position / speed mode - Harmonic Drive LLC

Chapter 1Outlines of the HA-655 driver
1-9-2Protective functions
The HA-655 driver provides the following alarms to protect the servo system, and presents an alarm
code on the preceding paragraph.
Over speed (10)
If a motor exceeds its maximum speed or if motor rotates abnormally, the alarm occurs. To clear the
alarm, shut off the control power once and turn it on again.
Over load (20)
The driver always monitors the motor current, and if the current exceeds the curve in the figure below,
the overload alarm occurs.
1.2 times of
For example:
nominal current
(1) The alarm occurs if the current
1000
slightly exceeds 1.2 times of
nominal current for a long
duration.
Over load range
(2) The alarm occurs if the current of
three times of the nominal current
flows for 20 seconds.
It is possible to clear the alarm by
inputting signal to [CN2-2 clear:
CLEAR].
Delay (s)
100
10
1 2 3
Nominal
Max. current
current
Actuator current
Overheat (21)
The alarm occurs by activating the thermal switch of an IPM element in the HA-655 driver. To clear the
alarm after troubleshooting, shut off the control power once and turn it on again.
Over current (30)
The alarm occurs when the servo control element of the driver detects excessive current. To clear the
alarm after troubleshooting, shut off the control power once and turn it on again.
Abnormal regeneration (41)
The alarm occurs by activating the thermal switch of the regeneration resistor in the HA-655 driver at
100. To clear the alarm after troubleshooting, shut off the control power once and turn it on again.
Encoder failure (50)
The alarm occurs when the encoder signal ceases. To clear the alarm after troubleshooting, shut off the
control power once and turn it on again.
The alarm also occurs when a built-in battery of the HA-655 driver for the absolute encoder is taken off in
spite of normal conditions. To clear the alarm, shut off the control power once and turn it on again.
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