position / speed mode - Harmonic Drive LLC

Chapter 3I/O ports
CN2-38Alarm-A: AM –A (output)
CN2-39Alarm-B: AM –B (output)
CN2-40Alarm-C: AM –C (output)
CN2-41Alarm-D: AM –D (output)
Function
When the HA-655 driver senses an alarm, the 4-bit code corresponding to the alarm, shown in the table
below, outputs from the ports.
alarm
4-bit ALM ALM ALM ALM alarm
code
Alarm description
code -D -C -B -A clear
10 Over speed 1011 ON OFF ON ON Impossible
20 Over load 0001 OFF OFF OFF ON Possible
21 Overheat 1000 ON OFF OFF OFF Impossible
30 Over current 1001 ON OFF OFF ON Impossible
41 Abnormal regeneration 1010 ON OFF ON OFF Impossible
50 Encoder failure 1101 ON ON OFF ON Impossible
51 Abnormal encoder signal 1101 ON ON OFF ON Impossible
52 UVW failure 1101 ON ON OFF ON Impossible
53 *ABS system failure 1101 ON ON OFF ON Impossible
54 *ABS MTD over flow 1101 ON ON OFF ON Impossible
55 *ABS multi-turn data error 1101 ON ON OFF ON Impossible
56 *ABS low battery voltage 1101 ON ON OFF ON Impossible
57 *ABS send data rule error 1101 ON ON OFF ON Impossible
60 Error counter overflow 0010 OFF OFF ON OFF Possible
70 Memory failure (RAM) 0101 OFF ON OFF ON Impossible
71 Memory failure (EEPROM) 0101 OFF ON OFF ON Impossible
76 CPU failure 0100 OFF ON OFF OFF Impossible
Notice: the alarm codes 53 through 57 are valid for absolute encoders only.
CN2-42 Phase-Z (OC): Z (output)
Function
The port outputs a phase-Z pulse signal of the encoder. The signal is outputted one pulse per every one
motor rotation. The signal may be used with the mechanical origin signal as a precise origin of the driven
mechanism.
Connection
(1) An example of [CN2-42 phase-Z: Z]
connection is shown in the figure below.
(2) The port is opto-isolated.
(3) Plan the output circuit for the ports as follows:
Supply voltage: DC24V or less
Signal current: 50mA or less
Phase-Z
CN2-42
Ry
CN2-43
HA-655
Z
OUT-COM
TLP127
CN2-43Output common: OUT-COM (output)
Function
This is the common port for the [CN2-33, 34, 37, 38, 39, 40, 41, 42] ports.
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