position / speed mode - Harmonic Drive LLC

Chapter 1Outlines of the HA-655 driver
Abnormal encoder signal (51)
The alarm occurs when the driver has failed to receive two sequential signals. To clear the alarm after
troubleshooting, shut off the control power once and turn it on again.
UVW failure (52)
The alarm occurs when the encoder UVW signals are abnormal. To clear the alarm after troubleshooting,
shut off the control power once and turn it on again.
ABS system failure (53)
For the absolute encoder, the alarm occurs when all power supplies (power supply, built-in condenser,
and battery) for the encoder are failure. For example, it occurs at the first power supply after purchasing,
and at power supply after disconnecting the cable between the driver and the encoder for a long duration.
To recover the alarm, input the multi-turn data clear signal at least 4 seconds, and shut off the control
power once and turn it on again.
ABS MTD overflow (54)
For the absolute encoder, the alarm occurs when the count for multi-turn data (MTD) goes beyond the
range of +4095 to - 4096 turns (motor axis). To recover the alarm, input the multi-turn data clear signal at
least 4 seconds, and shut off the control power once and turn it on again.
ABS multi-turn data error (55)
For the absolute encoder, during an energy-saving mode, where no power by power supply but the
encoder circuit is active only by the power of a built-in condenser and a built-in battery, the alarm occurs
when the encoder rotates too fast at the acceleration rate and speed exceeding the recording ability of
the multi-turn counter on the mode. To recover the alarm, input the multi-turn data clear signal at least 4
seconds, and shut off the control power once and turn it on again.
ABS low battery voltage (56)
For the absolute encoder, when voltage of the built-in battery is low. To recover the alarm, change the
battery for a new one, and shut off the control power once and turn it on again.
ABS send data rule error (57)
The absolute encoder rotates more than 127 resolvable pulses by external torque during transmitting
absolute data. To recover the alarm, shut off the control power once and turn it on again.
Error counter overflow (60)
The alarm occurs when an error count exceeds the set value in [parameter mode][6: position error
allowance]. It is possible to clear the alarm by inputting a signal to [CN2-2clear: CLEAR]. The error
count is cleared at the same time.
Memory failure (RAM) (70)
The alarm occurs when the driver’s RAM memory fails. It is impossible to clear the alarm.
Memory failure (EEPROM) (71)
The alarm occurs when the driver’s EEROM memory fails. It is impossible to clear the alarm.
CPU failure (76)
The alarm occurs when the driver’s CPU fails. It is impossible to clear the alarm.
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