Harmonic Drive H A - 800A Manual de usuario

100V/200V power supply

AC Servo Driver

HA-800A series manual

(for SHA, FHA-Cmini, FHA-C, RSF/RKF series)

ISO14001

(Hotaka plant)

ISO9001

This operation manual covers the following software

versions:

●Ver 3.x

Introduction

Thank you very much for your purchasing our HA-800A series servo driver.

Wrong handling or use of this product may result in unexpected accidents or shorter life of the product.

Read this document carefully and use the product correctly so that the product can be used safely for

many years.

Product specifications are subject to change without notice for improvement purposes.

Keep this manual in a convenient location and refer to it whenever necessary in operating or

maintaining the units.

The end user of the driver should have a copy of this manual.

SAFETY GUIDE

To use this driver safely and correctly, be sure to read SAFETY GUIDE and other parts of this

document carefully and fully understand the information provided herein before using the driver.

NOTATION

Important safety information you must note is provided herein. Be sure to observe these instructions.

Indicates a potentially hazardous situation, which, if not avoided, could result

in death or serious personal injury.

Indicates a potentially hazardous situation, which, if not avoided, may result in

minor or moderate personal injury and/or damage to the equipment.

Indicates what should be performed or avoided to prevent non-operation or

malfunction of the product or negative effects on its performance or function.

LIMITATION OF APPLICATIONS

The equipment listed in this document may not be used for the applications listed below:

･Space equipment

･Aircraft, aeronautic equipment

･Nuclear equipment

･Household apparatus

･Vacuum equipment

･Automobile, automotive parts

･Amusement equipment, sport equipment, game machines

･Machine or devices acting directly on the human body

･Instruments or devices to transport or carry people

･Apparatus or devices used in special environments

If the above list includes your intending application for our products, please consult us.

Safety measures are essential to prevent accidents resulting

in death, injury or damage of the equipment due to

malfunction or faulty operation.

WARNING

CAUTION

SAFETY GUIDE

SAFETY NOTE

CAUTIONS FOR ACTUATORS AT APPLICATION DESIGNING

Always use under followings conditions:

The actuator is designed to be used indoors. Observe the following

conditions:

・Ambient temperature: 0℃to 40℃

・Ambient humidity: 20% to 80%RH (Non-condensation)

・Vibration: Max 24.5 m/S2

・No contamination by water, oil

・No corrosive or explosive gas

Follow exactly the instructions in the relating manuals to

install the actuator in the equipment.

・Ensure exact alignment of motor shaft center and corresponding

center in the application.

・Failure to observe this caution may lead to vibration, resulting in

damage of output elements.

CAUTION FOR ACTUATORS IN OPERATIONS

Never connect cables directly to a power supply socket.

・Each actuator must be operated with a proper driver.

・Failure to observe this caution may lead to injury, fire or damage of

the actuator.

Do not apply impacts and shocks.

・Do not use a hammer during installation.

・Failure to observe this caution could damage the encoder and may

cause uncontrollable operation.

Avoid handling of actuators by cables.

・Failure to observe this caution may damage the wiring, causing

uncontrollable or faulty operation.

Keep limited torques of the actuator.

・Keep limited torques of the actuator.

・Be aware, that if arms attached to output element hits by accident an

solid, the output element may be uncontrollable.

CAUTION

WARNING

CAUTION

SAFETY GUIDE

1-1

CAUTIONS FOR DRIVERS AT APPLICATION DESIGNING

Always use drivers under followings conditions:

・Mount in a vertical position keeping sufficient distance to other

devices to let heat generated by the driver radiate freely.

・0℃to 50℃, 95% RH or below (Non condensation)

・No vibration or physical shock

・No corrosive, inflammable or explosive gas

Use sufficient noise suppressing means and safe grounding.

・Keep signal and power leads separated.

・Keep leads as short as possible.

・Ground actuator and driver at one single point, minimum ground

resistance class: D (less than 100 ohms)

・Do not use a power line filter in the motor circuit.

Pay attention to negative torque by inverse load.

・Inverse load may cause damages of drivers.

・Please consult our sales office, if you intent to apply products for

inverse load.

Use a fast-response type ground-fault detector designed for

PWM inverters.

・Do not use a time-delay-type ground-fault detector.

Safety measures are essential to prevent accidents resulting

in death, injury or damage of the equipment due to

malfunction or faulty operation.

CAUTION FOR DRIVERS IN OPERATIONS

Never change wiring while power is active.

Make sure of power non-active before servicing the products. Failure to

observe this caution may result in electric shock or personal injury.

Do not touch terminals or inspect products at least 15

minutes after turning OFF power.

・Otherwise residual electric charges may result in electric shock. In

order to prevent electric shock, perform inspections 15 minutes

after the power supply is turned OFF and confirming the

CHARGE lamp is turned OFF.

・Make installation of products not easy to touch their inner electric

components.

CAUTION

WARNING

SAFETY GUIDE

Do not make a voltage resistance test.

・Failure to observe this caution may result in damage of the control

unit.

・Please consult our sales office, if you intent to make a voltage

resistance test.

Do not operate control units by means of power ON/OFF

switching.

・Start/stop operation should be performed via input signals.

・Failure to observe this caution may result in deterioration of

electronic parts.

DISPOSAL OF AN ACTUATOR, A MOTOR, A CONTROL UNIT AND/OR THEIR

PARTS

All products or parts have to be disposed of as industrial

waste.

Since the case or the box of drivers have a material indication, classify

parts and dispose them separately.

CAUTION

1-2

Structure of this document

Chapter 1 Function

s and

configuration

Overviews of driver models, specifications, external dimensions,

etc., are explained.

Chapter 2 Installation/wiring Receiving inspection, environment, power wiring, noise suppression

and connector wiring are explained.

Chapter 3 Startup

Startup procedures to be followed when the driver is used for the

first time, from receiving inspection to operation of the actual

system, are explained.

Chapter 4 Encoder system The encoder configuration is different depending on the actuator

model. Details of each actuator are explained.

Chapter 5 I/O signals Details of I/O signal conditions and signal functions are explained.

Chapter 6

Panel display and

operation

How to operate the display, operation buttons on the driver's

front panel and overview of operation in each mode is

explained.

Chapter 7

Status display

mode/

Alarm mode/

Tune mode

Explanation of information displayed in the status display

mode and alarm mode. Operations and details of servo loop

gains, various judgment criteria and acceleration/deceleration

time setting during speed control performed in the tune mode

are explained.

Chapter 8 System parameter

mode

Details of how to assign I/O signals and set their logics, as well as

extended functions such as control mode selection, pulse input

system selection and electronic gear setting, etc., are explained.

Chapter 9 Test mode

Details of how to check the system operation by auto-tuning via

jogging, monitoring of I/O signals and simulated operation of output

signals are explained.

Chapter 10 Communication

software (PSF-800)

How you can use the dedicated personal computer software to

check I/O signal statuses, rotation speeds and other servo statuses,

perform auto-tuning, set parameters, assign I/O signals and monitor

servo operation waveforms are explained.

Chapter 11 Troubleshooting Details of how driver alarms and warnings generate are explained.

Chapter 12 Option Options you can purchase as necessary are explained.

Appendix The list of default parameters and regenerative resistors are

explained.

1-2

Table of contents

SAFETY GUIDE ...................................................................................................... 1

NOTATION ............................................................................................................... 1

LIMITATION OF APPLICATIONS............................................................................. 1

SAFETY NOTE ........................................................................................................ 2

Structure of this document....................................................................................... 5

Table of contents ..................................................................................................... 6

Related manual ..................................................................................................... 12

Related actuator/driver standards ......................................................................... 13

Compatible standards ............................................................................................ 14

Conformance to European EC Directives .............................................................. 15

Chapter 1 Functions and configuration

1-1 Overview of drivers ....................................................................................1-1

Overview of functions............................................................................................1-1

1-2 Function block diagram..............................................................................1-2

1-3 Device configuration diagram .................................................................... 1-3

1-4 Driver model ..............................................................................................1-5

Driver model..........................................................................................................1-5

Option....................................................................................................................1-5

1-5 Actuator and extension cable combinations............................................... 1-6

1-6 Driver ratings and specifications ................................................................1-7

1-7 Function list.............................................................................................. 1-11

1-8 External drawing ...................................................................................... 1-13

1-9 Name and function of each part of a display panel ..................................1-15

Chapter 2 Installation/wiring

2-1 Receiving inspection.................................................................................. 2-1

Check procedure...................................................................................................2-1

2-2 Installation location and installation............................................................ 2-2

Installation environment ........................................................................................2-2

Notices on installation ...........................................................................................2-2

Installation procedure............................................................................................2-3

2-3 Connecting power cables........................................................................... 2-5

Allowable cable sizes............................................................................................2-5

Connecting power cables......................................................................................2-6

Protecting power lines...........................................................................................2-8

Connecting a ground wire .....................................................................................2-8

Power ON and OFF sequences............................................................................2-9

Table of contents

2-4 Suppressing noise ...................................................................................2-14

Grounding ...........................................................................................................2-14

Installing noise filters...........................................................................................2-15

2-5 Wiring the driver and motor...................................................................... 2-17

Connecting the motor..........................................................................................2-17

Connecting the encoder......................................................................................2-18

2-6 Wiring the host device ............................................................................. 2-19

Connecting the host device.................................................................................2-19

Connecting the personal computer (PSF-800)....................................................2-20

Chapter 3 Startup

3-1 Startup procedures ....................................................................................3-1

Startup procedures................................................................................................3-2

3-2 Turning ON the power for the first time......................................................3-3

Details on control power supply ON......................................................................3-4

Troubleshooting upon power ON ..........................................................................3-8

3-3 Operation check with the actuator alone....................................................3-9

Troubleshooting at operation check ....................................................................3-10

3-4 Operation check with the actual system ..................................................3-13

Troubleshooting at actual operation check .........................................................3-14

3-5 Manual gain adjustment method.............................................................. 3-15

Position control....................................................................................................3-15

Speed control ......................................................................................................3-16

Applied servo gain adjustment function ..............................................................3-18

3-6 Normal operation .....................................................................................3-22

Notices for normal operations .............................................................................3-22

Daily maintenance/inspection .............................................................................3-22

Periodically replaced parts ..................................................................................3-23

Backup battery ....................................................................................................3-23

How to replace the backup battery......................................................................3-24

Chapter 4 Encoder system

4-1 Overview of encoders ................................................................................4-1

4-2 17-bit absolute encoder .............................................................................4-4

Features................................................................................................................4-4

Startup...................................................................................................................4-6

Origin setting.........................................................................................................4-8

Data output............................................................................................................4-9

Remedial actions for errors/warnings..................................................................4-13

4-3 13-bit absolute encoder ...........................................................................4-15

Features..............................................................................................................4-15

Startup.................................................................................................................4-17

Origin setting.......................................................................................................4-18

Data output..........................................................................................................4-19

Remedial actions for errors/warnings..................................................................4-23

Table of contents

4-4 Incremental encoder ................................................................................ 4-25

Startup.................................................................................................................4-27

Data output..........................................................................................................4-28

Remedial action for error.....................................................................................4-29

Chapter 5 I/O signals

5-1 I/O signal list .............................................................................................. 5-1

Pin numbers and names of I/O signals .................................................................5-1

Models of I/O signal connector CN2 .....................................................................5-2

5-2 Input signals: System parameter SP00 to SP16 ........................................ 5-3

Input signal connection circuit...............................................................................5-4

Input signal list ......................................................................................................5-6

List of parameter set values ..................................................................................5-7

5-3 Details of input signals............................................................................... 5-9

5-4 Inputs in each control mode.....................................................................5-16

Position command mode.....................................................................................5-16

Speed command mode .......................................................................................5-20

Torque command mode ......................................................................................5-21

5-5 Output signals: System parameter SP20 to SP26 ................................... 5-23

Output signal connection circuit ..........................................................................5-24

Output signal list..................................................................................................5-25

5-6 Details of output signals........................................................................... 5-26

5-7 Monitor output.......................................................................................... 5-28

Encoder output....................................................................................................5-28

Current value data output....................................................................................5-28

Analog waveform monitoring...............................................................................5-29

Digital signal monitor...........................................................................................5-30

5-8 Connection example in control mode.......................................................5-31

Connection example with default settings...........................................................5-31

Connection example in position control mode ....................................................5-32

Connection example in speed control mode.......................................................5-33

Connection example in torque control mode.......................................................5-34

Chapter 6 Panel display and operation

6-1 Operating display panel .............................................................................6-1

Overview of modes ...............................................................................................6-1

Initial panel display................................................................................................6-2

Panel display hierarchy.........................................................................................6-3

Operation outline of status display mode ..............................................................6-4

Operation outline of alarm mode...........................................................................6-5

Operation outline of tune mode.............................................................................6-6

Operation outline of system parameter mode .......................................................6-8

Operation outline of test mode............................................................................6-12

Tabla de contenidos

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