MTD 147 - 655 Specifiche

HA-655Precision Gearing & Motion ControlTotal Motion Control

Chapter 1 Outlines of the HA -655 driver - 5 - 1-6 Front panel Functions ◆ LED display Indicates operating states of the

Chapter 6 Setting up parameters - 95 - [Tune mode] Speed loop integral compensation (pos./spd.) ● Function The HA-655 driver is equipped wit

Chapter 6 Setting up parameters - 96 - [Tune mode] Position loop gain (position / speed mode) ● Function The HA-655 driver is equipped with t

Chapter 6 Setting up parameters - 97 - [Tune mode] Feed forward gain (position mode) ● Function In the position mode the HA-655 driver control

Chapter 6 Setting up parameters - 98 - [Tune mode] In-position range (position mode) ● Function [In-position: INPOS (CN2-33 pin)] signal is ou

Chapter 6 Setting up parameters - 99 - [Tune mode] Internal speed command (speed mode) ● Function The function can operate the actuator witho

Chapter 6 Setting up parameters - 100 - [Tune mode] Acceleration time constant (speed mode) ● Function [Acceleration time constant] is the

Chapter 6 Setting up parameters - 101 - [Tune mode] Speed command offset (speed mode) ● Function In the speed mode, motor may rotate slightly

Chapter 6 Setting up parameters - 102 - 6-6 Parameter mode The [parameter mode] sets various parameter values relating to the fundamental operati

Chapter 6 Setting up parameters - 103 - ● Operations of values (1) To change a value, press the [ADJ] key at least 0.1 second. ⇒1st digit [0]

Chapter 6 Setting up parameters - 104 - 6-6-2 Functions of the parameter mode Control mode (position / speed mode) ● Function The HA-655 d

Chapter 1 Outlines of the HA -655 driver - 6 - 1-7 Outlines of I/O ports The CN2 connector provides input and output signals to and from a host

Chapter 6 Setting up parameters - 105 - [Parameter mode] Command configuration (position mode) ● Function Three types of command signals can

Chapter 6 Setting up parameters - 106 - [Parameter mode] Electronic gear-denominator (position mode) ● Function This is used in conjunction

Chapter 6 Setting up parameters - 107 - [Parameter mode] Error count cleared by S-ON (position mode) ● Function Even when the servo power is

Chapter 6 Setting up parameters - 108 - [Parameter mode] Position error allowance (position mode) ● Function The [error counter] calculates [

Chapter 6 Setting up parameters - 109 - [Parameter mode] Rotary direction (position / speed mode) ● Function This function specifies the ro

Chapter 6 Setting up parameters - 110 - [Parameter mode] Speed limit (position / speed mode) ● Function This function limits motor speed to pr

Chapter 6 Setting up parameters - 111 - [Parameter mode] Alarm logic (position / speed mode) ● Function The alarm signal logic (normal open /

Chapter 6 Setting up parameters - 112 - End of parameter mode ● Function This terminates the [parameter mode] and returns to the [monitor mode

Chapter 6 Setting up parameters - 113 - 6-7 Test mode The test mode consists of required functions for system test, such as JOG operation functio

Chapter 6 Setting up parameters - 114 - ● Operations (1) To change a value, press the [ADJ] key at least 0.1 second. ⇒1st digit [0] flashes.

Chapter 1 Outlines of the HA -655 driver - 7 - <<For absolute encoder system>> Position mode Speed mode Pin Signal Symbol I/O Pin

Chapter 6 Setting up parameters - 115 - 6-7-2 Functions of the test mode JOG operation (position / speed mode) ● Function Pressing [UP] or

Chapter 6 Setting up parameters - 116 - [Test mode] JOG speed (position / speed mode) ● Function The motor speed in [JOG operation] mode is s

Chapter 6 Setting up parameters - 117 - [Test mode] Output port operation (pos. / spd. mode) ● Function It is possible to operate turn (ON

Chapter 6 Setting up parameters - 118 - [Test mode] I/O port operation (position / speed mode) ● Function The display indicates input/outp

Chapter 6 Setting up parameters - 119 - [Test mode] Analog monitor manual output (speed mode) ● Function It is possible to output voltage sign

Chapter 6 Setting up parameters - 120 - [Test mode] Speed command auto-offset (speed mode) ● Function In the speed mode, the motor will rotat

Chapter 6 Setting up parameters - 121 - 6-8 Defaults of parameters The following table shows the defaults of the parameters: << for incremen

Chapter 7 Trouble shooting - 122 - Chapter 7 Troubleshooting 7-1 Alarms and diagnostic tips The HA-655 drivers provide various functions to prot

Chapter 7 Trouble shooting - 123 - Over speed (release: impossible) ● Description The alarm will occur if the motor exceeds its maximum speed or

Chapter 7 Trouble shooting - 124 - Over load (release: possible) ● Description The driver always monitors the motor current and if the current e

Chapter 1 Outlines of the HA -655 driver - 8 - 1-8 Operating display panel The HA-655 driver provides a 6-digit LED display and four operation ke

Chapter 7 Trouble shooting - 125 - Overheat (release: impossible) ● Description The alarm occurs when the thermal switch of an IPM element in Th

Chapter 7 Trouble shooting - 126 - (4) Alarm occurs during acceleration or deceleration: ◆ Cause 1: Excessive load inertia and the accelerating o

Chapter 7 Trouble shooting - 127 - Abnormal encoder signal(release: imp.) ● Description This alarm occurs when the driver fails to receive the tw

Chapter 7 Trouble shooting - 128 - ABS system failure (release: possible) ● Description For the absolute encoder, the alarm occurs when all power

Chapter 7 Trouble shooting - 129 - (2) Alarm occurs during running: ◆ Cause 1: The alarm when the count for multi-turn data (MTD) goes beyond th

Chapter 7 Trouble shooting - 130 - ◆ Cause 4: The encoder circuit may have failed. ⇒Remedy: Contact Harmonic Drive Systems. (Replace actuator) (2)

Chapter 7 Trouble shooting - 131 - ◆ Cause 2: Parameters of the [electronic gear] are wrong. ⇒Remedy: Set the correct parameters by [parameter mod

Chapter 7 Trouble shooting - 132 - Memory failure (EEROM) (release: imp.) ● Description This alarm occurs when the driver’s EEROM memory fails.

Chapter 7 Trouble shooting - 133 - 7-2 Troubleshooting for improper actuator motions Troubleshooting procedures for problems other than alarms a

Chapter 7 Trouble shooting - 134 - ◆ Unstable rotation N Loosen screws in connection, broken wire? Verify m

Chapter 1 Outlines of the HA -655 driver - 9 - 1-8-3 Functions in modes Each mode individually provides the following functions of the position

Chapter 7 Trouble shooting - 135 - Is normal temperature in cabinet? Review heat generating devices, and c

Chapter 7 Trouble shooting - 136 - ◆ Poor positioning accuracy N Is encoder signal normal? Improve grounding

Chapter 7 Trouble shooting - 137 - 7-2-2 Improper motions in speed mode ◆ No rotation Is load inertia proper?

Chapter 7 Trouble shooting - 138 - ◆ Unstable rotation Driver failure N Is voltage of driver’s UVWcorrec

Chapter 7 Trouble shooting - 139 - From prior page Command voltage form correct? If there is a ripple on si

Chapter 7 Trouble shooting - 140 - From prior page N Is there play or resonance in mechanism? Y Improve mechanism. Actuator or driver f

Chapter 8 Options - 141- Chapter 8 Options 8-1 Extension cables Three kinds of optional extension cables of 3m/5m/10m long are available for connec

Chapter 8 Options - 142- 8-3 Software for setting up parameters The software helps out with setting up parameters of HA-655 driver connecting a per

Chapter 8 Options - 143- 8-5 Isolation transformer u Models The model of the Isolation transformer is as follows: u Specifications The specifi

HA655 series servo driver manual - Index 1 - Index +24V･･･････････････････････････････36 1-pulse train･････････････････････14,105 2-phase-pulse t

Chapter 1 Outlines of the HA -655 driver - 10 - 1-9 Outlines of protective functions 1-9-1 Alarms HA-655 drivers provide various functions to pr

HA655 series servo driver manual - Index 2 - Internal speed command･･････････････99 Isolation transformer･････････････64, 143 JOG acceleration････

The HA-655 series drivers are warranted as follows: Warranty period Under the condition that the actuator are handled, used and maintained prope

Worldwide Locations:Harmonic Drive Systems, Inc.Minamiohi 6-25-3, Shinagawa-kuTokyo 140, JapanHarmonic Drive AGHoenbergstr, 14Limburg/Lahn, D-65555 Ge

Chapter 1 Outlines of the HA -655 driver - 11 - 1-9-2 Protective functions The HA -655 driver provides the following alarms to protect the servo

Chapter 1 Outlines of the HA -655 driver - 12 - ◆ Abnormal encoder signal (51) The alarm occurs when the driver has failed to receive two sequent

Chapter 2 Functions - 13 - Chapter 2 Functions 2-1 Control system of the HA-655 driver It is said that [plan, do, see] is essential to perform p

Chapter 2 Functions - 14 - 2-2 Position mode The HA-655 driver makes use of either the position control or the speed control. This section descri

1 SAFETY GUIDE For actuators, motors, control units and drivers manufactured by Harmonic Drive LLC Read this manual thoroughly before desi

Chapter 2 Functions - 15 - (3) 2-phase pulse train (A-B phase pulses with 90 degree difference) Both port pairs receive the command pulse trains

Chapter 2 Functions - 16 - 2-2-2 Command transmitting system Two systems are provided for transmitting command pulses: [open collector] and [lin

Chapter 2 Functions - 17 - 2-2-4 Absolute encoder signals u General descriptions and functions of absolute encoders The absolute encoder housed i

Chapter 2 Functions - 18 - u Notice at power on If power is turned on while the motor rotates at 2800r/min or more, the [Alarm 55] may occur. In

Chapter 2 Functions - 19 - Note 1: Both output signals of phase-A and phase-B are settled at LOW-level. To settle at LOW-level, at least three pul

Chapter 2 Functions - 20 - An example of signal transmission The following is an example of the multi-turn count: 8, single-turn encoder count: 25

Chapter 2 Functions - 21 - Receiving a message from HA-655 driver (HA-655 →host) In case of requiring for data: Data & 0Dh then ; q 0Dh In c

Chapter 2 Functions - 22 - The reset command should be sent after 300 milliseconds or more from receiving the code “q 0Dh”, otherwise the [alarm 5

Chapter 2 Functions - 23 - (4) Disconnect the leads of the battery from the junction connecter. (5) Connect the leads of the new battery

Chapter 2 Functions - 24 - 2-2-4 Tuning Servo gains The HA-655 driver is fed back position and speed signals in the position mode as follows:

HA655 series servo driver manual - Contents 1 - Contents Chapter 1 Outlines of the HA-655 driver･････････････････････････････････････････1 1-1

Chapter 2 Functions - 25 - ◆ [Speed control block], [speed loop gain], and [speed loop integral compensation] (1) The first function of the [spe

Chapter 2 Functions - 26 - 2-2-5 FWD inhibit and REV inhibit The HA-655 driver provides [FWD inhibit] and [REV inhibit] input signal ports. [FWD

Chapter 2 Functions - 27 - 2-3 Speed mode The HA-655 driver makes use of either the position control or the speed control. This section describe

Chapter 2 Functions - 28 - 2-3-3 Tuning servo gains The HA-655 driver is fed back position and speed signals in the speed mode as follows:

Chapter 2 Functions - 29 - 2-3-4 Command change The function can operate the actuator without command at the speed specified by [tune mode]→[6: i

Chapter 2 Functions - 30 - 2-4 Other functions 2-4-1 Indicating of pulse counts As shown in the figure to the right, the motion command pulses

Chapter 3 I/O ports - 31 - Chapter 3 I/O ports Through the CN2 connector (50 pins; half pitch) the HA-655 driver communicates with a host. Detail

Chapter 3 I/O ports - 32 - << for absolute encoder system >> The I/O port layout is shown as follows: ※ Do not use the pins m

Chapter 3 I/O ports - 33 - 3-1-3 I/O port connections in the position mode This section describes the connection between the I/O ports and a hos

Chapter 3 I/O ports - 34 - 3-1-4 I/O port functions in the position mode This section describes I/O port functions in the position mode. CN2-1

HA655 series servo driver manual - Contents 2 - Chapter 3 I/O ports･････････････････････････････････････････････････････････31 3-1 Position mode･

Chapter 3 I/O ports - 35 - CN2-8 Input common: IN-COM(input) Function The same functions as CN2-1 CN2-10 absolute data request: ABS-REQ(input)

Chapter 3 I/O ports - 36 - CN2-26 +24V: +24V (input) CN2-27 FWD pulse+: FWD+ (input) CN2-28 FWD pulse-: FWD- (input) CN2-29 REV pulse+: REV+ (

Chapter 3 I/O ports - 37 - ◆ Connection for open collector commands and +24V power supply (1) Connect FWD command to [CN2-28: FWD−] and [+24V]

Chapter 3 I/O ports - 38 - CN2-34 Alarm: ALARM (output) ● Function The output turns OFF when the HA-655 driver senses an alarm. ● Connection

Chapter 3 I/O ports - 39 - CN2-38 Alarm-A＋: AＬM –A (output) CN2-39 Alarm-B＋: AＬM –B (output) CN2-40 Alarm-C＋: AＬM –C (output) CN2-41 Alarm-

Chapter 3 I/O ports - 40 - CN2-44 Phase-A＋(LD): A+ (output) CN2-45 Phase-A−(LD): A- (output) CN2-46 Phase-B＋(LD): B+ (output) CN2-47 Phase-

Chapter 3 I/O ports - 41 - 3-1-5 Connection examples in the position mode << for incremental encoder system >> ◆ The figure below s

Chapter 3 I/O ports - 42 - ◆ The figure below shows a connection example in the position mode for [line driver] signals. The command configuratio

Chapter 3 I/O ports - 43 - << for absolute encoder system >> ◆ The figure below shows a connection example in the position mode for [

Chapter 3 I/O ports - 44 - ◆ The figure below shows a connection example in the position mode for [line driver] signals. The command configuratio

HA655 series servo driver manual - Contents 3 - Chapter 5 Operations･･･････････････････････････････････････････････････････70 5-1 Test run･･･････

Chapter 3 I/O ports - 45 - 3-2 Speed mode 3-2-1 I/O port layout << for incremental encoder system >> The I/O port layout is shown

Chapter 3 I/O ports - 46 - << for absolute encoder system >> The I/O port layout is shown as follows: ※ Do not use the pins m

Chapter 3 I/O ports - 47 - 3-2-3 I/O port connections in the speed mode This section describes the connections between the I/O ports and the hos

Chapter 3 I/O ports - 48 - 3-2-4 I/O port functions in the speed mode This section describes I/O port functions in the speed mode. CN2-1 Input

Chapter 3 I/O ports - 49 - CN2-4 FWD enable: FWD-EN (input) CN2-5 REV enable: REV-EN (input) ● Function While the [FWD enable] is [ON] the ac

Chapter 3 I/O ports - 50 - CN2-10 absolute data request: ABS-REQ(input) *absolute encoder system only Function The input is used for a command

Chapter 3 I/O ports - 51 - CN2-31 Speed command: SPD-CMD(input) ● Function Input the speed command voltage signal which is obtained by [parame

Chapter 3 I/O ports - 52 - CN2-33 Attained speed: HI-SPD (output) ● Function The output turns ON when the motor rotates at a speed greater

Chapter 3 I/O ports - 53 - CN2-38 Alarm-A＋: AＬM –A (output) CN2-39 Alarm-B＋: AＬM –B (output) CN2-40 Alarm-C＋: AＬM –C (output) CN2-41 Alarm-

Chapter 3 I/O ports - 54 - CN2-44 Phase-A＋(LD): A+ (output) CN2-45 Phase-A−(LD): A- (output) CN2-46 Phase-B＋(LD): B+ (output) CN2-47 Phase-

Chapter 1 Outlines of the HA-655 driver - 1 - Chapter 1 Outlines of HA-655 driver The HA-655 series are dedicated servo drivers for FHA -C series

Chapter 3 I/O ports - 55 - 3-2-5 Connection examples in the speed mode << for incremental encoder system >> ◆ The figure below show

Chapter 3 I/O ports - 56 - << for absolute encoder system >> ◆ The figure below shows a connection example in the speed for an absolu

Chapter 4 Installing the HA-655 driver - 57 - Chapter 4 Installing HA-655 driver 4-1 Receiving Inspection Check the followings when products are r

Chapter 4 Installing the HA-655 driver - 58 - 4-2 Notices on handling The HA-655 drivers are electronic devices. Handle them with care and take the

Chapter 4 Installing the HA-655 driver - 59 - 4-3 Location and installation 4-3-1 Environment of location The environmental conditions of the locat

Chapter 4 Installing the HA-655 driver - 60 - 4-3-3 Installing The HA-655 driver should be mounted on a wall as shown in the figure to the right. T

Chapter 4 Installing the HA-655 driver - 61 - ◆ Grounding motor frame When actuators are grounded at driven machine through the motor frame, current

Chapter 4 Installing HA-655 driver - 62 - 4-4-3 Instructions for cabling In addition to the noise suppression mentioned previously, one must also fo

Chapter 4 Installing HA-655 driver - 63 - 4-5 Connecting power cables 4-5-1 Instructions for power supply 4-5-2 Power cable and ground c

Chapter 4 Installing HA-655 driver - 64 - 4-5-3 Connecting power cables The terminal block for the power is located on the front panel of the HA-65

Chapter 1 Outlines of the HA-655 driver - 2 - 1-2 Ordering information u HA-655 driver: u Extension cables (optional): for a motor:

Chapter 4 Installing HA-655 driver - 65 - 4-5-5 Protecting power lines We recommended protecting the driver by installing a circuit breaker or fu

Chapter 4 Installing HA-655 driver - 66 - 4-8 Connecting cables for the encoder and the I/O 4-8-1 Preparing the encoder cable and the I/O cable Fo

Chapter 4 Installing HA-655 driver - 67 - 4-8-3 Pin layouts of the I/O signal connector (CN2) The models and the pin layout of the encoder connecto

Chapter 4 Installing HA-655 driver - 68 - 4-9 Power ON and OFF sequences Plan power ON and power OFF sequences with the timing shown in the figures

Chapter 4 Installing HA-655 driver - 69 - ◆ Power OFF sequence ◆ Switch for main power operation Plan the sequence circuit to operate t

Chapter 5 Operations - 70 - Chapter 5 Operations Follow these instructions prior to operations. 5-1 Test run 5-1-1 Driving an

Chapter 5 Operations - 71 - (2) Turn on main power via the host, and transmit [ON] signal to [CN2-3 servo-ON] from the host. ⇒Turns the servo dr

Chapter 5 Operations - 72 - ◆ Verifying Input signals (9) Indicate [c: I/O monitor] by pressing the [UP] key or the [DOWN] key. The forth digit i

Chapter 5 Operations - 73 - ◆ Verifying output signals (11) Indicate [Inp: output port operation] by pressing the [UP] key or [DOWN] key. (12) T

Chapter 5 Operations - 74 - 5-1-2 Setting parameters Following test run of the actuator you can set the parameters via the parameter mode. All pa

Chapter 1 Outlines of the HA-655 driver - 3 - 1-4 Specifications of HA-655 drivers Model Item HA -655-2-200 HA -655-4-200 Applicable actuator F

Chapter 5 Operations - 75 - (20) Press [UP] or [DOWN] key to change the functional items of the parameter mode. (21) To change a value, pr

Chapter 5 Operations - 76 - 5-1-3 Tuning servo parameters After setting the parameters of the [parameter mode], couple the actuator with the drive

Chapter 5 Operations - 77 - (31) To change a value, press the [ADJ] key at least 0.1 second. ⇒The first digit [0] flashes. You can change the value

Chapter 5 Operations - 78 - 5-2 Usual operation As the HA-655 driver runs by commands from a host, no special intervention is required for norma

Chapter 6 Setting up parameters - 79 - Chapter 6 Setting up parameters The display panel of the HA-655 driver is equipped with a six-digit LED di

Chapter 6 Setting up parameters - 80 - 6-3 Functions of modes Each mode provides the following functions of position mode and speed mode individu

Chapter 6 Setting up parameters - 81 - 6-4 Monitor mode The HA-655 driver indicates position and speed commands, current position information from

Chapter 6 Setting up parameters - 82 - 6-4-2 Functions of the monitor mode Error counter state (position / speed mode) ● Function The fundamen

Chapter 6 Setting up parameters - 83 - [Monitor mode] Motor speed (position / speed mode) ● Function The “motor speed” indicates the pre

Chapter 6 Setting up parameters - 84 - [Monitor mode] Error pulse count (low) (position / speed mode) ● Function The fundamental functions of

Chapter 1 Outlines of the HA -655 driver - 4 - 1-5 External drawing of the HA-655 drivers The external drawing is shown as follows: Unit：mm (Th

Chapter 6 Setting up parameters - 85 - [Monitor mode] Torque Monitor (position / speed mode) ● Function This indicates current output torque

Chapter 6 Setting up parameters - 86 - [Monitor mode] Feedback pulse (Low) (position / speed mode) ● Function The fundamental functions of s

Chapter 6 Setting up parameters - 87 - [Monitor mode] Command pulse (Low) (position mode) ● Function The fundamental functions of servomotors

Chapter 6 Setting up parameters - 88 - [Monitor mode] Command pulse frequency (position mode) ● Function The fundamental functions of the

Chapter 6 Setting up parameters - 89 - [Monitor mode] I/O monitor (position / speed mode) ● Function The display indicates input/output sig

Chapter 6 Setting up parameters - 90 - [Monitor mode] Alarm history (position / speed mode) ● Function The “alarm history” indicates up to

Chapter 6 Setting up parameters - 91 - [Monitor mode] Actuator code (position / speed mode) ● Function This indicates the code of the HA-655 d

Chapter 6 Setting up parameters - 92 - 6-5 Tune mode The tuning mode consists of various parameters to control the actuator motion. Setting the m

Chapter 6 Setting up parameters - 93 - ● Operations of values (1) To change a value, press the [ADJ] key at least 0.1 second. ⇒1st digit [0] fl

Chapter 6 Setting up parameters - 94 - 6-5-2 Functions of the tune mode Speed loop gain (position / speed mode) ● Function The HA-655 drive