position / speed mode - Harmonic Drive LLC

Chapter 2Functions
(4) Disconnect the leads of the battery from the junction connecter.
(5) Connect the leads of the new battery to the junction connecter.
(6) Cram the battery with the leads and the connecter into the case.
(7) Attach a cover of battery case on the front panel of the HA -655 driver.
(8) If [alarm 50: encoder failure] occurs at power ON operation after exchanging the
battery, the encoder system is normal. To recover the problem, shut off the power
once and turn it on again.
(9) If [alarm 53: ABS system failure] occurs, the multi-turn counter does not keep any
data. To recover from the problem, move the actuator to a proper origin and input
the [ABS (multi-turn) data clear signal] for four seconds or more to clear the
multi-turn counter to zero. However, the single-turn encoder keeps the absolute
pulse train output during above-mentioned operation firmly.
Note: During exchanging the battery, the built-in condenser helps the multi-turn
counter to keep its data for about 30 minutes or more with charged power in the
condenser. Therefore, the operation of inputting [ABS (multi-turn) data clear signal] is
not required in the case.
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