 Sea OFF FWD rotation eee REV rotation oc anpr zero speed zero speed 3 Occurrence of an alarm The zero clamp or zero speed function is not avai
52. ample To enable Input 4 and Input 5 as normal open 8 16 24 Therefore set the value as 24 Function 14 Output pin logical setting The power must be reset after making a change This function sets the logic to determine the function operation state of the external output signals Set the sum of the desired logic values in the follow position speed torque owing table Signal Normal close Normal open CN2 7 Input 1 Servo ON S ON 0 1 CN2 8 Input 2 0 2 CN2 9 Input 3 0 4 CN2 10 Input 4 0 8 CN2 11 Input 5 0 16 Setting Unit Lowerlimit Upper limit Default Note The power must be reaet after a change The a Al 5 previous value is effective until you turn on the power again Example To enable Output 3 and Output 4 as normal open 4 8 12 Therefore set the value as 12 ing table Signal Normal close Normal open CN2 1 Output 1 0 1 CN2 2 Output 2 0 2 CN2 3 Output 3 0 4 CN2 4 Output 4 0 8 CN2 5 Output 5 Phase Z OC output Z 0 Setting Unit Lowerlimit Upper limit Default Note The power must be reset after a change a E The previous value is effective until you turn on the power again Note Logical setting of Output 5 phase Z OC output cannot be performed 68 Harmonic Drive AG HA 680 900180 02 2010 Function This function sets the time constant for the soft low pass filter applied to the signals at the control i
53. ape ON S shape acceleration deceleration Note In other control modes this parameter is not effective even if it is set HA680 900180 02 2010 Harmonic Drive AG 77 46 JOG operation speed position speed torque Setting Function i Unit Lower limit Upper limit Default This function sets the motor maximum rotation speed ere 5 for by JOG commands min 0 rotation speed 50 Remark Motor rotation speed ctuator rotation speed x ratio 47 Communication setting Function Setting This function selects whether the end code of the Unit Lower limit Upper limit Default communication data is in uppercase or lowercase 0 Lowercase g l g 1 Uppercase This setting does not affect PSF 520 and HA 680 Use the default value without changing it 48 CAN ID 49 CAN Communication speed This parameter is reserved for the system Do not change the setting 78 Harmonic Drive AG HA 680 900180 02 2010 6 3 Default parameter list No Description unit FHA 8C 30 FHA 8C 50 FHA 8C 100 00 Position loop gain 40 40 40 01 Speed loop proportional gain 75 75 75 02 Speed loop integral gain 20 20 20 03 Speed loop derivative gain 0 0 0 04 Speed feed forward factor 0 0 0 05 Acceleration feed forward factor 0 0 0 06 Torque command filter 0 0 0 07 Speed step correction 0 0 0 08 Torque step co
54. ationship between the set value and function selection are as follows Position control input signal assignment parameter CN2 pin no Setting Servo ON nate t Rie t Clear anm R tee Current limit 0 7 8 9 10 11 7 8 g 10 1 2 7 8 9 10 11 3 7 8 9 10 a Speed control input signal assignment parameter CN2 pin no Setting Servo ON FWD enable REV enable Clear Ee esanei Speed limit Current limit command 0 7 8 9 10 11 10 11 10 11 10 11 10 11 10 11 a pU N e 00 WO O O oW Torque control input signal assignment parameter CN2 pin no Setting Servo ON FWD enable REV enable Clear Iere Cece Current limit command 0 7 8 9 10 11 1 7 8 g 10 11 2 7 8 9 10 11 Setting Unit Lower limit Upper limit Default 0 20 0 Note 1 The upper limit value is 20 However the actual setting range is as shown above de pending on the control mode Do not set any values outside the range because these are reserved for the system Note 2 The power must be reset after a change The previous value is effective until you turn on the power again 66 Harmonic Drive AG HA 680 900180 02 2010 Function 12 Output function assignment The power must be reset after making a change position speed torque This function selects the
55. c setting in Parameter Pin Signal name Symbol 1 0 Pin Signal name Symbol 1 0 1 Output 1 attained speed HI SPD Output 14 2 Output 2 alarm output ALARM Output 15 3 Output 3 operation ready Output 16 4 Output 4 limit speed Output 17 5 Output 5 phase Z OC Z Output 18 6 Output common OUT COM Output 19 Speed command SPD CMD Input 7 Input 1 servo on S ON Input 20 Speed command SPD GND Input ground 8 Input 2 FWD enable FWD EN Input 21 Phase A LD A Output 9 Input 3 REV enable REV EN Input 22 Phase A LD A Output 10 Input 4 alarm clear Input 23 Phase B LD B Output 11 Input 5 speed limit Input 24 Phase B LD B Output 12 Input signal common IN COM Input 25 Phase Z LD Z Output 13_ Encoder monitor ground MON GND Output 26 Phase Z LD Z Output CAUTION Do not connect the pins with in the signal column to the external device If you do failure may occur because it is connected to the internal circuit 2 3 2 I O port connections for speed control This section describes the connections between the 1 0 ports and the host for speed control Inputs The HA 680 drive provides five ports for inputs as shown in the figure to the right Specifications Voltage DC 24 V 10 Current 20 mA or less per port Connections The HA 680 drive does not provide the power supply for the
56. count 45 JOG operation S shape selection and 46 JOG operation speed in Parameter 8 Open the Command Transmission window 9 Press the JOG Operation button and check the operation of the actuator 5 1 2 Setting parameters Following trial run of the actuator you can change set the parameters via the parameter To set and or change parameters dedicated communication soft ware PSF 520 is required For details of parameter setting refer to Chapter 6 Parameter Setting and the user s manual of dedi cated communication software PSF 520 5 1 3 End of trial run When above operations are finished terminate the trial run 16 Shut down the power according to the power shut down sequence as described in 3 10 3 After that operation is performed using communica tion software PSF 520 For details refer to a separate document PSF 520 User s Manual Parameter setting 10 Open the Parameter Setting window of the dedi cated communication software PSF 520 11 Click the Read from the servo button to read the parameters 12 Select the parameter you want to change and enter the value 13 To cancel the changed value to the original set ting value click the Read from the file or Read from the servo button 14 To update the changed setting value click the Write to the servo button Note Some parameters require turning on the control circuit power again to update the setti
57. ctions Protective functions W O Ports oinnia 19 Assignment of 1 0 Signals 19 Assignment of input Signtals ssseeeessesssssseen 19 Assignment of output Signalls ssccsstseeseeen 20 Type of 1 0 signal connector CN2 Position control 1 0 port layout 1 0 port connections in the position control 21 1 0 port functions in the position control 22 Connection examples in the position control 28 Speed COMPO kerimesi mienas 30 Pin numbers and names of 1 0 sigmals sssesee 30 1 0 port connections in the speed control 1 0 port functions in the speed control Connection examples in the speed control 0 37 TOU COMO 2 ccccdiaced edie cadtatetsngecnacdiettencniecies 38 Pin numbers and names of 1 0 sigmals ssssssee 38 1 0 port connections in torque CONTI 38 1 0 port functions in torque CONTI Connection examples in torque control Encoder connection HA 680 CN1 Harmonic Drive AG HA680 900180 02 2010 3 32 33 33 1 3 3 2 3 3 3 3 4 3 4 1 3 4 2 3 4 3 3 5 3 5 1 335 2 3 5 3 3 6 Sh 3 8 3 9 3 9 1 3 9 2 3 9 3 3 9 4 3 95 3 10 3 10 1 3 10 2 3 10 3 5 5 5 1 1 512 Sla 6 6 1 6 2 Installing HA 680 drive 47 Receiving inspection Handini giessen n ai 48 Location and installatiOn sissiisieianiiunisnisniasnia 48 Environment OF lOCALON Pissssiititics sist enncsientbectidianendletten dienes 48
58. d refer to Chapter 6 Parameter setting Position control output signal assignment parameter CN2 pin no Setting In position ready Alarm Operation Limiting Limiting Phase Z OC value ready speed current output 0 1 2 3 4 5 1 1 2 3 4 5 2 1 2 3 4 5 Note The setting value 0 is the initial setting value Speed control output signal assignment parameter CN2 pin no Setting value Attained Alaris Operation Limiting Limiting Phase Z OC speed ready speed current output 0 1 2 3 4 5 1 2 3 4 5 2 1 2 3 5 Note The setting value 0 is the initial setting value Torque control output signal assignment parameter CN2 pin no Setting value Attained speed Alarm Operation ready Limiting current ae 0 1 2 3 4 5 2 1 3 Type of I O signal connector CN2 The models of the CN2 connector is as follows Distributor Type Connector Cover 20 Harmonic Drive AG Mini D Ribbon 10126 3000PE 10326 52F0 008 HA680 900180 02 2010 2 2 Position control 2 2 1 1 0 port layout The 1 0 port layout is shown as follows Pin Signal name Symbol 1 0 Pin Signal name Symbol 1 0 1 an in postion IN POS Output 14 FWD pulse Fwo Input 2 Output 2 alarm output ALARM Output 15 FWD pulse FWD Input 3 Output 3 operation ready Output 16 REV pulse REV Input 4 Output 4 speed l
59. d on again it may be due to a blown fuse In this case connect an external regenerative resist ance and switch the jumper setting 90 Harmonic Drive AG HA680 900180 02 2010 Diagnostic tips 1 Alarm occurs while the motor is running m Cause 1 The load inertia is too large gt Remedy 1 Connect an external resistance or ca pacitor according to 3 8 Connecting regenera tive absorption resistances capacitors in this manual gt Remedy 2 Extend the deceleration time gt Remedy 3 Lower the maximum speed gt Remedy 4 Reduce the load inertia m Cause 2 Failure of the overload detection circuit Remedy Contact Harmonic Drive AG Replace the HA 680 drive 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 m Cause 1 Failure of the temperature sensor of the HA 680 drive gt Remedy Contact Harmonic Drive AG Replace the HA 680 drive 2 Alarm occurs while the motor is running m Cause 1 The motor is in an overload state while running System error Alarm clear not available Description This alarm occurs when an error of the current detec tion circuit is detected To release the alarm after troublesho
60. dy READY Output 16 re CUR 4 Output 4 current limit LMT M Output 17 5 Output 5 phase Z OC Z Output 18 6 Output common OUT COM Output 19 Torque command TRQ CMD Input 7 nput 1 servo on S ON Input 20 Torque command ground TRQ GND Input 8 nput 2 FWD enable FWD EN Input 21 Phase A LD At Output 9 nput 3 REV enable REV EN Input 22 Phase A LD A Output 10 Input 4 Input 23 Phase B LD B Output 1 nput 5 Input 24 Phase B LD B Output 12 Input signal common IN COM Input 25 Phase Z LD Z Output 13 Encoder monitor ground MON GND Output 26 Phase Z LD Z Output Note 1 OC open collector port LD Line driver port Note 2 Function assignment can be performed for inputs 4 and 5 10 11 pin Note 3 Logic changes can be performed for the 1 0 signals other than output 5 phase Z OC output using 13 Input pin logic setting and 14 Output pin logic setting in Parameter Do not connect the pins with in the signal column to the external device Ganon lfyou do failure may occur because it is connected to the internal circuit 2 4 2 I O port connections in torque control mode This section describes the connection between the 1 0 ports and a host in torque control Inputs The HA 680 drive provides five ports for inputs as shown in the figure to the right Specifications Voltage DC 24 V 10 Current 20 mA or less per port Connection Th
61. e 0 0 0 43 JOG operation acceleration deceleration ms 500 500 500 time constant 44 JOG operation feed pulse count Pulse 100 100 100 45 JOG operation S shape selection 0 0 0 46 JOG operation speed r min 500 500 500 47 Communication setting 0 0 0 48 CAN ID note 0 0 0 49 CAN communication speed note 0 0 0 Note This area is reserved for the system Do not perform any setting HA680 900180 02 2010 Harmonic Drive AG 79 80 No Description unit FHA 11C 30 FHA 11C 50 FHA 11C 100 00 Position loop gain 40 40 40 01 Speed loop proportional gain 225 225 225 02 Speed loop integral gain 20 20 20 03 Speed loop derivative gain 0 0 0 04 Speed feed forward factor 0 0 0 05 Acceleration feed forward factor 0 0 0 06 Torque command filter 0 0 0 07 Speed step correction 0 0 0 08 Torque step correction 0 0 0 09 Step correction switch range pulse 4000 4000 4000 10 Control mode 1 1 1 11 Input function assignment 0 0 0 12 Output function assignment 0 0 0 13 Input pin logical setting 0 0 0 14 Output pin logical setting 2 2 2 15 Control input filter time costant ms 0 0 0 16 Speed limit r min 6000 6000 6000 17 FWD current limiting 211 234 200 18 REV current limiting 211 234 200 19 Regenerative brake ON OFF 0 0 0 20 Rotary direction 0 0 0 21 Allowable position deviation pulse 30000 30000 30000 22 In position
62. e and save parameters m 0 signal monitoring Displays the states of the I O signals m Alarm display Displays the current and 8 latest alarms m Waveform monitoring Performs waveform measurement of speed torque etc during operation m Command transmission Allow you to perform JOG operations HA680 900180 02 2010 Harmonic Drive AG 59 5 Operations When electric power is ON do not make any wiring changes warnnic_ 1 advance of wiring work shut off the electrical power supply to be save from electric shock 1 Inspect the cabling before turning the power ON and correct poor cabling if necessary An 1 Is the cabling correct CANIN 2 Is there any temporary cabling Are all wires connected to the terminals 3 Are there any loose terminal connections 4 Are the wires grounded properly 2 Never wire the unit or make changes to the wiring while the power is ON Turn the power OFF first 3 Clean around the equipment with the power OFF Make sure there are no wire chips or tools in the equipment 5 1 Trial run 1 Complete the trial run before actual operation 2 Drive the actuator only during the trial run disconnect the actuator from the driven CAUTION J mechanism or load 5 1 1 Driving actuator only Reason for the trial run Drive the actuator only without load during the trial 1 Verifying the power cable wiring run 2 Verifying the motor cable wiring the servomotor cable and
63. e HA 680 drive does not provide the power supply for input signals Connect a 24 V power supply for the signals to CN2 1 input signal common Outputs The HA 680 drive provides five ports for outputs as shown in the figure to the right Specifications Voltage DC 24 V 10 Current 40 mA or less per port All ports are insulated by photocouplers Connection Connect output signals between their respective out put ports and CN2 6 output common port Exmernol power p sr ncd Eternal power ICOM Teso Wiitage 0524 Vy 10 Input sigrar Current 2004 oF ee ia ash Hover Ounput 2 Quip common OUT CO PCas CN2 1 eset Joan a AN Vatlage DCZ4V 10 Current 4OMA OF home for ener tornas 38 Harmonic Drive AG HA680 900180 02 2010 Monitor outputs 4 The HA 680 drive provides 6 ports for 3 s f signals for encoder monitoring as shown in 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 Encoder Monitor ground 26L531 2 4 3 1 0 port functions in torque control mode This section describes O port functions in torque control mode CN2 1 Attained speed HI SPD output Function The output turns ON when the motor actuator rotates at a speed greater than the value of pa rameter gt 31 attained speed Logic changes can be perfo
64. e kOe aiid serial interface HA 680 6 24 FHA 14C xxx E200 CE xx 03 3 mcable lenght 05 5m cable lenght 10 10 m cable lenght Note 1 The encoder connecting cable includes an electronically circuit to transform the open collector signal into a differential signal Harmonic Drive AG HA 680 900180 02 2010 1 4 Specifications of HA 680 drives Servo drive Unit HA 680 4x 24 HA 680 6x 24 Main circuit VDC 24 15 Supply voltage WEE Control circuit VDC 24 15 Rated current Arms 4 0 6 0 Maximum current Arms 8 4 16 5 Output voltage sinussoidal Switching frequency kHz 12 5 14 wire incremental rectangular Motor feedback input A AY B BY Z Z U U V V W WZ 5V GND Line receiver input RS422 Protection class IP20 Control mode Position speed torque Position control Command pulse interface Open Collector 200 kHz Line driver 500 kHz Velocity control V 10V Maximum speed 13 Bit Torque control Vv 10V Maximum torque 13 Bit Digital inputs 5 x opto insulated Digital outputs 5 x Open collector opto insulated Encoder monitor Line driver A B Z and open collector Z Status display 1 x LED red 1 x LED green Communication RS232 C Ambient temperature Operation 2e 0 50 Storage C 20 85 Humidity 10 90 non condensing IEC 68 2 38 Vibration m s 4 9 10 55Hz Shock m s 19 6 Dimensions mm 115 x 34 x 79 5 Weight g 230 Note 1 Parameter setting of this driver is performed
65. ect 24 VDC of the input signal external power supply CN2 13 Encoder Monitor ground MON GND output Function This is the common port for the monitor ports CN2 21 26 CN2 19 Speed command SPD CMD input Function Inputs the speed command voltage signal which is ob tained by parameter gt 9 speed conversion factor This speed command voltage can be obtained using 30 Speed command input factor in Parameter The direction of rotation is specified by the polar ity of the speed command and input signals of CN2 8 FWD enable FWD EN and CN2 9 REV en able REV EN With FWD enable If ON the actuator rotates forward when the CN2 19 Speed command SPD CMD is In contrast the actuator rotates in re verse when CN2 19 is With REV enable If ON the actuator rotates in re verse the CN2 19 Speed command SPD CMD is In contrast the actuator rotates forward when the CN2 19 is When both signals FWD enable and REV enable are ON or OFF depending on the setting of parameter gt 38 zero clamp the actuator is either holding the posi tion setting 1 or zero speed setting 0 CN2 19 Speed command SPD CMD Command Command CN2 8 FWD enable FWD EN ON OFF ON OFF ON Zero clamp REV rotation Ercan FWD rotation zero speed zero speed CN2 9 REV enable REV EN OFF FWD rotation Zaro ei REV rotation Zaw cki zero speed zero speed Observe
66. ection and torque step correc tion Parameter gt 08 Torque step correction The values of Speed step correction and Torque step correction become effective when the amount of position deviation becomes bigger than the set values Setting Unit Lower limit Upper limit Default Pulse 0 9999 4000 ote For ordinary use leave this parameter un changed from 0 Function The HA 680 drive can control the actuator in either he position control speed control or torque con rol This function selects an operating mode n the position control a command signal is composed of pulse trains while in the speed mode or torque mode it is composed of an analog voltage O position control factory default 1 speed con rol 2 torque control 10 Control mode The power must be reset after making a change position speed torque Setting Unit Lower limit Upper limit Default 0 5 0 ote 1 The power must be reset after setting a change The previous value is effective until you turn on the power again Note 2 The upper limit value is 5 However do not use setting values 3 4 and 5 because these are reserved for the system HA680 900180 02 2010 Harmonic Drive AG 11 Input function assignment position speed torque The power must be reset after making a change Function This function selects the function for the input signal The rel
67. ed in the catalogue and manual Setting of the AC servo actuator i j 0 Unit Lowerlimit Upperlimit Default The allowable continuous torque is 100 0 note note Maximum current Allowable continous current x 100 upper limit Torque command input factor x Command voltage factor Output current Allowable continuous current utput curren Wi e continuous curri X 100 T00 42 Reserved for the system This parameter is reserved for the system Do not change the setting 43 JOG operation acceleration deceleration time constant position speed torque Function Setting This function sets the time in which the motor is Unit Lower limit Upperlimit Default accelerated from O r min to the maximum rotation speed and the time in which the motor is decelerated ms BA S00 from the motor maximum rotation speed to O r min during JOG operation 44 JOG operation feed pulse count position Function Setting When position control is set it can be moved by the Unit Lower limit Upper limit Default amount set in this parameter Pulse 1 9999 100 45 JOG operation S shape selection position Function Setting This function allows you to select S shape accelera nit Lowerlimit Upperlimit Default tion deceleration during JOG operation 0 S shape OFF linear acceleration deceleration g 1 0 1 S sh
68. ed loop proportional gain 120 120 120 02 Speed loop integral gain 20 20 20 03 Speed loop derivative gain 0 0 0 04 Speed feed forward factor 0 0 0 05 Acceleration feed forward factor 0 0 0 06 Torque command filter 0 0 0 07 Speed step correction 0 0 0 08 Torque step correction 0 0 0 09 Step correction switch range pulse 4000 4000 4000 10 Control mode 1 1 1 11 Input function assignment 0 0 0 12 Output function assignment 0 0 0 13 Input pin logical setting 0 0 0 14 Output pin logical setting 2 2 2 15 Control input filter time costant ms 0 0 0 16 Speed limit r min 6000 6000 6000 17 FWD current limiting 190 195 193 18 REV current limiting 190 195 193 19 Regenerative brake ON OFF 0 0 0 20 Rotary direction 0 0 0 21 Allowable position deviation pulse 30000 30000 30000 22 In position ready range pulse 10 10 10 23 Command pulse input factor numerator 24 O pulse input factor denomina 1 1 1 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 0 30 Speed command input factor r min 6000 6000 6000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min 1 33 Acceleration time constant ms 1 1 34 Deceleration time constant ms 1 1 1 35 Analog command A D value Mid 3447 3
69. er supply TB1 Actuator external regenerative resistance connection terminal The lead line of the actuator and an external regen erative resistance are connected here e CN5 For manufacturer only on the side e CN3 EIA 232C serial port connector e LED display e CN2 Control 1 0 connector e CN1 Encoder connector e Regenerative resistance switch jumper on the side CN1 Encoder connector The position detection encoder cable of the actuator is connected here CN2 Control 1 0 connector This connector is for receiving control signals from the host controller CN3 Serial port connector The connector for connection with a PC This is used for monitoring the output current and setting param eters Connection with a PC requires dedicated communica tion cable HDM RS232C Parameter setting requires dedicated communication software PSF 520 HA680 900180 02 2010 Harmonic Drive AG 11 CN4 CAN connector Connector for CAN communication Note Currently not available CN5 Not available CAN terminal resistance switch jumper Enables or disables the terminal resistor for CAN Note Currently the CAN function is not installed Therefore setting this jumper is meaningless This connector is for the manufacturer only The cus Regenerative resistance switch jumper tomer should never use it Ground connection terminal Switches between the internal regenerative resis torand the external rege
70. evice 5 The alarm occurs while running it is possible to restart after 4 to 5 minutes m Cause 1 Running in an overloaded state gt Remedy Review the actuator s actual load profile to lower the duty m Cause 2 Ambient temperature of the HA 680 drive is more than 50 C gt Remedy Review the driver s installation and it s cooling system 2 Alarm occurs during running m Cause 1 Malfunction of a control circuit ele ment of the HA 680 drive gt Remedy Contact Harmonic Drive AG Replace the HA 680 drive longer It can be reset by shutting down the power and turning it on again m Cause 3 Speed command input factor is too high gt Remedy Lower 30 Speed command input fac tor in Parameter m Cause 4 Wrong setting of analog voltage com mand gain gt Remedy Change 30 Speed command input factor in Parameter m Cause 5 A significant overshoot due to insuf ficient gain adjustment gt Remedy Adjust gains in parameter 01 Speed loop proportional gain 02 speed loop integral gain and 03 Speed loop derivative gain proportional to the load m Cause 6 Wrong connection of the motor or en coder gt Remedy Connect properly by referring to Chap ter 3 Installing HA 680 drive in this manual HA680 900180 02 2010 Harmonic Drive AG 93 7 2 Troubleshooting for improper actuator motions Troubleshooting procedures for problems other than alarms are described separa
71. function for the output sig nal The relationship between the set value and func tion selection are as follows Position control output signal assignment parameter CN2 pin no Setting Benes Alarm Ready Limiting speed Limiting current Phase Z OC output 0 1 2 3 4 5 1 2 3 5 2 1 2 3 5 Speed control output signal assignment parameter CN2 pin no Setting Attained speed Alarm Ready Limiting speed Limiting current Phase Z OC output 0 2 3 4 5 1 1 2 3 4 5 2 2 3 4 5 Torque control output signal assignment parameter CN2 pin no Setting Attained speed Alarm Ready Limiting current Phase Z OC output 0 2 3 4 5 Setting Unit Lower limit Upper limit Default 0 20 0 Note 1 The upper limit value is 20 However the actual setting range is as shown above de pending on the control mode Do not set any values outside the range because these are reserved for the system The power must be reset after a change The Note 2 previous value is effective until you turn on the power again HA680 900180 02 2010 Harmonic Drive AG 67 Function This function sets the logic to enable the functions 13 Input pin logical setting The power must be reset after making a change forthe external input signals Set the sum of the desired logic values as per the fol position speed torque Ex
72. g wiring Yy Y Is AC DC Y Driver failure Power off with Tum NFB and power on sequence MS ON y Refer to section 7 1 Tum NFB and MS Note alarm and AC DC Power ON NFB No fuse breaker diagnostic lips MS Main power switch is an alarm indicated Can actuator Is parameter be rotated by Y 17 18 Correct parameter hama Take care of safety while current limit 117 18 current limit rotating the actuator by correct hand N command N Tighten screws coming Replace motor cabl Y ti Rs 98 Harmonic Drive AG HA680 900180 02 2010 Previous page A Are motor wire canon Check motor cable screws loose Is connection the motor wire disconnected ls voltage of correct laiphane oner Correct the phase order Actuator failure Motor are short circuited Is the molor grounded Is the actuator aT shaft blocked Actuator failure Unstable rotation in speed and torque control is the power supply voltage normal Apply the proper voltage Is the power supply voltage Cc ne the power fluctuation within F pacity its allowance input capacity etc ls the temperature inside the cabinet ok Examine the heating elements inside the cabinet and consider the cooling system drivers UVW Is phase order correct correc between motor between then between motor and driver
73. hds CO jp If you do not have an environment to download it from the Internet please ask one of our branch of fices Model PSF 520 Supported OS Windows Me NT 2000 Xp note Windows is the registered trademark of Micro soft Items to be provided EIA 232C cross cable HDM RS232C cable length 1 5m HA 680 drive side Socket terminal DF11 2428 SCF Hirose Socket DF11 8DS 2C Hirose HA680 900180 02 2010 Harmonic Drive AG 103 Harmonic Harmonic D
74. hem Do not open the end of analog signal cables as speed signal cables 4 Terminals connectors Symbol Allowable wire sizes mm Encoder connectors CN 0 3 mm twist pair shielded cable External 1 0 connector CN2 0 35 mm twist pair cable twist pair whole shielded cable 3 9 2 Pin layout of the encoder connector CN1 Pin layout 1 FHA C mini 24 VAC type The models and the pin layout of the encoder connec tors are as follows Note that pin layout may vary depending on the ac tuator Connector Model 10114 3000PE Manufacturer 3M Cover Model 10314 52F0 008 Manufacturer 3M Do not use the pins marked NC that conn are already reserved Wrong usage may cause failure Pin layout 2 RSF supermini series FHA C mini with 14 wire encoder The models and the pin layout of the encoder connec tors are as follows Note that pin layout may vary depending on the ac tuator Viewed from soldering side Encoder connector Viewed from soldering side 56 Harmonic Drive AG HA680 900180 02 2010 3 9 3 Pin layouts of the 1 0 signal connector CN2 The models and the pin layout of the encoder connec tor are as follows Connector Model 10126 3000PE Manufacturer 3M Cover Model 10326 52FO 008 Manufacturer 3M For position control aaa EEaren iueos POS kal BE nev ra 22 a 16 A tAv REV Viewed from soldering side Viewed from soldering side
75. his signal switches between the external command value from the external device and the internal command value set in 40 Internal torque command value in Parameter inside the HA 680 drive Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value the operation is as follows Setting for CN2 11 current limit CUR LMT input Function This signal limits the current below the value set in 17 Forward rotation current limit and 18 Reverse rotation current limit in Parameter Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value CN2 12 Input signal common IN COM input Function The common port for input signals CN2 7 8 9 10 and 11 It provides the input signal external power supply CN2 13 Monitor ground GND output Function This is the common port for the monitor ports CN2 21 26 CN2 19 Torque command TRQ CMD input Function Input the torque command voltage signal which is obtained by parameter gt 41 torque command in put factor Open external command value Close internal command value Connection Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common the current limit state occurs when the input signal is on Connection Connect NO contact signal a contact Connect 24 VDC of the input signal external power supply t
76. ht design with a weight of 230 g is useful for small space saving devices a Substantial functions Position control speed control and torque control are provided as standard It is compact and has substan tial functions at the same time m Easy function setting Parameters can be set easily using dedicated commu nication software PSF 520 m Wide range of operation state display 1 0 signals rotation speed and deviation can be monitored using dedicated communication software PSF 520 Up to eight previous alarms are also indicated in the alarm history that is helpful for diagnosis m The main circuit power supply and the control power supply are separated Because the main circuit power supply and the con trol power supply are separated safe diagnosis can be performed in case of failure 1 2 Model of HA 680 drive actuator with a combination of an ultra small Har monic Drive and ultra small AC servo motor The HA 680 drive provide many superior functions to allow the FHA Cmini 24 VAC type actuators and RSF supermini series actuators excellent performance m Easy test run adjustment Adjustment can be performed using dedicated com munication software PSF 520 m Electronic gear suitable for mechanical system The electronic gear function adjusts commands to a feed pitch of a driven mechanism such as gears or lead screws m Three types of input signals for position com mands Three types of input signals for the po
77. imit Output 17 REV pulse REV Input Cease ee oe Z Output 18 av 424V Input output 6 Output signal common OUT COM Output 19 7 Input 1 servo ON S ON nput 20 8 Input 2 FWD Inh nput 21 Phase A output LD A Output 9 Input 3 REV Inh nput 22 Phase A output LD A Output 10 Input 4 alarm clear nput 23 Phase B output LD B Output 11 Input5 nput 24 Phase B output LD B Output 12 Input signal common IN COM nput 25 Phase Z output LD Z Output 13 _ Encoder Monitor ground MON GND Output 26 Phase Z output LD Z Output Note 1 OC open collector port LD line driver port Note 2 Function assignment can be performed for the input signals other than servo on 8 to11 pin and the output signals of Outputs 3 and 4 3 4 pin Note 3 Logic changes can be performed for the 1 0 signals other than output 5 phase Z OC output using 13 Input pin logic setting and 14 Output pin logic setting in Parameter Note 4 Pin number 18 24 V is not the built in power supply The HA 680 drive does not incorporate the internal power supply for pulse input signals For pulse input signals an external 24 V power supply must be supplied un Do not connect the pins wit in the signal name column to the external device caution If you do failure may occur because it is connected to the internal circuit 2 2 2 I O port connections in the position control
78. ination by water oil m No corrosive or explosive gas CAUTION Follow exactly the instructions in the relat ing manuals to install the actuator in the equipment m Ensure exact alignment of motor shaft center and corresponding center in the application Failure to observe this cau tion may lead to vibration resulting in damage of output elements CAUTION SAFETY FOR ACTUATOR IN OPERATION Keep limited torques of the actuator won Keep limited torques of the actuator m Be aware that if arms attached to output element hits by accident an solid the output element may be uncontrol lable Never connect cables directly to a power supply socket m Each actuator must be operated with a proper driver m Failure to observe this caution may lead to injury fire or damage of the actuator WARNING Do not apply impacts and shocks warning E Do not use a hammer during installation m Failure to observe this caution could damage the encoder and may cause uncontrollable operation Avoid handling of actuators by cables warning E Failure to observe this caution may dam age the wiring causing uncontrollable or faulty operation 2 Harmonic Drive AG HA680 900180 02 2010 SAFETY FOR CONTROLLERDESIGN Always use drivers under followings condi A tions CAUTION Mount in a vertical position keeping suf ficient distance to other devices to let heat generated by the driver radiate freel
79. ing a line receiver AM26LS32 or equivalent Note Use EIA 422A standard for line receiver Phase B Phase B Phase Z Monitor ground 36 Harmonic Drive AG HA 680 900180 02 2010 2 3 4 Connection examples in speed control mode The figure below shows a connection example in speed control for the incremental system The setting values of Parameter 11 Input function assignment and Parameter 12 Output function assignment are 0 Note that the connection example varies depending on the actuator Speed command PD CMD _ _ 1 19 2a gt i 24V DC Speed command common PD GND A rim 4 N COM I zet External power C mn Servo ON pie SS ieda FADS EN AC Servo Actuator REV enable REV EN _ Cloar o gt CLEAR Externalyinternal 0 s command Pag jien a I Altained speed SPD I Alarm ALARM 1 I Ready READ ned E L h Speed kmit SPD LNI t Phase Z rot Dutput common gut com _ ser Ne Phase Bt 23 Phase Nol K Phase Z iN f ncodar Mani Pra 2 Bhan HA680 900180 02 2010 Harmonic Drive AG 37 2 4 Torque control 2 4 1 Pin numbers and names of 1 0 signals The pin numbers and their names for torque control are as shown in the table below Pin Signal name Symbol 1 0 Pin Signal name Symbol VO Output 1 attained speed HI SPD Output 14 2 Output 2 alarm output ALARM Output 15 3 Output 3 operation rea
80. ion result connect an external resistance or external capacitor m f the tact time is shorter than the calculation result and no external resistance or external capacitor is connected the built in fuse of the regenerative resistance may be blown during operation m The built in fuse must be replaced once blown As a result the regenerative circuit stops caus ing a regenerative error alarm m When the alarm occurs refer to 7 1 Alarms and diagnostic tips CAUTION Use the following as a guide when selecting the capacity of the external resistance capacitor to be con nected 54 Harmonic Drive AG HA 680 900180 02 2010 1 If an external capacitor is connected when the load inertia ratio is 2 or less Drive Recommended capacitor mode Capacity x quantity Manufacturer UPJ1H102MHH 1000pF x 1 Nichicon HA 680 4 UPJ1H222MHH 2200uF x 1 HA 680 6 UPJ1H222MHH 2200yF x 4 Connect it to the VM and GND terminals of the HA 680 drive as shown below VM VM External R R C capacitor GND TE Cal U V Terminal block model Vv W MC1 5 6 G 3 81 Ww Cal Phoenix contact 2 If an external resistance is used or the load inertia ratio is 2 or more The resistance must be 30 2x Tact time calculation result w ohms Use the following formula for the capacity Actual tact time Connect it to the R and GND terminals of the HA 680 drive as shown below vm JEN External R Cy resistance 0 GND I U L
81. ion speed r min 500 500 500 47 Communication setting 0 0 0 48 CANID note 0 0 0 49 CAN communication speed note 0 0 0 ote This area is reserved for the system Do not perform any setting 82 Harmonic Drive AG HA 680 900180 02 2010 The value shown inside of parentheses is for the acturator with brakes HA 680 900180 02 2010 No Description unit RSF 5A 30 RSF 5A 50 RSF 5A 100 00 Position loop gain Age 100 me 120 120 120 01 Speed loop proportional gain hee nae ii 02 Speed loop integral gain 10 10 10 03 Speed loop derivative gain 20 20 20 04 Speed feed forward factor 0 0 0 05 Acceleration feed forward factor 0 0 0 06 Torque command filter 0 0 0 07 Speed step correction 0 0 0 08 Torque step correction 0 0 0 09 Step correction switch range pulse 4000 4000 4000 10 Control mode 1 1 1 11 Input function assignment 0 0 0 12 Output function assignment 0 0 0 13 Input pin logical setting 0 0 0 14 Output pin logical setting 2 2 2 15 Control input filter time costant ms 0 0 0 16 Speed limit r min 10000 10000 10000 17 FWD current limiting 211 257 253 18 REV current limiting 211 257 253 19 Regenerative brake ON OFF 0 0 0 20 Rotary direction 0 0 0 21 Allowable position deviation pulse 30000 30000 30000 22 In position ready range pulse 10 10 10 23 Command pulse input factor numerator 24 AN pulse in
82. ive AG HA680 900180 02 2010 b Connection example for position control mode with line driver signals The figure below shows a connection example of position control for open collector signals The command for mat is 2 pulse method and the setting values of Parameter 11 Input function assignment and Parameter 12 Output function assignment are 0 Note that the encoder connection varies depending on the actuator Vin 23 8V HA 680 2 e 2a FWD Pulse P CANA QEN REV Puse S Rev i Nf fw 0340 Am26LS31 EIA422A or 24V DC quivalant a ol l aN External Power poit x a PE 2 0 if Seryo On T FWD Inhibit FWD H AC Servo Actuator REV Inhibit neyo TIAE Alarm Clear o ARE Stile oe S a If we Y W E in Posltion N POS I pm Yellow Alarm ALARA a i j I Ready READY peed Limit SPO LMT Phare Z oe Output Common oyr com t Shield Ph At I 2 Phase A NUS 7 a Phase B 23 Phase B Nb K Phase Z Nfs E HA 680 900180 02 2010 Harmonic Drive AG 29 2 3 Speed control 2 3 1 Pin numbers and names of 1 0 signals The 1 0 port layout is as follows Note 1 OC Open collector port LD Line driver port Note 2 Function assignment can be performed for inputs 4 and 5 10 11 pin and outputs 3 and 4 3 4 pin Note 3 Logic changes can be performed for the 1 0 signals other than output 5 phase Z OC output using 13 Input pin logic setting and 14 Output pin logi
83. ive humidity is less than 95 Do not store the HA 680 in highly humid places or in areas where temperatures are likely to fluctuate greatly 7 Do not store the HA 680 drive in areas where corrosive gas or particles may be present CAUTION 3 3 Location and installation 3 3 1 Environment conditions The environmental conditions of the location are described below Service temperature 0 C to 50 C Use the drive in a cabinet The temperature in the cabinet may be higher than the surrounding temperature because of heat generated by the housed devices and the cabinet s size Plan the cabinet size ventilation system and device locations so that the ambient temperature of the driver is always 50 C or less Service humidity 95 or less relative humidity without condensation Make sure that water condensation does not occur due to fluctuating temperatures in the storage area or because of frequent heat and cool run and stop operations Vibration less than 5 m sec 10 Hz to 55 Hz When there is a great deal of vibration near the driver attach a shock absorber under the base to dampen the vibration Impact The location should be free from impact Make sure that the HA 680 is not exposed to dust water condensation metal powder corrosive gas water water drops or oil mist Do not install the driver in a corrosive gas environment because the gas may cause damage to connecting parts connectors etc Install the driver i
84. lable when the conditions below are met warning This results in a servo free free turning condition which may result in physical injury e g when an unbalanced load is attached to the servo 1 No power supply for the main circuit and or the control circuit 2 OFF state of CN2 7 servo ON S ON 4 The parameter 38 Zero clamp is 0 Connection Connect NO contact signal a contact Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common Setting for CN2 10 Alarm clear ALM CLR input Function This signal clears the alarm state and makes it ready for operation When an alarm that cannot be cleared occurs shut down the main circuit power supply and control circuit power supply remove the cause of the alarm and then turn on the power again Connection Connect NO a contact contact signal Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value the alarm is cleared at the edge of the signal ON Setting for CN2 10 or 11 external internal command CMD CHG input Functions This signal switches between the external command value from the external device and the internal command value set in 32 Internal speed command value in Parameter inside the HA 680 drive Logic changes can be performed with 13
85. loop gain position speed Function Setting This parameter specifies the gain of the position loop anit Lower limit Upper limit Default Determine the value based on the frictional torque and rigidity of the machine tie eee Neve High setting Note The actual setting varies with the AC servo ac The position error is small and high tracking tuator model When changing the value consid performance to commands is obtained If the er the defaults shown in Section 6 3 Default setting is too high the servo system will be parameters as the standard guide setting unstable and hunting may occur it should be decreased so that no hunting occurs Low setting gt If the setting is too low a problem may occur for example the tracking performance to com mands may be poor or position precision may not be obtained When no hunting occurs and neither overshoot nor undershoot occurs increase the gain For speed control it is effective only when zero clamp is set Parameter 38 Zero clamp 01 Speed loop proportional gain position speed Function Setting This parameter specifies the proportional gain of the speed loop Determine the value based on the mo Unit Lower limit Upper limit Default ment of inertia the frictional torque and the rigidity ie eee Nie of the machine High setting Note The actual setting varies with the AC servo ac
86. lt our sales office if you in tent to make a voltage resistance test CAUTION CAUTION Do not operate control units by means of power ON OFF switching m Start stop operation should be performed via input signals Failure to observe this caution may result in deterioration of electronic parts DISPOSAL OF AN ACTUATOR A MOTOR A CONTROL UNIT AND OR THEIR PARTS All products or parts have to be disposed of as industrial waste CAUTION classify parts and dispose them separately m Since the case or the box of drivers have a material indication HA680 900180 02 2010 Harmonic Drive AG 3 4 Content 11 1 2 1 3 1 4 1 5 1 6 17 17 1 1 7 2 1 7 3 1 74 1 75 Characteristics of the HA 680 drive 7 Main features Model of HA 680 Cr ive a sssssscscssseessscessseeteseeesseneteestees 7 Combinations with actuators 8 Specifications of HA 680 drives eee 9 External drawing of the HA 680 rive 10 Names and functions of parts ccssccsssesssseseeeseeees 11 Overview of I O ports TB2 Power supply connection terminal TB1 Actuator connection terminal CN1 Encoder COMM CtOl sssescseccssststecseesettteseesseeeeeeeees 13 CN3 Serial port COMMOCtOM ccsccsessescsesseeeteeseessneteeseeeseees 13 CNA CAN CONNECTOR inentus 13 CN2 Inputs and OUtpUtS 0 eecscccssseeeesescesseetseeeesneeteeees 14 LED display Outline of protective fun
87. lue of param eter gt 31 attained speed Logic changes can be performed with 14 Output pin logic setting in Parameter With the default value the transistor is turned on when the required speed is reached Connection 1 The figure to the right shows an example of the CN2 1 attained speed HI SPD port connection 2 Configure the output circuit for the ports as fol lows Supply voltage DC 24 Vor less Signal current 40 mA or less per port CN2 2 Alarm ALARM output Function HA 680 The output turns OFF when the HA 680 drive Alarm senses an alarm This signal is normally closed NC b contact Logic changes can be performed with 14 Out put pin logic setting in Parameter With the default value the transistor is turned on during normal operation and turned off when an error is detected Connection 1 The figure to the right shows an example of the CN2 2 Alarm ALARM port connection 2 Configure the output circuit for the port as follows Supply voltage DC 24V or less Signal current 40 mA or less per port CN2 2 JALARM PC452 jv CN2 6 OUT COM HA680 900180 02 2010 Harmonic Drive AG 31 Setting for CN2 3 Ready READY output Function Ready The output turns ON when the driver becomes ready to drive after initialization and the driver can com municate with a host Logic changes can be performed with 14 Output pin logic setting in Para
88. meter With the default value the transistor is turned on in the normal operation ready state Note The output stays ON even in alarm status Connection 1 The figure to the right shows an example of the CN2 3 Ready READY port connection 2 Configure the output circuit for the port as fol lows Supply voltage DC 24 Vor less Signal current 40 mA or less per port PC452 J Setting for CN2 3 or 4 speed limiting SPD LMT M output Function Logic changes can be performed with 14 Output pin logic setting in Parameter With the default value the transistor is turned on while the speed is limited Connection 1 The figure to the right shows an example of the CN2 3 or 4 Speed limiting SPD LMT M port Limiting speed HA 680 connection 2 Configure the output circuit for the port as fol lows Supply voltage DC 24 V or less Signal current 40 mA or less per port Setting for CN2 4 Current limiting CUR LMT M output Function The output turns ON for limiting current responding to the CN2 13 current limit CUR LMT and keeps ON during inputting the signal Logic change can be performed with 14 Output pin logic setting in Parameter With the default Limiting current aes value the transistor is turned on while the current is limited Connection 1 The figure to the right shows an example of the CN2 4 Current limiting CUR LMT M port con nection 2 Configure the
89. ms 1 35 Analog command A D value Mid 3447 3447 3447 36 Analog command A D value Max 5984 5984 5984 37 Analog command A D value Min 910 910 910 38 Zero clamp 0 0 0 39 Reserved for the system note 0 0 0 40 Internal command input factor 41 Torque command input factor 247 304 280 42 Reserved for the system note 0 0 0 43 JOG operation acceleration deceleration i 500 500 500 time constant 44 JOG operation feed pulse count pulse 100 100 100 45 JOG operation S shape selection 0 0 0 46 JOG operation speed r min 500 500 500 47 Communication setting 0 0 0 48 CANID note 0 0 0 49 CAN communication speed note 0 0 0 Note This area is reserved for the system Do not perform any setting HA 680 900180 02 2010 Harmonic Drive AG 81 No Description unit RSF 3B 30 RSF 3B 50 RSF 3B 100 00 Position loop gain 100 100 100 01 Speed loop proportional gain 120 120 120 02 Speed loop integral gain 10 10 10 03 Speed loop derivative gain 0 0 0 04 Speed feed forward factor 0 0 0 05 Acceleration feed forward factor 0 0 0 06 Torque command filter 0 0 0 07 Speed step correction 0 0 0 08 Torque step correction 0 0 0 09 Step correction switch range pulse 4000 4000 4000 10 Control mode l 1 1 1 Input function assignment 0 0 0 12 Output function assignment 0 0 0 3 Input pin logical setting 0
90. n This parameter specifies the speed command correc tion amount that is to be added to the speed com mand depending on the positive or lower limit is zero amount in the command Usually set this parameter to O It should be set when the speed is to be improved High setting gt Ifthe setting is too high the servo system will be unstable and hunting and overshoot may occur 07 Speed step correction position Setting Unit Lower limit Upper limit Default 0 9999 0 The setting relates to the one in 09 Step correction switching range of Parameter 08 Torque step correction position Function This parameter specifies the torque command correc tion amount that is to be added to the torque com mand depending on the positive or lower limit is zero amount in the command Usually set this parameter to O It should be set when the speed is to be improved High setting gt Ifthe setting is too high the servo system will be unstable and hunting and overshoot may occur Setting Unit Lower limit Upper limit Default 0 9999 0 The setting relates to the one in 09 Step correction switching range of Parameter 09 Step correction switch range position Function This parameter specifies the amount of position de viation for the deviation counter where the following takes effect speed step correction Parameter gt 07 Speed step corr
91. n a cabinet Do not expose it to direct sunlight 48 Harmonic Drive AG HA 680 900180 02 2010 3 3 2 Installation Install the driver vertically and allow for wide spaces for sufficient air to flow Leave 30 mm or more to walls 50 mm or more to the floor and 100 mm or more from the ceiling and adjacent devices as shown the figure below When planning the ventilation system for the cabinet refer to the table below which lists the power con sumption of the HA 680 drive Driver HA 680 4 HA 680 4 HA 680 6 HA 680 4B HA 680 6B Actuator FHA 8C FHA 11C FHA 14C RSF 3B RSF SA RSF 8B RSF 11B RSF 14B Power consumption 10W 20W 40W 10W 10W 20W 40W Air Air Control cabinet IN 50mm of more Air Filter 3 3 3 Installing The HA 680 drive should be mounted on a vertical surface as shown in the figure to the right Two mounting holes are provided on the back of the driver The thickness of the wall should be more than 2mm Procedure 1 Screw an 4 mm screw in the lower hole 2 Put the lower mounting hole slot of the back of the HA 680 drive on the 4 mm screw 3 Screw tightly through the upper mounting hole with 4 mm screw 4 Tighten the lower 4 mm screw Cooling fan of more Wall mount HA680 900180 02 2010 Harmonic Drive AG 49 3 4 Suppressing noise The HA 680 drive employs a FET power element with a PWM control for the mai
92. n alarm status Connection 1 The figure to the right shows an example of the CN2 3 Ready READY port connection 2 Configure the output circuit for the port as fol lows Supply voltage DC 24 V or less Signal current 40 mA or less per port CN2 4 Current limiting CUR LMT M output Function This is outputted while the current limit input signal is active and the current is limited to the specified current Logic changes can be performed with 14 Output pin logic setting in Parameter With the default value the transistor is turned on during the current limiting Connection 1 The figure to the right shows an example of the CN2 4 Current limiting CUR LMT M port connec tion 2 Configure the output circuit for the port as fol lows Supply voltage DC 24 V or less Signal current 40 mA or less per port CN2 5 Phase Z OC Z output Function The port output of the encoder Z pulse The signal is outputted one pulse per motor rotation The transistor is turned on during Phase Z output Connection 1 An example of CN2 5 phase Z Z connection is shown in the figure to the right 2 The port is insulated by photocouplers response frequency 10 kHz max 3 Configure the output circuit of the ports as fol lows Supply voltage DC 24 V or less Signal current 40 mA or less Limiting current CN2 4 CUR LMT M PC452 PC452 pu Jw PC452 v 40 Harmonic Drive AG HA680 90018
93. n circuit As this ele ment generates switching noise by high speed power switching the noise may cause incorrect motion of other equipment or radio noise interference due to poor cabling or poor grounding 3 4 1 Grounding Refer to the figure below when grounding all devices of the system AC power input generating Trans ore F Note 1 For the grounding line filters refer to 3 4 2 installing noise filter Grounding motor frame When actuators are grounded at the driven machine through the motor frame current flows through the floating capacity Cf of the motor from power ampli fier of the driver To avoid influence of the current always connect the ground terminal motor frame of the motor to the ground terminal of the driver and connect the ground terminal of the driver to the ground directly 3 4 2 Installing noise filters Noise filters are recommended to guard against in correct motion caused by impulse noise that may be emitted from power lines and to suppress noise emis sions to the line from the driver When more than one driver is used install noise filters for each driver Install the noise filters and the HA 680 drive as near as possible to one another Install the noise filters to the cables of the electrical devices other than the HA 680 drive in the same way Always install noise filters at the source of high fre Customer s signal devices as a program logic controller In additi
94. n products are received Inspection procedure 1 Check the shipping container and contents for any damage that may have been caused during transportation If the item is damaged contact us immediately The model code is interpreted as follows HA 680 40 24 AC servo driver 680 series Input voltage 3 Under the ADJ line the code of the FHA C se ries actuator to be driven by the HA 680 drive is typed To avoid confusion group the actuator with its appropriate driver Only connect the actuator specified on warninc the driver label The HA 680 drive has been tuned for the actuator specified on the driver label The wrong combination of HA 680 drive and actuators may cause low torque problems or over current that may cause physical injury and fire Nominal current Available encoder 2 There is a nameplate attached to the heat sink of the HA 680 drive Check whether the item is the one you ordered by looking at the nameplate If it is different im mediately contact the dealer from whom it was purchased from 4 4A 6 6A None For FHA Cmini 24 VAC type B For RSF series 24 24 VDC 4 The input voltage for the HA 680 drive is identi fied with the last code of the model code in the INPUT VOL frame on the label 24 24 VDC power supply If the voltage to be supplied is different from the voltage on the label immediately co
95. ned by the supply voltage of caution 5 V or 24 V The wrong connection may damage the driver Connection for open collector commands and 24 VDC power supply 1 Connect FWD command to CN2 15 FWD and 24 V 2 Connect REV command to CN2 17 REV and 24 VDC 3 Connect 24 VDC of external power supply to CN2 18 24 V 4 Plan the command circuit for the ports as fol lows Supply voltage Signal current 24 VDC 10 16 mA less than 20 mA Connection for open collector commands and 5 VDC power supply 1 Connect FWD command to CN2 14 FWD and CN2 15 FWD 2 Connect REV command to CN2 16 REV and CN2 17 REV 3 Open CN2 18 24 V 4 Plan the command circuit for the ports as fol lows Supply voltage Signal current 5 VDC 10 16mA less than 20 mA Connections for Line driver systems 1 Connect FWD command to CN2 14 FWD and CN2 15 FWD 2 Connect REV command to CN2 16 REV and CN2 17 REV 3 Open CN2 18 24V Note Use line drivers to EIA 422A standard If you want to use line drivers of other standard please request technical clearance with us User s power supply N oe FWD hai dA EF an pulses ps g piti z REV d a5 rldas E Zz 5V FWD command pulses REV command pulses lt Vin atleast 3 5V FWD command Am26LS31 EIA422A or equivalent CN2 21 Phase A LD A output CN2 22 Phase A
96. nerative resistor Installing the jumper between the center pin and left pin se This terminal is for grounding Connect the ground lects the internal regenerative resistor and installing earth line here to prevent electric shock 1 7 Overview of I O ports the jumper between the center pin and right pin se lects the external regenerative resistor For details refer to 3 8 connecting regenerative ab sorption resistances capacitors 1 7 1 TB2 Power supply connection terminal Pin No Signal name Description CRE Control circuit power supply 24 VDV 2 CP Control circuit power supply OV 3 MP Main circuit power supply 24 VDV For details refer to 3 5 4 MP Main circuit power supply 0 V 5 NC Do not connect 1 7 2 TB1 Actuator connection terminal Pin No Signal name Description 1 VM External capacitor connection terminal External regenerative resistor connection 2 R terminal For details refer to 3 8 3 GND External capacitor regenerative resistor con nection terminal 4 U Actuator U side connection terminal 5 V Actuator V side connection terminal For details refer to 3 7 6 Ww Actuator W side connection terminal 1 7 3 1 CN1 Encoder connector For FHA Cmini 24 VAC type actuators Pin No Signal name Description The power is supplied from the inside of the servo amplifier with the 5 V l ve power supplied to the encoder 2 3 NC Do not connect 4
97. ng values For details refer to Chapter 6 Parameter Setting and the user s manual of dedicated com munication software PSF 520 15 To save the setting value to disk click the Write to the file button HA680 900180 02 2010 Harmonic Drive AG 61 6 Setting up parameters All operations such as parameter setting display and details of the parameters For information on how to adjustment can be performed using dedicated com use the software refer to a separate document PSF munication software PSF 520 This chapter describes 520 User s Manual 6 1 Parameter list No Parameter name Setting range 00 Position loop gain 10 9999 01 Speed loop proportional gain 10 9999 02 Speed loop integral gain 10 9999 03 Speed loop derivative gain 0 9999 Gain related 04 Speed feed forward factor 0 9999 05 Acceleration feed forward factor 0 9999 06 Torque command filter 0 9999 07 Speed step correction 0 9999 08 Torque step correction 0 9999 09 _ Step correction switch range 0 9999 1 Control mode 0 5 1 Input function assignment 0 20 12 Output function assignement 0 20 3 Input pin logical setting 0 31 14 Output pin logical setting 0 15 Operation setting general 5 Control input filter time costant 0 99 6 Speed limiting 0 1 7 FWD current limiting 0 2 8 REV current limiting 0 2 9 Regenerative brake ON OFF 0 1 20 Rotaty direction 0 1 21 Allowable position deviation 0 32767
98. note 2 Note 1 The value varies depending on the model of the actuator The upper limit value is cal culated using the following formula based on the values listed in the catalogue and manual of the AC servo actuator The rated torque is 100 The power must be reset after making a change The power must be reset after making a change position speed torque Set the maximum current values at the forward rota tion and reverse rotation sides in percentages of the allowable continuous current Maximum current Allowable continuous current x 100 Upper limit value Note 2 The value varies depending on the model of the actuator When you change the value use the 6 3 Default parameter list as the standard values The power must be reset after a change The previous value is effective until you turn on the power again Note 3 HA680 900180 02 2010 Harmonic Drive AG 69 Function If this parameter is set ON input of a servo on signal causes an emergency stop according to the driver control regenerative brake and the servo is turned off after it stops Setting Unit Lower limit Upper limit Default 0 1 0 19 Regenerative brake ON OFF position speed torque If this parameter is set OFF input of a servo on signal causes the servo to be turned off according to the driver control and the motor is left free 0 Does not operate the regenerative brake
99. nput terminal other than forward rotation reverse rotation command pulses Setting Unit Lower limit Upper limit Default ms 0 99 0 15 Control input filter time constant position speed torque If it is used in an environment where there is external high frequency noise set the value so that the control input signal is not easily affected by the noise Function This function sets the motor rotation speed at which the speed limit becomes effective when the speed limit function is assigned to the signal input in the parameter 13 Input pin logical setting A value from 1 to Motor maximum rotation speed can be entered 16 Speed limiting position speed Setting Unit Lower limit Upper limit Default r min 0 Motor maximum rotation speed Motor maximum rotation speed This parameter cannot be set for torque control The upper limit value of the parameter is tame motor maximum rotation speed When the load of the actuator is small including no load it may rotate at the maximum rotation speed instantaneously 17 FWD current limiting 18 REV current limiting Function This function sets the current limit value for the for ward rotation and reverse rotation sides in the current imit state when the current limit function is assigned to the signal input in the parameter 13 Input pin ogical setting Setting Unit Lower limit Upper limit Default 0 note 1
100. ns Connect a regenerative resistance to the external re generative resistance connection terminal or extend the acceleration deceleration time If a regenerative resistance is connected you must switch the regen erative resistance switching jumper to the external connection the alarm after troubleshooting shut off the control power and turn it on again m Cause 3 The control circuit of the HA 680 drive may have failed gt Remedy Contact Harmonic Drive AG Replace the HA 680 drive 2 Alarm occurs temporarily while running m Cause 1 Malfunction may be caused by sur rounding electrical noise gt Remedy Install the driver correctly referring Chapter 3 4 Suppressing noise in this manual m Cause 3 The control circuit of the HA 680 drive may have failed Remedy Contact Harmonic Drive AG Replace the HA 680 drive 2 Alarm occurs temporarily while running m Cause 1 Malfunction may be caused by sur rounding electrical noise gt Remedy Install the driver correctly referring Chapter 3 4 Suppressing noise in this manual The regenerative resistance of the regenerative ab sorption circuit incorporates a fuse When the tem perature of the regenerative resistance increases due to excessive regeneration and the fuse is blown the regenerative circuit no longer works and the main cir cuit voltage increases If the regenerative error occurs immediately the control circuit power is shut down and turne
101. ns The HA 680 drive has various types of protection functions When an error occurs in the system it im mediately turns off the servo and outputs an alarm signal to the host device When these protection functions trip control of the actuator is stopped the motor becomes servo off and the display LED blinks at 0 5 second intervals It illuminates in green and blinks in red The number of times it blinks varies depending on the alarm See below If two or more alarms occur only the latest alarm is displayed Up to 8 latest alarms are recorded Re corded alarms can be checked with Alarm History of dedicated communication software PSF 520 Alarm code Description alley Releasing Overload Electronic detected an overload state I t monitoring Available 1 Deviation counter The value of the deviation counter exceeded the A overflow parameter setting value 2 Availables Encoder break detection The encoder line was broken 5 Not available 2 a encoder data could not be received 10 times in a 4 Not available 2 Encoder reception error Serial encoder data could not be received over an extended time period and encoder monitor could not be 5 outputted successfully UVW error All UVW signals of the encoder became the same level 6 Not available 2 Regenerative error The main circuit voltage detection circuit detected 7 Notavailablee overvoltage oe temperature ee pha main unit tripped the 8 N
102. nside the equipment 2 When two or more persons are working on the equipment make sure all are alerted and safe overload alarm occurs Detection time for the over load alarm varies depending on the actuator RSF supermini series 50 45 z 40 3 E DR RSF 3B 25 y 3 20 a 15 10 5 meme 0 50 100 150 200 250 300 Output torque FHA C mini AC24V type RSF supermini series 1 The alarm occurs when a current of more than 1 25 times the allowable continuous current of the actuator flows for about 170 seconds 2 The alarm occurs when a current of 3 times the allowable continuous current of the actuator flows for about 16 seconds 1 The alarm occurs when a current of more than 1 2 times the allowable continuous current of the actuator flows for about 35 45 seconds 2 The alarm occurs when a current of 2 times the allowable continuous current of the actuator flows for about 5 6 seconds Diagnostic tips 1 Alarm occurs when control power is turned on m Cause 1 The control circuit of the HA 680 drive may have failed gt Remedy Contact Harmonic Drive AG Replace the HA 680 drive 2 The alarm occurs while running it is possible to restart after shutting off control power m Cause 1 Actuator overloaded gt Remedy Review the actuator s actual load pro file to lower the cycle 3 Alarm occurs after hunting motion m Cause 1 Hunting motion is caused by poor gain adjustment g
103. ntact the dealer whom it was purchased from Do not supply a voltage other than the warninc voltage specified on the label The wrong power supply voltage may damage the HA 680 drive resulting in physical injury and fire HA680 900180 02 2010 Harmonic Drive AG 47 3 2 Handling The HA 680 drive are electronic devices Handle them with care and take the following precautions 1 Do not drop screws solder balls wire chips or any other foreign objects into the inside of the HA 680 drive Failure to observe this caution may result in electric shock or personal injury 2 Do not insert electric wire steel wire or a screwdriver into the inside of the HA 680 drive Failure to observe this caution may result in electric shock or personal injury WARNING 1 Because the cover is made of plastic do not apply excess force or shock A 2 The vibration resistance of the HA 680 drive is 5 m s 10 to 55Hz Do not mount or trans port the HA 680 drive in a manner where it would be subjected to high levels of vibration 3 Do not put the HA 680 drive in a position from where it can easily fall down 4 Do not place anything on the HA 680 drive The case of the drive may break 5 The allowable storage temperature is from 20 C to 85 C Do not expose the HA 680 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 relat
104. o CN2 12 Input signal common Connection Connect 24 VDC of the input signal external power supply Connection Make connection as the ground for encoder monitor terminals C2 21 to 26 Torque command input factor Motor torque Torque command voltage x The direction of rotation is specified by the polarity of the torque command and input signals of CN2 8 FWD enable FWD EN and CN2 9 REV en able REV EN While the FWD enable is ON the actuator rotates forward when the CN2 19 Torque command TRQ CMD is In contrast the actuator rotates in re verse for the CN2 19 is 10 0V While the REV enable is ON the actuator rotates in reverse the CN2 19 Torque command TRQ CMD is In contrast the actuator rotates forward when the CN2 19 is When both signals FWD enable and REV enable are ON or OFF the motor is free to rotate CN2 19 Torque command input TRQ CMD _ Torque command Torque command CN2 4 FWD enable FWD EN ON OFF ON OFF 7 ON Torque zero REV rotation Torquezero FWD rotation CN2 3 REV enable REVEN OFF FWD rotation Torque zero REV rotation Torque zero Observe the allowable input voltage CAUTION The input voltage range is between 10 V and 10 V Any voltage outside this range may damage the driver 42 Harmonic Drive AG HA680 900180 02 2010 Connection Connect the voltage signal to the CN2 19 Torque
105. o of load mechanism For linear operation Command pulse input factor numerator Load mechanism feed pitch Amount of feed per input pulse x Command pulse input factor denumerator Actuator resolution Actuator resolution Encoder resolution 4 times x Actuator duty factor On the basis of this formula set the parameter value so that both the numerator and denominator will be integers Setting Unit Lower limit Upper limit Default Numerator 1 999 1 Denominator 999 ote 1 The power must be reset after a change The Note 2 By default the internal pulse is performed previous value is effective until you turn on with the encoder resolution 4 times The the power again amount of movement of the actuator will thus correspond to the encoder resolution 4 times HA680 900180 02 2010 Harmonic Drive AG 71 position Function Three types of command signals can be inputted to the HA 680 drive as follows 25 Command pulse input form The power must be reset after making a change previous value is effective until you turn on the power again Type 2 pulse train 1 pulse train 2 phase pulse train Forward Forward Forward waf UI L mi R saf LTL REV rev L___ revel LIL Command pulse 50 input form Reverse Reverse Reverse FWD rwoT LJ 1 wI LJ 1 revtJ LIL rewl ru LIL 90 FWD CN2 14 15 Forward Pulse input Phase A REV
106. on it is necessary to provide proper cabling in order to suppress incorrect motion of the HA 680 drive by external noise from hosts which contain elec tronic components such as a CPU To prevent problems with noise emissions always in stall cabling and grounding as described below Grounding to the earth One point grounding is essential 3 5mm or thicker Grounding ducts When the motor cables are housed in a metal conduit or a metal box ground their metal parts The ground should be connected to earth at a single point Select bi directional noise filters that can suppress external and internal noise Recommended noise filters are listed in the figure below Model SUP P8H EPR 4 Manufacturer Okaya electric Driver All models quency noise such as electric welders and electrical discharge machines Incorrect use of noise filters can seriously reduce their effectiveness Inspect them as per the following in structions 50 Harmonic Drive AG HA680 900180 02 2010 m Separate the filtered side and the unfiltered side of the power supply cables from each other Do not bundle both together Do not encase them within the same m Do not bundle the grounding cable with the filtered side of power cables or signal wires Do not encase them within the same duct m Avoid daisy chain wiring of ground cables Ground them to a frame box or ground plate at a single point duct
107. oo low gt 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 to the load Memory Error EEPROM Alarm clear not available Description This alarm occurs when the driver s EEPROM memory fails To release the alarm after troubleshooting shut off the control power and turn it on again Diagnostic tips 1 Alarm occurs when the control power is turned on m Cause 1 The control circuit of the HA 680 drive may have failed gt Remedy Contact Harmonic Drive AG Replace the HA 680 drive 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 Diagnostic tips 1 Alarm occurs when the control circuit power is turned on m Cause 1 Failure of the control circuit of the HA 680 drive Remedy Contact Harmonic Drive AG Replace the HA 680 drive 2 Alarm occurs when you enter a rotation com mand and the actuator rotates at high speed m Cause 1 Position control Command pulse frequency is too large gt 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 m Cause 2 Speed control Speed command in put voltage is too high gt Remedy Lower the speed command output voltage in the host d
108. osition deviation data is lost and the actuator will not return to its original position Select the input signal at which the deviation counter is cleared 0 The deviation counter is not cleared when the servo on signal is inputted 1 The deviation counter is cleared when the servo on signal is inputted Note When the deviation counter is cleared the command pulse count becomes the same value as the returned pulse count 28 Angle correction position Function The HA 680 drive with 4 line specifications provide angle correction function which improves one way positioning accuracy by compensating it with a pre analyzed error of the Harmonic Drive component The function improves the accuracy about 30 0 without angle correction 1 with angle correction The power must be reset after making a change Setting Unit Lower limit Upper limit Default 0 1 0 Note 1 The power must be reset a change The pre vious value is effective until you turn on the power again If no correction data are recorded in the con nected actuator this parameter cannot be set to 1 0 is read even if it is set to 1 This is not supported by the RSF supermini series actuators Note 2 29 Auto gain setting at positioning position Function To get short period for positioning the function auto matically makes speed loop gain higher when a devia tion pulse number becomes small
109. ot available 2 System error An error of the current detection circuit was detected 9 Not available 2 Overcurrent The current detection circuit detected excessive current 10 Not available 2 Load short circuit Excessive current flowed through the FET 11 Not available 2 Memory error Read write of EEPROM failed 12 Not available 2 oversees a Fc emt 1 The servo does not turn on unless the S ON signal is entered again after the alarm is cleared with the CLR signal 2 Shut off the power supply after remedying a cause of the alarm that releasing is impossible Then turn on the power supply 16 Harmonic Drive AG HA680 900180 02 2010 The following example illustrates how the LED blinks in case of an alarm lt 0 5s 2s In the above example the LED blinks 4 times at 0 5 s intervals which indicates an encoder reception error 1 11 Protective functions HA 680 drive provide the following protective functions and show the alarm displays on 1 10 Overload I t monitoring The driver always monitors the motor current and if the current exceeds the curve in the figure below the overload alarm occurs Occurrence of the overload alarm varies depending on the actuator Overload alarm occurrence time FHA C mini AC24V type Detection time s 0 50 100 150 200 250 Output torque 100 represents the rating 300 RSF supermini series 50 45 T 40 g 35 30 RSF 3B 5 5 r 8 2 15 10 et
110. oting shut off the control power and turn it on again Diagnostic tips 1 Alarm occurs when the control circuit power is turned on m Cause 1 Failure of the current detection circuit of the HA 680 drive gt Remedy Contact Harmonic Drive AG Replace the HA 680 drive gt Remedy Review the effective load factor of the actuator to reduce the load factor m Cause 2 The ambient temperature around the HA 680 drive is over 50 C gt Remedy Review the installation location and cooling system of the HA 680 drive 2 Alarm occurs occasionally while the motor is running m Cause 1 Malfunction due to external noise gt Remedy Take noise prevention measures accord ing to 3 4 Suppressing noise in this manual m Cause 2 Failure of the current detection circuit of the HA 680 drive Remedy Contact Harmonic Drive AG Replace the HA 680 drive HA680 900180 02 2010 Harmonic Drive AG 91 Overcurrent 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 m Cause 1 The control circuit of the HA 680 drive may have failed Remedy Contact Harmonic Drive AG Replace the HA 680 drive 2 Alarm occurs when input signal of CN2 7 S ON servo ON is activated m Cause 1 The control o
111. otor becomes servo off and the display LED blinks at 0 5 second intervals It illuminates in green and blinks in red The number of times it blinks varies depending on the alarm See below If two or more alarms occur only the latest alarm is displayed Up to 8 latest alarms are recorded Record ed alarms can be checked with Alarm History using the dedicated communication software PSF 520 ae No of times f Alarm code Description LED blinks Releasing overload e Seven einai detection of an overload state 1 Available 1 I t monitoring Deviation counter The value of the deviation counter exceeded the P 2 Available 1 overflow parameter value Eneasar Deal The encoder line was broken 3 ot available 2 detection Serial encoder data could not be received 10 4 Encoder reception times iria tow Gror P Serial encoder data could not be received over ot available 2 an extended time period and encoder monitor 5 could not be outputted successfully UVW error All encoder UVW signals are the same level 6 ot available 2 Regenerative The main circuit voltage detection circuit 7 daai error detected overvoltage Operating tem The temperature of the HA 680 main unit 8 ot available 2 perature error tripped the temperature rise sensor System error An error in the current detection circuit was 9 aaae sensed Overcirrenit The current detection circuit senser excessive 10 ot available 2 current Load short circ
112. output circuit for the port as fol lows Supply voltage DC 24 V or less Signal current 40 mA or less per port 32 Harmonic Drive AG HA 680 900180 02 2010 CN2 5 Phase Z OC Z output Function The port outputs the phase Z pulse signals of the encoder One pulse per motor rotation is sent The signal may be used with the mechanical origin signal as a precise origin of the driven mechanism The transistor is turned on during phase Z output Connection 1 An example of CN2 5 phase Z Z connection is shown in the figure to the right 2 The port is insulated by photocouplers response frequency 10 kHz max 3 Configure the output circuit for the ports as fol lows Supply voltage DC 24 V or less Signal current 40 mA or less CN2 6 Output common OUT COM output Function This is the common port for the CN2 1 2 3 4 5 ports CN2 7 Servo ON S ON input Function This turns the servo power for the HA 680 drive ON and OFF After about 100ms from turning the input ON the servo power of the HA 680 drive is ON and the actuator can be driven When OFF the servo power turns OFF and the motor is free to rotate Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value servo power turns ON at normal close PC452 Cv Connection Connect NO contact signal a contact Connect 24 V of the input signal external power supply to CN2 12 Input sign
113. ower supply to CN2 12 Input signal common Setting for CN2 9 or 11 Deviation clear DEV CLR input Function This signal clears the deviation counter and sets the deviation pulse count to 0 At the same time the command pulse count is set to the same value as the returned pulse count Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value the deviation clear function works at the ON edge of the input signal ON Connection Connect NO a contact contact signal Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common Setting for CN2 10 or 11 Speed limiting SPD LMT input Function This signal limits the speed to the value set in 16 Speed limit in Parameter If you continue to input a command pulse over the limit speed the deviation counter overflow alarm occurs This alarm can be cleared by CN2 Clear CLEAR or CN2 Alarm clear ALM CLR Be careful when you release it because the speed increases in stantaneously when the limit is released while the speed is limited Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value the speed limit state occurs when the input signal is on Connection Connect NO a contact contact signal Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common HA680 900180 0
114. put factor denomina Pe 1 1 1 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 1 30 Speed command input factor r min 10000 10000 10000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min 1 1 1 33 Acceleration time constant ms 1 1 34 Deceleration time constant ms 1 1 1 35 Analog command A D value Mid 3447 3447 3447 36 Analog command A D value Max 5984 5984 5984 37 Analog command A D value Min 910 910 910 38 Zero clamp 0 0 0 39 Reserved for the system note 0 0 0 40 Internal command input factor 1 41 Torque command input factor 211 266 253 42 Reserved for the system note 0 0 0 43 JOG operation acceleration deceleration 500 500 500 time constant 44 JOG operation feed pulse count pulse 100 100 100 45 JOG operation S shape selection 0 0 0 46 JOG operation speed r min 500 500 500 47 Communication setting 0 0 0 48 CANID note 0 0 0 49 CAN communication speed note 0 0 0 ote This area is reserved for the system Do not perform any setting Harmonic Drive AG 8 3 The value shown inside of parentheses is for the acturator with brakes 84 No Description unit RSF 8B 30 RSF 8B 50 RSF 8A 100 00 Position loop gain ii 40 40 40 01 Spe
115. r main circuit of the HA 680 drive may have failed Remedy Contact Harmonic Drive AG Replace the HA 680 drive 3 Alarm occurs when 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 m Cause 1 Short connection in the motor cable Remedy Verify the connection of the motor cable and correct it or replace it if necessary m Cause 2 Short connection in the motor winding gt Remedy Contact Harmonic Drive AG Replace actuator Load short circuit Alarm clear not available Description The alarm occurs when excessive current flows through the FET To release the alarm after trouble shooting shut off the control power and turn it on again Diagnostic tips 1 Alarm occurs when the control circuit power is turned on m Cause 1 Failure of the control circuit of the HA 680 drive gt Remedy Contact Harmonic Drive AG Replace the HA 680 drive 2 Alarm occurs with input ON of the input signal CN2 7 Servo on m Cause 1 Failure of the main circuit or control cir cuit of the HA 680 drive gt Remedy Contact Harmonic Drive AG Replace 4 Alarm occurs during acceleration or deceleration m Cause 1 Excessive load inertia and the accelerat ing or decelerating time is too short gt Remedy 1 Reduce the load inertia gt Remedy 2 Set longer times for parameter gt 33 acceleration time constant and 3
116. rive AG 101 8 Options 8 1 Relay cables Relay cable 1 FHA C mini 24 VAC type 4 wire encoder only These are relay cables that connect the FHA C mini 24 VAC type actuators and HA 680 driver There are 3 types of relay cable for motors for encoders and for EIA 232C Relay cable models indicates the cable length 3 m 5 m or 10 m 1 For motors EWC MB A06 TN2 Cable length 03 3 m 05 5 m 10 10 m 2 For encoders EWC E MO6 3M14 Cable length 03 3 m 05 5 m 10 10 m 3 For EIA 232C HDM RS232C Cable length 1 5m Relay cable 2 RSF supermini series These are relay cables that connect the RSF super mini series actuators and HA 680 driver There are 3 types of relay cable for motors for encoders and for EIA 232C Relay cable models indicates the cable length 3 m 5 m or 10 m 1 For motors EWA M2 JSTO4 TN2 gt for RSF 3B 5A aS Cable length 03 3 m 05 5 m 10 10 m EWC MBxx A06 TN2 gt for RSF 8B 11B 14B 2 For encoders EWA E M09 3M14 gt for RSF 3B 5A eee Cable length 03 3 m 05 5 m 10 10 m EWB Fxx M0809 3M14 gt for RSF 8B 11B 14B 3 For EIA 232C HDM RS232C Cable length 1 5 m When you use an actuator with a brake a relay cable for the brake is required in addition to the relay cables described above In addition a separate power supply is required for releasing the brake For details refer to AC Servo Actuator RSF Supermini Series Manual
117. rmed with 14 Output pin logic setting in Parameter With the default value the output transistor is turned on when the speed is attained Connection 1 The figure to the right shows an example of the CN2 1 attained speed HI SPD port con nection 2 Configure the output circuit for the ports as follows Supply voltage DC 24 V or less Signal current 40 mA or less per port CN2 2 Alarm ALARM output Function The output turns OFF when the HA 680 drive senses an alarm This signal is normal closed NC b contact Logic changes can be performed with 14 Out put pin logic setting in Parameter With the default value the transistor is turned on during normal operation and turned off when an error is detected Connection HA 680 1 The figure to the right shows an example of Alarm the CN2 2 Alarm ALARM port connection 2 Configure the output circuit for the port as follows Supply voltage DC 24 V or less Signal current 40 mA or less per port CN2 2 ALARM PC452 ou CN2 6 OUT COM HA 680 900180 02 2010 Harmonic Drive AG 39 CN2 3 Ready READY output Function The output turns ON when the driver becomes ready to drive after initialization and the driver can com municate with a host Logic changes can be performed with 14 Output pin logic setting in Parameter With the default value the transistor is turned on during normal operation Note The output stays ON even i
118. rrection 0 0 0 09 Step correction switch range Pulse 4000 4000 4000 10 Control mode 1 1 1 1 Input function assignment 0 0 0 12 Output function assignment 0 0 0 3 Input pin logical setting 0 0 0 14 Output pin logical setting 2 2 2 5 Control input filter time costant ms 0 0 0 16 Speed limit r min 6000 6000 6000 7 FWD current limiting 188 194 185 18 REV current limiting 188 194 185 9 Regenerative brake ON OFF 0 0 0 20 Rotary direction 0 0 0 21 Allowable position deviation Pulse 30000 30000 30000 22 In position ready range Pulse 10 10 10 23 Command pulse input factor numerator 24 Command pulse input factor denominator 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 30 Speed command input factor r min 6000 6000 6000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min 1 1 1 33 Acceleration time constant ms 34 Deceleration time constant ms 1 35 Analog command A D value Mid 3447 3447 3447 36 Analog command A D value Max 5984 5984 5984 37 Analog command A D value Min 910 910 910 38 Zero clamp 0 0 0 39 Reserved for the system note 0 0 0 40 Internal command input factor 41 Torque command input factor 188 194 185 42 Reserved for the system not
119. scription 1 CANH CAN High signal 2 CANL CAN Low signal 3 NC Do not connect 4 NC Do not connect 5 NC Do not connect 6 NC Do not connect i NC Do not connect 8 NC Do not connect HA680 900180 02 2010 Harmonic Drive AG 13 1 8 CN2 Inputs and Outputs The CN2 connector carries both input and output sig for position contro nals to the host control device The connector has 26 control je 1 speed control and torque pins which are assigned as shown in the table below Position control Speed control Signal Symbol 1 0 a Signal Symbol 1 0 Output 1 Output 1 on ready IRHROS Outen NTE speed output ESRD Crip Output 2 Output 2 2 1 one ae ALARM Output 2 1 ani ipud ALARM Output 5 Output 3 Output 3 Output 3 Output 4 Output 4 Output 4 Output 4 Output Output 5 Output 5 3 Tas Z OC output Z ae 5 Ces Z OC output Z OE 6 ae agna cam OUT COM Output 6 Output signal common ZA Output 7 nput 1 Servo ON S ON Input 7 Input 1 Servo ON S ON Input 8 nput 2 Inpu 8 Input 2 FWD start FWD EN Input 9 nput 3 Input g Input 3 REV start REV EN Input 10 nput 4 Inpu 10 Input 4 Input 11 nput 5 Input 1 Input 5 Input 2 nput signal common IN COM Inpu 12 Input signal common IN COM Input 3 Encoder monitor GND MON Output 13 Encoder monitor GND WON Input GND GND 14 FWD pulse FWD Inpu 14 5 FWD pulse FWD Input 15 6
120. servo power for the HA 680 drive ON and OFF After turning the input ON the servo power of the HA 680 drive is ON and the actuator can be driven When OFF the servo power turns OFF and the motor is free to rotate Setting for CN2 8 FWD inhibit FWD IH input Setting for CN2 9 REV inhibit REV IH input Function FWD inhibit Open state OFF of the input restricts forward rotation REV inhibit Open state OFF of the input restricts reverse rotation Open states OFF of both inputs restricts rotation The inputs may be used to limit the motion range of oad mechanism between limit sensors Logic changes can be performed with 13 Input pin ogic setting in Parameter With the default value the prohibition state can be cleared with the input signal on close Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value the servo enable occurs when the input signal is on Connection Connect NO a contact contact signal Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common Connection Connect NC contact b contact signal Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common REV inhibit FWD inhibit 24 Harmonic Drive AG HA680 900180 02 2010 Setting for CN2 10 Clear CLEAR input Function 1 If an alarm exists This clears the alarm state returns to operable
121. set value when the analog command is 10V Enter 10V in the analog command and set the analog command A D value in the val ue monitor of the state display window of communica tion software PSF 520 For details refer to a separate document PSF 520 User s Manual Unit Lower limit Upper limit Default 0 8192 8192 HA680 900180 02 2010 Harmonic Drive AG 75 Function This function sets the offset value when the analog command is 10 V Enter 10 V in the analog com mand and set the analog command A D value in the value monitor of the state display window of com munication software PSF 520 For details refer to a separate document PSF 520 User s Manual 37 Analog command A D value Min speed torque 38 Zero clamp speed Function During speed control the motor stops when both FWD enable FWD EN and REV enable REV EN are on or off When the motor moves due to external force it stops where it comes to rest because no po sition control is performed If zero clamp is enabled position control is provided so that the motor retains the set position resisting the external forces Setting Unit Lower limit Upper limit Default 0 8192 0 Setting Unit Lower limit Upper limit Default 0 1 0 O indicates that it is disabled and 1 indicates that it is enabled This parameter is reserved for the system Do no
122. sisters for suppressing the transient current may deteriorate The switching frequency should not exceed 5 times in an hour and 30 times in a day Furthermore the ON Control power 0 Main power 2 Minimum Os gt Release Alarm Output OFF gt ON Minimum Os DEE Minimum 0 1s interval between turning OFF and ON should be more than 30 seconds 3 10 3 Power on and off sequences Program the sequence on the high level equipment to power the HA 680 drive on and off with the fol lowing timings OFF gt ON Minimum 0 5s Li i Read i l 7 Output kK Minimum Os Minimum Os i Servo On Servo On Command Input Minimum 0 1s i i 1 Input Minimum 0s gt Minimum 0 q i Minimum 0 5 y 58 Harmonic Drive AG HA 680 900180 02 2010 4 Functions of the dedicated communication software PSF 520 The dedicated communication software PSF 520 is for The overview of the functions of PSF 520 are shown setting and changing parameters for the HA 680 below For details and operation methods refer to a Note To set and or change parameters dedicated separate document PSF 520 User s Manual communication software PSF 520 is required m Status display Displays basic information such as the software version of the HA 680 drive m State display Displays the operation state such as rotation speed m Parameter setting Allows you to set chang
123. sition command are selectable Two pulse train single pulse train and two phase pulse train m Regenerative circuit provided as standard The drive incorporates a regenerative circuit as standard You can use it in applications with a large moment of inertia without worrying about regenera tion Model and sign of HA 680 drive are described as follows Note that the model varies depending on the actuator used m HA 680 drive HA 680 40 24 680 series Input voltage AC servo driver Nominal current Corresponding sign 4 4A 6 6A None For FHA Cmini 24 VAC type B For RSF series 24 24 VDC HA680 900180 02 2010 Harmonic Drive AG 7 1 3 Combinations with actuators and cables Servo drive Actuator Motor feedback Motor cable Brake cable Encoder cable Input RSF 3B xxx D020 C 8 wire encoder with EWA Mxx JST04 TN2 EWA Bxx JSTO3 TMC EWA Exx M09 3M14 HALL sensor Open RSF 5A xxx D050 xC HA 680 4B 24 A collector RSF 8B xxx F100 24A C RSF 11B xxx F100 24A C EWC MBxx A06 TN2 not available Bie ete HA 680 6B 24 A 3M14 RSF 14B xxx F100 24A C 14 wire encoder with HALL sensor RS422 HA 680 4 24 FHA 8C xxx D200 E line driver not available FHA 11C xxx D200 E HA 680 6 24 FHA 14C xxx D200 E not available HA 680 4 24 FHA 8C xxx E200 CE FHACTIC xxx E200 CE p mn eneSgEY EEE e A e eee ene NEWCEx
124. state and clears the deviation count to 0 For alarms that cannot be cleared shut off the con trol power once and turn it on again 2 If no alarm exists This clears the deviation count to O At the same time this clears the command count and the feedback count At the same time the com mand pulse count is set to the same value as the returned pulse count Setting for CN2 8 or 10 alarm clear ALM CLR input Function This signal clears the alarm state and makes it ready for operation However the deviation count overflow error becomes the operation ready state when alarm clear ALM CLR is inputted after deviation clear DEV CLR is inputted When an alarm that cannot be cleared occurs shut down the main circuit power supply and control cir cuit power supply remove the cause of the alarm and then turn on the power again Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value the clear function works at the edge of the input sig nal ON Connection Connect NO a contact contact signal Connect 24 VDC of the input signal external power supply to CN2 12 Input signal common Logic changes can be performed with 13 Input pin logic setting in Parameter With the default value the alarm clear function works at the edge of the in put signal ON Connection Connect NO a contact contact signal Connect 24 VDC of the input signal external p
125. t Remedy Adjust gains in parameter gt 00 posi tion loop gain 01 Speed loop proportional gain t is possible to clear the alarm by inputting ON signal to CN2 Clear or Alarm clear if it is not overload again 02 speed loop integral gain and 03 Speed loop derivative gain proportional to the load 4 Alarm does not occur when driving the actuator only no load but alarm occurs with load m Cause 1 Wrong connection of motor and en coder cables gt Remedy Connect cables correctly referring to chapter 3 Installing the HA 680 drive in this manual 5 Alarm occurs when driving the actuator only no load m Cause 1 Wrong connection of motor and en coder cables gt Remedy Connect cables correctly referring to chapter 3 Installing the HA 680 drive in this manual 88 Harmonic Drive AG HA680 900180 02 2010 Deviation counter overflow Alarm clear available Description The alarm occurs when the value of the deviation counter exceeds the parameter setting value PSF 520 No 21 Allowable position deviation This alarm Diagnostic tips 1 If the alarm occurs when the power is turned on m Cause 1 Main circuit was turned ON while in putting command pulse The power was applied while the actuator was driving gt Remedy Stop command pulse or the actuator and turn on the power again m Cause 2 HA 680 drive control circuit failure gt Remedy Contact Harmonic Drive AG Replace the HA 680 drive
126. t cannot be performed HA680 900180 02 2010 Harmonic Drive AG 17 UVW error The alarm occurs when the encoder UVW signals are abnormal To reset the alarm you must shut down the power and turn it on again after diagnosing and remedying the cause To clear the alarm after troubleshooting shut off the control power once and turn it on again Regenerative error The alarm occurs when the voltage of the main circuit exceeds 50 V If the moment of inertia of the load is large the main circuit voltage increases due to the en ergy generated during deceleration of the actuator The regenerative resistance of the regenerative ab sorption circuit incorporates a fuse When the tem perature of the regenerative resistance increases due to excessive regeneration and the fuse is blown the regenerative circuit no longer works and the main cir cuit voltage increases If the regenerative error occurs immediately the control circuit power is shut down and turned on again it may be due to a blown fuse In this case connect the external regenerative resist ance and switch the jumper setting For connection of an external regenerative resistance and change of the jumper setting refer to 3 8 Operating temperature error The alarm occurs when the temperature of the HA 680 main unit increases and the temperature sensor trips To reset the alarm you must shut down the pow er and turn it on again after diagnosing the cause System error
127. t change the setting 39 Reserved for the system Function Internal torque command value allows you to oper ate the actuator without an input signal It is usefu for a test run of the actuator alone and for system diagnosis The command value can be set here For operation of the actuator using internal com mand internal commands are selected when a signa is entered on to CN2 Internal external command CMD CHG External commands are selected when the signal is turned off To rotate the actuator in the reverse direction with this internal speed command value turn on CN2 REV enable REV EN 40 Internal torque command input factor torque Setting Unit Lower limit Upper limit Default 0 Note 1 Note The setting value varies depending on the model of the actuator The upper limit value is calculated using the following formula based on the values listed in the catalogue and man ual of the AC servo actuator The allowable continuous torque is 100 Maximum current Allowable continous current x 100 Upper limit 76 Harmonic Drive AG HA 680 900180 02 2010 41 Torque command input factor torque Function Note The value varies depending on the model of This function sets the output torque when the input the actuator The upper limit value is calcu command voltage is 10 V lated using the following formula based on the values list
128. tely in the position con trol in the speed control and in the torque control modes They are also described for the following cases m No rotation m Unstable rotation m Poor positioning accuracy 7 2 1 Improper motions in position control No rotation in position control LED of front panel lights up The contro or main circuit power OK Y Y Driver failure y Refer section 7 1 Isan alarm alarm and indicated diagnostic tips Can actuator be rotated by hand by using Y Take care of safety while arms rotating the actuator by N hand Is a command pulse being N Input command pulse received Is command configuration correct Actuator failure Next page Make same command N configuration as the hast in 25 Command pulse input form in parameter Note In the flowcharts Y and N represent Yes and No respectively Power failure NFB or MS failure Are NFB and MS on ong wiring Is AC DC Power off with Turn NFB and power on MS ON sequence Y Note Turn NFB and NFB No fuse breake MS ON MS Main power switch Correct N parameter 17 18 current limit Is parameter 117 18 curtent limit Tighten screws Replace motor cable Is voltage of driver s UVW correct Driver failure is phase order correct between motor and driver 94 Harmonic Drive AG HA
129. ter time costant ms 0 0 0 16 Speed limit r min 6000 6000 6000 17 FWD current limiting 288 322 191 18 REV current limiting 288 322 191 19 Regenerative brake ON OFF 0 0 0 20 Rotary direction 0 0 0 21 Allowable position deviation pulse 30000 30000 30000 22 In position ready range pulse 10 10 10 23 Command pulse input factor numerator 1 1 24 AD pulse input factor denomina 1 1 1 25 Command pulse input form 0 0 0 26 Muliplication at 2 phase input 4 4 4 27 Servo ON deviation clear 0 0 0 28 Angle correction 0 0 0 29 Auto gain setting at positioning 1 1 30 Speed command input factor r min 6000 6000 6000 31 Attained speed determination value r min 2000 2000 2000 32 Internal speed command value r min 1 1 1 33 Acceleration time constant ms 1 1 34 Deceleration time constant ms 1 1 1 35 Analog command A D value Mid 3447 3447 3447 36 Analog command A D value Max 5984 5984 5984 37 Analog command A D value Min 910 910 910 38 Zero clamp 0 0 0 39 Reserved for the system note 0 0 0 40 Internal command input factor 1 41 Torque command input factor 288 322 191 42 Reserved for the system note 0 0 0 43 JOG operation acceleration deceleration Hs 500 500 500 time constant 44 JOG operation feed pulse count pulse 100 100 100 45 JOG operation S shape selection 0 0 0 46 JOG operation speed r min 500 500 500 47 Communication setting 0 0 0 48 C
130. the driver fails to receive data from encoder The alarm also occurs when the driver fails to output the encoder signal To release Diagnostic tips 1 Alarm occurs when the control power is turned on m Cause 1 The encoder connector CN1 may not be connected or may be connected poorly gt Remedy Verify connection of encoder connec tor CN1 and connect it firmly m Cause 2 The encoder circuit may have failed gt Remedy Contact Harmonic Drive AG Replace actuator UVW error Alarm clear not available Description The alarm occurs when the encoder UVW signals are abnormal To release the alarm after troubleshooting shut off the control power and turn it on again Diagnostic tips 1 Alarm occurs when the control power is turned on m Cause 1 The encoder connector CN1 may not be connected or may be connected poorly gt Remedy Verify connection of encoder connector CN1 and connect it firmly m Cause 2 The encoder circuit may have failed gt Remedy Contact Harmonic Drive AG Replace actuator Regenerative error Alarm clear not available Description The alarm occurs when the voltage of the main circuit exceeds 50 V If the load inertia is large the main circuit voltage increases due to the energy gener ated during deceleration of the actuator This alarm can be cleared by shutting down the control circuit power and turning it on again However this alarm may occur every time under the same load conditio
131. to CN2 Clear CLEAR or CN2 Deviation Clear DEV CLR m Cause 4 The load inertia is too large gt Remedy 1 Reduce the load inertia gt Remedy 2 Modify the command pulse fre quency of the host to accelerate and decelerate more slowly 3 If the speed does not increase according to the command and the alarm occurs after a while m Cause 1 OFF state of input signal CN2 FWD inhibit or CN2 REV inhibit gt Remedy Verify breakage of CN2 connector ca ble 4 Actuator did not rotate m Cause 1 Incorrect motor cable connection or wrong phase order gt Remedy 1 Correct the connection between the motor cable and the connector Remedy 2 Connect the motor cable and the connector in correct phase order referring to Chapter 3 7 Connecting motor and regenera tion resistor cables of this manual m Cause 2 Poor encoder connector CN1 connec tion gt Remedy Plug the CN1 connector firmly the alarm after troubleshooting shut off the control power and turn it on again gt Remedy Contact Harmonic Drive AG Replace the HA 680 drive 2 Alarm occurs during running recovers when the actuator cooled down m Cause 1 Encoder malfunctions when the ac tuator temperature rises gt Remedy Review the actuator operating load duty cycle and its cooling system HA680 900180 02 2010 Harmonic Drive AG 89 Encoder reception error Alarm clear not available Description This alarm occurs when
132. uit Excessive current flowed through the FET 1 ot available 2 Memory error EEPROM Read write failed 12 ot available 2 The motor axis speed exceeded the maximum a Glebe rotation speed 100 rpm for 0 5 s or longer ie Gi eveilele 2 1 The servo does not turn on unless the S ON signal is entered again after the alarm is cleared with the CLR signal 2 Turn off the power after handling the alarm After that turn on the power again by following the power on sequence The following example illustrates how the LED blinks in case of an alarm gt lt gt lt lt 0 5s 2s In the above example the LED blinks 4 times at 0 5 s intervals which indicates an encoder reception error HA680 900180 02 2010 Harmonic Drive AG 87 WARNING source before any wiring changes are made Do not make wiring changes after turning on the driver for troubleshooting Troubleshooting while power is active may result in electric shocks Shut off the electric power CAUTION before power is restored to the machine Overload Alarm clear available I t monitoring Description The driver always monitors the motor current and if the current exceeds the curve in the figure below the Overload alarm detection time FHA C mini AC24V type Detection time s 0 5 100 150 200 250 Output torque 100 represents the rating 300 1 Clean around the device Make sure there are no wire chips or tools i
133. unction assignment in Parameter as shown below For the setting method refer to Chapter 6 Parameter setting and PSF 520 User s Manual Position control input signal assignment parameter CN2 Pin No Setting FWD REV Alarm Deviation Speed Current value SEVoON inhibit inhibit Clear clear clear limiting limiting 0 1 8 g 10 11 7 8 9 10 11 2 7 8 9 10 11 3 7 8 9 10 11 Note The setting value 0 is the initial setting value Speed control input signal assignment parameter CN2 Pin No A External Setting Servo ON RWD REV Alarm clear internal Speed Current value enable enable limiting limiting command 0 y 8 g 10 11 1 7 8 9 10 11 2 7 8 i 10 11 3 i 8 9 10 11 4 7 8 g 10 11 5 a 8 9 10 11 Note The setting value 0 is the initial setting value Torque control input signal assignment parameter CN2 Pin No External Setting value Servo ON FWD REV Alarm clear internal com Current enable enable limiting mand 0 Z 8 g 10 1 1 7 8 9 10 11 2 X 8 9 10 11 Note The setting value 0 is the initial setting value HA680 900180 02 2010 Harmonic Drive AG 19 2 1 2 Assignment of output signals Assignment of the output signals varies depending on the setting value of 12 Output function assignment in Parameter as shown below For the setting metho
134. ut 3 REV start Input 4 Input 5 Input signal common Encoder monitor GND Torque command Torque command ground Phase A output LD Phase A output LD Phase B output LD Phase B output LD Phase Z output LD Phase Z output LD Symbol HI SPD ALARM READY CUR LMT M Z OUT COM S ON FWD EN REV EN IN COM MON GND TRQ CMD TRQ GND At A B B Z Z 1 0 Output Output Output Output Output Output Input Input Input Input Input Input Output Input Input Output Output Output Output Output Output Note 1 OC indicates the open collector LD indicates the line driver Note 2 For input 4 and input 5 function assignmen in parameter setting For details refer to 2 1 can be changed Do not connect the pins with in the signal column to the external device Gunon lf you do failure may occur because it is connected to the internal circuit HA680 900180 02 2010 Harmonic Drive AG 15 1 9 LED display The 2 LEDs green and red indicate the state of the HA 680 drive State LED green LED red Remarks Control power ON ON OFF Connected actuator and driver data set do not match Blinking OFF Servo ON ON ON g PE The number of times it blinks varies depending on Alarm 1 ON Blinking the alarm Refer to 1 10 CPU error Blinking Blinking The green and red LEDs blink alternately 1 10 Outline of protective functio
135. viation Position loop gain Command pulse input factor denominator 70 Harmonic Drive AG HA680 900180 02 2010 22 In position ready range position Function Setting When the difference between command pulse n ii i A aE AA a Unit Lower limit Upper limit Default count and returned pulse count which is devia tion pulse count decreases below the setting value Pulse 0 9999 10 of in position ready range the signal is outputted to CN2 In position ready output IN POS as completion of positioning This value only monitors the state of position devia tion and does not directly affect the rotation control of the servo actuator 23 Command pulse input factor numerator The power must be reset after making a change 24 Command pulse input factor denominator The power must be reset after making a change position Function This parameter is used with Command pulse input factor denominator as an electronic gear function It is used to set the relationship between the input pulse number and the amount of moment of the ma chine that the actuator drives The relationship should be an integer The formula for numerator and denominator as fol lows For rotary operation Angle of movement per input pulse Command pulse input factor numerator 360 1 x xX Command pulse input factor denumerator Actuator resolution Reduction rati
136. y For internal speed commands acceleration is per formed based on the set value ote Motor rotation speed Actuator rotation speed x Reduction ratio 34 Deceleration time constant speed Unit Lower limit Upper limit Default Function Setting This function sets the time for the motor to decelerate from the motor maximum rotation speed to O r min during speed control ms 1 9999 1 For external speed commands when a speed com mand faster than the setting value is entered this value has higher priority when a speed command slower than the set value is entered the speed com mand has higher priority For internal speed commands deceleration is per formed based on the set value ote Motor rotation speed Actuator rotation speed x reduction ratio 35 Analog command A D value mid speed torque Function Setting This function sets the offset value when the analog command is OV a command value to stop the motor Enter OV in the analog command and set the analog input voltage value in the value monitor of the state display window of communication software PSF 520 For details refer to a separate document PSF 520 User s Manual 36 Analog command A D value max speed torque Unit Lower limit Upper limit Default Unit Lower limit Upper limit Default 0 8192 4096 Function Setting This function sets the off
137. y m Ambient temperature O C to 50 C m Ambient humidity Less than 95 RH Non condensation m No contamination by water oil or foreign matters m No corrosive inflammable or explosive gas m No water or oil near devices CAUTION Use sufficient noise suppressing means and safe grounding m Keep signal and power leads separated m Keep leads as short as possible m Ground actuator and driver at one sin gle point minimum ground resistance class D less than 100 ohms m Do not use a power line filter in the motor circuit Pay attention to negative torque by inverse load m Inverse load may cause damages of drivers m Please consult our sales office if you intent to apply products for inverse load CAUTION CAUTION Use a fast response type ground fault detector designed for PWM inverters m Do not use a time delay type ground fault detector SAFETY FOR CONTROLLER IN OPERATIONS Never change wiring while power is active m Make sure of power non active before servicing the products m Failure to observe this caution may result in electric shock or personal injury WARNING WARNING Use the specified power supply m To supply power to the 24 VDC driver HA 680 Series use the secondary side power supply with double insulation from the primary side Do not make a voltage resistance test m Failure to observe this caution may result in damage of the control unit m Please consu

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