position / speed mode - Harmonic Drive LLC

Chapter 7Trouble shooting
7-2 Troubleshooting for improper actuator motions
Troubleshooting procedures for problems other than alarms are described separately in the position
mode and in the speed mode. They are also described for the following cases:
No rotation
Unstable rotation
Poor positioning accuracy
Note: In the flowcharts, [Y] means [yes], and [] means [no].
7-2-1Improper motions in position mode
No rotation
Start
LED of front
panel
indicating
Y
N Main power N Are NFB, Y
OK
MS ON
Y
Driver failure
N
MS open with
power ON
sequence
N
Y
Power failure
NFB or MS failure
Wrong wiring
Recover power after
removing the cause.
Alarm
indicated
Y
Refer section 7-1:
alarm and
diagnostic tips.
Turn NFB and
MS ON.
Note:
NFB: No-fuse breaker
MS: Main power switch
N
Can actuator
be rotated by
hand
Y
Is [b: torque
limit]
correct
N
Correct
[b: torque limit].
N
Command
coming in
Y
N
Input command.
Y
Loose
screws in
connection,
broken wire
N
Y
Tighten screws.
Replace motor
cable.
Is command
configuration
correct
Y
N
Make same command
configuration as of
host.
Is voltage of
driver’s UVW
correct
Y
N
Driver failure
To next page.
Actuator failure
Y
Is phase
order
correct
N
Correct them.
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