position / speed mode - Harmonic Drive LLC

Chapter 1Outlines of the HA-655 driver
1-4Specifications of HA-655 drivers
Model
Item HA-655-2-200 HA-655-4-200
Applicable actuator FHA -17C / FHA -25C FHA -32C / FHA -40C
Driver’s nominal current 2.4 A 4.0 A
Driver’s maximum current 7.3 A 18.0 A
Power voltage Main circuit AC200 to 240V(1 / 3-phase) 10 to 15% 50/60Hz
Control circuit AC 100 to 115V(1-phase) or AC200 to 240V(1-phase) 10 to 15% 50/60Hz
Power Control Method
Sinusoidal PWM control
Allowed Environment
Operating temperature: 0 to 50Storage temperature:-20 to 85
Operating/storage humidity: below 95%RH (No condensation)
Vibration resistance: 4.9 m/s 2 10 to 55Hz Impact resistance: 98m/s 2
Ventilation
Self cooling
Installation
Base mount (Wall mount)
Applicable feedback encoder
Incremental or absolute encoder
Encoder interface
Serial transmissionline driver input type
Control mode
Position mode, speed mode
Command voltage
DC10V / maximum speed
Input impedance: approx. 68kΩ
Input signal
Servo-ON, Alarm clear, FWD-enable, REV-enable, Command alternation,
*Absolute date request, *Absolute multi-turn data clear (Insulated by opt-isolators)
Output signal
Attained speed, Alarm, Alarm code (4-bit)
(Insulated by opt-isolators)
Speed control range
1:1000 or more
Speed regulation By load Below 0.05% at nominal speed
by load change from zero to maximum torque
By voltage Below 0.05% at nominal speed
by voltage change in its allowance
By temperature Below 0.2% at nominal speed
by temperature change from 0 to 50
Command pulse interface Line driver(compliant with EIA422A standard), open collector
Command configuration
1-pulse train (step and direction), 2-pulse train (FWD/REV pulses),
2-phase pulse (A-B phase pulses with 90 degree difference)
Command frequency Line driver: 500kpps(max)
Open collector: 200kpps(max) , limited by actuator’s maximum speed
Input signal
Servo-ON, Error counteralarm clear, FWD inhibit, REV inhibit,
*Absolute date request, *Absolute multi-turn data clear (Insulated by opt-isolators)
Output signal
In-position, alarm, ready, alarm code (4-bit)
(Insulated by opt-isolators)
Position signal output
Phase-A, -B, -Z; line driver output;
Phase-Z: Photo-coupler output
Analog monitor
2ch:motor speed, current command
Configuration
Display: 7-segment LED 6 digits (red)
Operation key: keys
Monitor function Motor speed (r/min), torque (%), over load rate (%)
Input signal monitor, output signal monitor, alarm history (up to 8 alarms )
Parameters System parameters Tune parameters
Protection function
Over current, overload, error counter overflow, over speed, abnormal regeneration,
Encoder failure, communication error, CPU failure, memory failure,
*multi-turn data error, *encoder system failure, *encoder overflow, *battery low
voltage, *absolute data transmitting rule error
Regeneration Built-in regeneration resistor: absorbable power: 40W (maximum)
External regeneration resistor is acceptable.
Functions
Monitoring, self diagnosis, electronic gear, JOG operation, trapezoidal speed
profile, and etc. *backup battery for multi-turn data
Rush current suppressing circuit Built-in
Operation mode Monitor mode (usual operations), test mode, tune mode,
Parameter mode
Mass 1.5 kg 1.7 kg
Note: the specifications marked with (*) are valid for absolute encoders only.
Speed mode
Position mode
Front panel
- 3 -