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Harmonic Drive HA-680 Series Manual

Ac servo driver for 24 vdc power supply
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AC Servo Driver for
24 VDC Power Supply
HA-680 Series
(For FHA-8C, 11C, 14C/RSF-3C,5B/8B,11B, and 14B)
● Thank you very much for your purchasing our HA-680 series AC
servo driver for 24 VDC power supply.
● Parameter setting for this servo driver requires dedicated
communication software PSF-520.
(The dedicated communication software can be downloaded from our website at
http://www.hds.co.jp/.)
● Be sure to use sufficient safety measures when installing and
operating the equipment so as to prevent an accident resulting in
a serious physical injury damaged by a malfunction or improper
operation.
● 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.
SOFTWARE Ver.1.0
Manual
ISO14001
ISO9001

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Summary of Contents for Harmonic Drive HA-680 Series

  • Page 1 HA-680 Series Manual (For FHA-8C, 11C, 14C/RSF-3C,5B/8B,11B, and 14B) ● Thank you very much for your purchasing our HA-680 series AC servo driver for 24 VDC power supply. ● Parameter setting for this servo driver requires dedicated communication software PSF-520.
  • Page 2 SAFETY GUIDE For FHA series, RSF series, HA series SYSTEMS manufactured by Harmonic Drive Systems, Inc Read this manual thoroughly before designing the application, installation, maintenance or inspection of the actuator. Indicates a potentially hazardous situation, Indicates a potentially hazardous situation, which, if...

  • Page 3: Table Of Contents

    HA-680 series servo driver manual Contents Chapter 1 Outlines of HA-680 driver ..............1 Main features....................... 1 Model of HA-680 driver ....................2 Combinations with actuators ..................2 Specifications of HA-680 drivers ................. 3 External drawing of the HA-680 drivers ..............4 Names and functions of parts..................
  • Page 4 HA-680 series servo driver manual Chapter 3 Installing HA-680 driver ..............58 Receiving Inspection ....................58 Notices on handling....................59 Location and installation.................... 60 3-3-1 Environment of location..................... 60 3-3-2 Notices on installation....................60 3-3-3 Installing ........................61 Suppressing noise ..................... 61 3-4-1 Devices for grounding ....................
  • Page 5 HA-680 series servo driver manual Chapter 7 Troubleshooting ................109 Alarms and diagnostic tips ..................109 Troubleshooting for improper actuator motions............121 7-2-1 Improper motions in position control ............... 121 7-2-2 Improper motions in speed and torque control............125 Chapter 8 Options ................... 129 Relay cables ......................
  • Page 6 HA-680 series servo driver manual MEMO...

  • Page 7: Chapter 1 Outlines Of Ha-680 Driver

    Chapter 1 Outlines of the HA-680 driver Chapter 1 Outlines of HA-680 driver The HA-680 driver for 24 VDC power supply is a dedicated driver designed to drive: the ultra-thin/hollow ® shaft structure 24-VAC actuator FHA-C mini combining a ultra-thin/speed reducer HarmonicDrive precision control and flat AC servo motor;...

  • Page 8: Model Of Ha-680 Driver

    Chapter 1 Outlines of the HA-680 driver 1-2 Model of HA-680 driver Model and sign of HA-680 driver are described as follows: Note that the model varies depending on the actuator used. ◆ HA-680 driver: HA-680-4 □-200 AC servo driver 680 series Nominal current None...

  • Page 9: Combinations With Actuators

    Chapter 1 Outlines of the HA-680 driver 1-3 Combinations with actuators Five HA-680 models are available for use with actuators dealing with their nominal current and encoder systems. The correct combinations are as follows: Model HA-680-4-24 HA-680-6-24 HA-680-4B-24 HA-680-6B-24 RSF-3C FHA-8C RSF-11B Actuator model...

  • Page 10: External Drawing Of The Ha-680 Drivers

    Chapter 1 Outlines of the HA-680 driver 1-5 External drawing of the HA-680 drivers The HA-680 driver model indication and the mark shown in this manual are as follows: Unit: mm Ground mark Specification indication plate Cover Software version No. seal 2-washer cross pan-head machine screw (brass round) M3x6 Regenerative resistance...

  • Page 11: Names And Functions Of Parts

    Chapter 1 Outlines of the HA-680 driver 1-6 Names and functions of parts • CN5: Not available (on the side) • CN4: CAN connector • CN3: EIA-232C serial port connector • CAN terminal resistance switch jumper • LED display • TB2: Power supply connection terminal •...
  • Page 12 Chapter 1 Outlines of the HA-680 driver CN3: Serial port connector The connector for connection with a PC. This is used for monitoring the output current and setting parameters. Connection with a PC requires dedicated communication cable “HDM-RS232C.” Parameter setting requires dedicated communication software PSF-520.

  • Page 13: Outlines Of I/O Ports

    Chapter 1 Outlines of the HA-680 driver 1-7 Outlines of I/O ports 1-7-1 TB2: Power supply connection terminal Pin No. Signal name Description Control circuit power supply + (DC+24V) Control circuit power supply − (0V) Main circuit power supply + (DC+24V) For details, refer to 3-5.

  • Page 14: Cn3: Serial Port Connector

    Chapter 1 Outlines of the HA-680 driver (3) CN1: Encoder connector (For RSF-B mini series actuators) Pin No. Signal name Description The +5V power supply to the encoder and pole sensor is used to supply power from inside the servo amplifier. Phase-B signal input+(LD) Phase-Z signal input +(LD) Phase-B signal input -(LD)

  • Page 15: Cn2: Overview Of I/O Signal

    Chapter 1 Outlines of the HA-680 driver 1-8 CN2: Overview of I/O signal The CN2 connector performs input and output of control signals with the host control device. The connector has 26 pins, which are assigned for “position control,” “speed control,” and “torque control” as shown in the table below.
  • Page 16 Chapter 1 Outlines of the HA-680 driver Torque control Pin No. Signal Symbol Output 1 (Attained speed) HI-SPD Output Output 2 (Alarm) ALARM Output Output 3 (operation ready) READY Output Output 4 (limiting current) CUR-LMT-M Output Output 5 (Phase-Z Output OC) Output Output signal common OUT-COM...

  • Page 17: Led Display

    Chapter 1 Outlines of the HA-680 driver LED display The 2 LEDs (green and red) indicate the state of the HA-680 driver. State LED green LED red Remarks Control power ON The connected actuator and the actuator set to Blinking the driver are different.

  • Page 18: Protective Functions

    Chapter 1 Outlines of the HA-680 driver The following example illustrates how the LED blinks in case of an alarm. 0.5s 0.5s 0.5s 0.5s 0.5 s 0.5s In the above example, the LED blinks 4 times at 0.5-s intervals, which indicates an “encoder reception error.”...
  • Page 19 Chapter 1 Outlines of the HA-680 driver RSF-B mini series RSF シリーズ RSF-8B The alarm occurs when a current of more than RSF-11B 1.2 times the allowable continuous current of the actuator flows for about 13 seconds. The alarm occurs when a current of 1.5 times RSF-14B the allowable continuous current of the actuator RSF-8B...
  • Page 20 Chapter 1 Outlines of the HA-680 driver ◆ Regenerative error The alarm occurs when the voltage of the main circuit exceeds 50 V. If the moment of inertia of the load is large, the main circuit voltage increases due to the energy generated during deceleration of the actuator.

  • Page 21: Chapter 2 I/O Ports

    Chapter 2 I/O ports Chapter 2 I/O ports The HA-680 driver exchanges signals with the host device via the CN2 connector (26-pin half-pitch connector). This chapter describes the details of the I/O signals. 2-1 Assignment of I/O signals 2-1-1 Assignment of input signals Assignment of input signals varies depending on the setting value of “11: Input function assignment”...

  • Page 22: Assignment Of Output Signals

    Chapter 2 I/O ports 2-1-2 Assignment of output signals Assignment of output signals varies depending on the setting value of “12: Output function assignment” in “Parameter” as shown below. For the setting method, refer to Chapter 6 “Parameter setting.” ・Position control, output signal assignment parameter CN2 Pin No.

  • Page 23: Position Control

    Chapter 2 I/O ports 2-2 Position control 2-2-1 I/O port layout The I/O port layout is shown as follows: Signal name Symbol Signal name Symbol Output 1 (in-position ready) IN-POS Output FWD pulse+ FWD+ Input Output 2 (alarm output) ALARM Output FWD pulse- FWD-...

  • Page 24: I/O Port Connections In The Position Control

    Chapter 2 I/O ports 2-2-2 I/O port connections in the position control This section describes the connection between the I/O ports and a host in the position control.  Input signal IN-COM External DC24V 3.3k The HA-680 driver provides five ports power S-ON Servo-ON...

  • Page 25: I/O Port Functions In The Position Control

    Chapter 2 I/O ports  Monitor outputs The HA-680 driver provides 6 ports of 3 signals for encoder monitoring as shown in the Encoder Phase-A+ signal output figure to the right. Encoder Phase-A- signal output ◆ Specifications Encoder Phase-B+ signal output Encoder Phase-B- signal output The phase-A, -B, and -Z signals are transmitted by line drivers (26LS31).
  • Page 26 Chapter 2 I/O ports (I/O signal functions for position control) CN2-3 Ready: READY (output) ● Function The output turns ON when the driver becomes ready to drive after initialization, and the driver is possible to communicate with a host. Note: The signal keeps ON even at alarm happening. Logic change can be performed with “14: Output pin logic setting”...
  • Page 27 Chapter 2 I/O ports (I/O signal functions for position control) CN2-5 Phase-Z (OC): Z (output) ● Function The port outputs 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.
  • Page 28 Chapter 2 I/O ports Can be set to CN2-8 FWD inhibit: FWD-IH (input) Can be set to CN2-9 REV-inhibit: REV-IH (input) ● Function [FWD inhibit]: open state (OFF) of the input inhibits forward rotation. [REV inhibit]: open state (OFF) of the input inhibits reverse rotation. Open states (OFF) of both inputs inhibit rotation.
  • Page 29 Chapter 2 I/O ports (I/O signal functions for position control) Can be set to CN2-9 or 11 Deviation clear: DEV-CLR (input) ● Function This signal clears the deviation counter and sets the deviation pulse count to “0.” At the same time, the command pulse count is set to the same value as the returned pulse count.
  • Page 30 Chapter 2 I/O ports (I/O signal functions for position control) CN2-13 Encoder monitor ground: MON-GND (output) ● Function The common for encoder monitor terminals C2-21 to 26. ● Connection Make connection as the ground for encoder monitor terminals C2-21 to 26. CN2-14,15 FWD pulse: FWD+, FWD- (input) CN2-16,17 REV pulse: REV+, REV- (input) CN2-18 +24V：+24V (input)
  • Page 31 Chapter 2 I/O ports (I/O signal functions for position control) The connections are deferent by the supply voltage. The pin numbers to be connected are deferent by the supply voltage of [+5V] or [+24V]. The wrong connection may damage the driver. CAUTION ◆...
  • Page 32 Chapter 2 I/O ports (I/O signal functions for position control) CN2-21 Phase-A +(LD): A+ (output) CN2-22 Phase-A -(LD): A- (output) CN2-23 Phase-B +(LD): B+ (output) CN2-24 Phase-B -(LD): B- (output) CN2-25 Phase-Z+(LD): Z+ (output) CN2-26 Phase-Z -(LD): Z- (output) ● Function These ports transmit encoder signals of Phase-A+ Phase-A, -B, -Z through the line driver...

  • Page 33: Connection Examples In The Position Control

    Chapter 2 I/O ports 2-2-4 Connection examples in the position control ◆ Connection example 1-1: FHA-C mini 24VAC type The figure below shows a connection example in the position control for [open collector] signals. The command format is “2 pulse method,” and the setting values of “Parameter 11: Input function assignment”...
  • Page 34 Chapter 2 I/O ports ◆ Connection example 1-2: RSF supermini series The figure below shows a connection example in the position control for [open collector] signals. The command format is “2 pulse method,” and the setting values of “Parameter 11: Input function assignment”...
  • Page 35 Chapter 2 I/O ports ◆ Connection example 1-3: RSF-B mini series The figure below shows a connection example in the position control for [open collector] signals. The command format is “2 pulse method,” and the setting values of “Parameter 11: Input function assignment”...
  • Page 36 Chapter 2 I/O ports  Connection example 2-1: FHA-C mini 24VAC type The figure below shows a connection example in the position control for [line driver] signals. The command format is “2 pulse method,” and the setting values of “Parameter 11: Input function assignment”...
  • Page 37 Chapter 2 I/O ports  Connection example 2-2: RSF supermini series The command format is “2 pulse method,” and the setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment” are “0.” Note that the connection example varies depending on the actuator.
  • Page 38 Chapter 2 I/O ports Connection example 2-3: RSF-B mini series The command format is “2 pulse method,” and the setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment” are “0.” Note that the connection example varies depending on the actuator.

  • Page 39: Speed Control

    Chapter 2 I/O ports 2-3 Speed control 2-3-1 Pin numbers and names of I/O signals The I/O port layout is shown as follows: Signal name Symbol Signal name Symbol Output 1 (Attained speed) HI-SPD Output ― ― ― Output 2 (Alarm output) ALARM Output ―...

  • Page 40: I/O Port Connections In The Speed Control

    Chapter 2 I/O ports 2-3-2 I/O port connections in the speed control This section describes the connections between the I/O ports and the host in the speed control. IN-COM  Inputs: External power DC24V 3.3k The HA-680 driver provides five ports S-ON Servo-ON 3.3k...

  • Page 41: I/O Port Functions In The Speed Control

    Chapter 2 I/O ports  Monitor outputs: The HA-680 driver provides 6 ports of 3 Phase-A+ signals for encoder monitoring as shown in the Phase-A- figure to the right. Phase-B+ ◆ Specifications Phase-B- The phase-A, -B, and -Z signals are Phase-Z+ transmitted by line drivers (26LS31).
  • Page 42 Chapter 2 I/O ports (I/O signal functions for speed control) Can be set to CN2-3 Ready: READY (output) ● Function The output turns ON when the driver becomes ready to drive after initialization, and the driver is possible to communicate with a host. Logic change can be performed with “14: Output pin logic setting”...
  • Page 43 Chapter 2 I/O ports (I/O signal functions for speed control) CN2-5 Phase-Z (OC): Z (output) ● Function The port outputs 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.
  • Page 44 Chapter 2 I/O ports (I/O signal functions for speed control) CN2-8 FWD enable: FWD-EN (input) CN2-9 REV enable: REV-EN (input) ● Function While the [FWD enable] is [ON] the actuator rotates forward when the [CN2-19 speed command: SPD-CMD] is [+command]. In contrast, the actuator rotates in reverse for the [CN2-19] is [-command]. While the [REV enable] is [ON] the actuator rotates in reverse when the [CN2-19 speed command: SPD-CMD] is [+command].
  • Page 45 Chapter 2 I/O ports (I/O signal functions for speed control) Can be set to CN2-10 Alarm clear: ALM-CLR (input) ● Function This signal clears the alarm state and makes it ready for operation. When an alarm that cannot be cleared occurs, shut down the main circuit power supply and control circuit power supply, remove the cause of the alarm, and then turn on the power again.
  • Page 46 Chapter 2 I/O ports (I/O signal functions for speed control) CN2-12 Input signal common: IN-COM (input) ● Function The common for input signals CN2-7, 8, 9, 10, and 11. It provides the input signal external power supply. ◆ Connection Connect +24 V of the input signal external power supply. CN2-13 Encoder Monitor ground: MON-GND (output) ●...
  • Page 47 Chapter 2 I/O ports (I/O signal functions for speed control) ◆ Connection Connect the voltage signal to the [CN2-19: speed command: SPD-COM] and the [CN2-20: SPD-GND]. SPD-CMD Because the impedance of the analog command input of HA-680 20kΩ CN2-19 is low, use an output impedance of 1 Kohms or lower. CN2-20 If the output impedance is too high, there may be a difference in voltage between the command and driver sides.
  • Page 48 Chapter 2 I/O ports (I/O signal functions for speed control) CN2-21 Phase-A +(LD): A+ (output) CN2-22 Phase-A -(LD): A- (output) CN2-23 Phase-B +(LD): B+ (output) CN2-24 Phase-B -(LD): B- (output) CN2-25 Phase-Z +(LD): Z+ (output) CN2-26 Phase-Z -(LD): Z- (output) ●...

  • Page 49: Connection Examples In The Speed Control

    Chapter 2 I/O ports 2-3-4 Connection examples in the speed control ◆ Connection example 1: FHA-C mini 24VAC type The figure below shows a connection example in the speed control for the incremental system. The setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment”...
  • Page 50 Chapter 2 I/O ports ◆ Connection example 2: RSF supermini series The figure below shows a connection example in the speed control for the incremental system. The setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment”...
  • Page 51 Chapter 2 I/O ports ◆ Connection example 3: RSF-B mini series The figure below shows a connection example in the speed control for the incremental system. The setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment”...

  • Page 52: Torque Control

    Chapter 2 I/O ports 2-4 Torque control 2-4-1 Pin numbers and names of I/O signals The pin numbers and their names for torque control are as shown in the table below. Signal name Symbol Signal name Symbol Output 1 (Attained speed) HI-SPD Output ―...

  • Page 53: I/O Port Connections In Torque Control

    Chapter 2 I/O ports 2-4-2 I/O port connections in torque control This section describes the connection between the I/O ports and a host in torque control.  Inputs: IN-COM External power DC24V 3.3k The HA-680 driver provides five ports S-ON for inputs as shown in the figure to the Servo-ON 3.3k...

  • Page 54: I/O Port Functions In Torque Control

    Chapter 2 I/O ports ● Monitor outputs: The HA-680 driver provides 6 ports of 3 Phase-A+ signals for encoder monitoring as shown in the Phase-A- figure to the right. Phase-B+ ◆ Specifications Phase-B- The phase-A, -B, and -Z signals are Phase-Z+ transmitted by line drivers (26LS31).
  • Page 55 Chapter 2 I/O ports (I/O signal functions for torque control) CN2-3 Ready: READY (output) ● Function The output turns ON when the driver becomes ready to drive after initialization, and the driver is possible to communicate with a host. Logic change can be performed with “14: Output pin logic setting” in “Parameter.” With the factory-shipped value, the transistor is turned on during normal operation.
  • Page 56 Chapter 2 I/O ports (I/O signal functions for torque control) CN2-6 Output common: OUT-COM (output) ● Function This is the common port for the [CN2-1, 2, 3, 4, 5] ports. CN2-7 Servo-ON: S-ON (input) ● Function This turns the servo power for the HA-680 driver ON and OFF. After about 100ms from turning the input ON, the servo power of the HA-680 driver is ON and the actuator can be driven.
  • Page 57 Chapter 2 I/O ports (I/O signal functions for torque control) Can be set to CN2-10 Alarm clear: ALM-CLR (input) ● Function This signal clears the alarm state and makes it ready for operation. When an alarm that cannot be cleared occurs, shut down the main circuit power supply and control circuit power supply, remove the cause of the alarm, and then turn on the power again.
  • Page 58 Chapter 2 I/O ports (I/O signal functions for torque control) CN2-13 Monitor ground: GND (output) ● Function This is the common port for the monitor ports [CN2-21~26]. ◆ Connection Make connection as the ground for encoder monitor terminals C2-21 to 26. CN2-19 Torque command: TRQ-CMD (input) ●...
  • Page 59 Chapter 2 I/O ports (I/O signal functions for torque control) ◆ Connection Connect the voltage signal to the [CN2-19: Torque command: TRQ-COM] and the [CN2-20: Torque command ground TRQ TRQ-CMD -GND]. 20kΩ CN2-19 Because the impedance of the analog command input of HA-680 is low, use an output impedance of 1 Kohms or lower.
  • Page 60 Chapter 2 I/O ports (I/O signal functions for torque control) CN2-21 Phase-A +(LD): A+ (output) CN2-22 Phase-A -(LD): A- (output) CN2-23 Phase-B +(LD): B+ (output) CN2-24 Phase-B -(LD): B- (output) CN2-25 Phase-Z +(LD): Z+ (output) CN2-26 Phase-Z -(LD): Z- (output) ●...

  • Page 61: Connection Examples In Torque Control

    Chapter 2 I/O ports 2-4-4 Connection examples in torque control ◆ Connection example 1: FHA-C mini 24VAC type The figure below shows a connection example in torque control. The setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment” are “0.” Note that the connection example varies depending on the actuator.
  • Page 62 Chapter 2 I/O ports ◆ Connection example 2: RSF supermini series The figure below shows a connection example in torque control. The setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment” are “0.” Note that the connection example varies depending on the actuator.
  • Page 63 Chapter 2 I/O ports ◆ Connection example 3: RSF-B mini series The figure below shows a connection example in torque control. The setting values of “Parameter 11: Input function assignment” and “Parameter 12: Output function assignment” are “0.” Note that the connection example varies depending on the actuator.

  • Page 64: Chapter 3 Installing Ha-680 Driver

    Chapter 3 Installing HA-680 driver Chapter 3 Installing HA-680 driver Receiving Inspection Check the followings when products are received. ● Inspection procedure Check the shipping container and item for any damage that may have been caused during transportation. If the item is damaged, contact us immediately. There is a nameplate attached to the heat sink of the HA-680 driver.

  • Page 65: Notices On Handling

    Chapter 3 Installing HA-680 driver Notices on handling The HA-680 drivers are electronic devices. Handle them with care and take the following precautions: Do not drop screws, solder balls, wire chips, or any other foreign objects into the inside of the HA-680 driver. Failure to observe this caution may result in electric shock or personal injury.

  • Page 66: Location And Installation

    Chapter 3 Installing HA-680 driver Location and installation 3-3-1 Environment of location The environmental conditions of the location are described blow. Decide the location by definitely observing the following conditions. ◆ Service temperature: 0°C to 50°C Use the driver in a cabinet. The temperature in the cabinet may be higher than the atmosphere because of power loss of the housed devices and its size.

  • Page 67: Installing

    Chapter 3 Installing HA-680 driver 3-3-3 Installing The HA-680 driver should be mounted on a wall as shown in the figure to the right. Two mounting holes are provided on the back of the driver. The thickness of the wall should be more than 2mm. ●...

  • Page 68: Installing Noise Filters

    Chapter 3 Installing HA-680 driver ◆ Grounding motor frame When actuators are grounded at driven machine through the motor frame, current flows through floating capacity (Cf) of the motor from power amplifier of the driver. To avoid influence of the current, always connect the ground terminal (motor frame) of the motor to the ground terminal of the driver, and connect the ground terminal of the driver to the ground directly.

  • Page 69: Instructions For Cabling

    Chapter 3 Installing HA-680 driver 3-4-3 Instructions for cabling In addition to the noise suppression mentioned previously, the following instructions must be observed. Use twisted pair cables for I/O signals, and for encoder signals cables. When a host controls several drivers, prepare I/O signal cables for each driver individually. (2) Make the length of signal cables as short as possible.

  • Page 70: Connecting Power Cables

    Chapter 3 Installing HA-680 driver Connecting power cables 3-5-1 Instructions for power supply Before connecting the power cable to the HA-680 driver, turn-OFF the electricity to avoid electric shock. WARNING (1) Connect the power cable to the HA-680 driver only after installing the driver on a wall.

  • Page 71: Connecting Power Cables

    Chapter 3 Installing HA-680 driver 3-5-3 Connecting power cables The terminal block for the power is located on the front panel of the HA-680 driver. Shown the figure to the right, strip the end of wires of the power supply cable and the motor cable, and connect wires to each terminal firmly.

  • Page 72: Connecting The Ground Wire

    Chapter 3 Installing HA-680 driver Connecting the ground wire Use an electric wire of the following size or more: Terminal/connector Allowable Wire Sizes (mm Ground(PE) 1.25 The HA-680 driver is provided with grounding terminal. Connecting motor and regeneration resistor cables Connect the motor cable to [U, V, W] terminals of the HA-680 driver as shown in the figure below.

  • Page 73: Connecting Regenerative Absorption Resistance / Capacitors

    Chapter 3 Installing HA-680 driver Connecting regenerative absorption resistance / capacitors HA-680 has a regenerative absorption circuit as standard. The capacity of the regenerative resistance incorporated into the main unit is 2 W. Under the operating conditions in which operation can be performed only with the main unit, set the tact time above the calculation result shown in the table below.
  • Page 74 Chapter 3 Installing HA-680 driver (2) If an external resistance is connected, or the load inertia ratio is 2 or more: The resistance is 30 ohms. Use the following formula for the capacity. Tact time calculation result 2 × Actual tact time Connect it to the R and GND terminals of the HA-680 driver, as shown below.

  • Page 75: Connecting Cables For The Encoder And The I/O

    Chapter 3 Installing HA-680 driver Connecting cables for the encoder and the I/O 3-9-1 Preparing the encoder cable and the I/ O cable Follow these instructions for the preparation of the encoder cable and the I/O cable. (1) Use twisted pair cables for I/O signals, and for encoder signals cables. When a host controls several drivers, prepare I/O signal cables for each driver individually.
  • Page 76 Chapter 3 Installing HA-680 driver ◆ Pin layout 2: RSF supermini series, RSF-B mini series The models and the pin layout of the encoder connectors are as follows: Note that pin layout may vary depending on the actuator. Connector: Model 10114-3000PE Manufacturer: 3M Cover: Model 10314-52F0-008 Manufacturer: 3M...

  • Page 77: Pin-Layouts Of The I/O Signal Connector (Cn2)

    Chapter 3 Installing HA-680 driver 3-9-3 Pin-layouts of the I/O signal connector (CN2) The models and the pin layout of the encoder connector are as follows: Connector: Model 10126-3000PE Manufacturer: 3M Cover: Model 10326-52F0-008 Manufacturer: 3M ◆ For position control IN- COM Input 4 Input 2...

  • Page 78: Connecting Cables For The Encoder And I/O Signals

    Chapter 3 Installing HA-680 driver 3-9-4 Connecting cables for the encoder and I/O signals Firmly connect both connectors of the encoder cable and the I/O signal cable to [CN1] and [CN2] sockets of HA-680 driver respectively. CN2 socket I/O signal connector CN1 socket Encoder connector 3-9-5...

  • Page 79: Power On And Off Sequences

    Chapter 3 Installing HA-680 driver 3-10 Power ON and OFF sequences 3-10-1 Power ON / OFF sequence circuit Configure the sequence circuit to operate the switch for main power individually by an [emergency stop] signal and the [CN2 alarm: ALARM] signal of the HA-680 driver. Do not make switching operation (turning ON or OFF) at the state that the servo-ON [CN2-7: Servo-ON: S-ON] is OFF.

  • Page 80: Chapter4 Functions Of Dedicated Communication Software Psf-520

    Chapter 4 software PSF-520 Chapter4 Functions of dedicated communication software PSF-520 Dedicated communication software PSF-520 is communication software for parameter setting and change for the HA-680 driver. Note: To set and/or change parameters, dedicated communication software PSF-520 is required. The overview of the functions of PSF-520 is shown below. For details and operation methods, refer to a separate document, “PSF-520 User’s Manual.”...

  • Page 81: Chapter5 Operations

    Chapter 5 Operations Chapter5 Operations Follow these instructions prior to operations. When electric power is active, do not make any wiring works. In advance of wiring work, shut off electric power supply to be free from electric shock. WARNING 1. Inspect the cabling before turning the power ON and correct poor cabling if necessary.
  • Page 82 Chapter 5 Operations ● Procedure of trial run ◆ Power-ON procedure for control circuit of HA-680 Following power supply turning-ON to the driver, the driver identifies the code of the actuator connected to it automatically. The following operations vary whether the identified code is same as a pre-registered code or not.

  • Page 83: Setting Parameters

    Chapter 5 Operations ◆ Operating the actuator by JOG operation JOG operation can be performed using the host device on which communication software PSF-520 is installed. Start up PSF-520. Open the Parameter Setting window. Specify the operation pattern using “43: JOG operation acceleration/deceleration time constant,” “44: JOG operation feed pulse count,”...

  • Page 84: Normal Operation

    Chapter 5 Operations 5-2 Normal operation As the HA-655 driver runs by commands from a host, no special intervention is required for normal operations. In this section, instructions for daily operations and maintenance are explained. 5-2-1 Notices for daily operations 1.

  • Page 85: Chapter 6 Setting Up Parameters

    Chapter 6 Setting up parameters Chapter 6 Setting up parameters All operations such as parameter setting, display, and adjustment can be performed using dedicated communication software PSF-520. This chapter describes details of the parameters. For information on how to use the software, refer to a separate document, “PSF-520 User’s Manual.” 6-1 Parameter list Parameter name Setting range...

  • Page 86: Function Of The Parameters

    Chapter 6 Setting up parameters 6-2 Function of the parameters 00: Position loop gain (position / speed) ● Function This parameter specifies the gain of the position loop. Determine the value based on the frictional torque and rigidity of the machine. High setting ⇒...
  • Page 87 Chapter 6 Setting up parameters 02: Speed loop integral gain (position / speed) ● Function This parameter specifies the speed loop integral gain. High setting ⇒ If the setting is too high, the servo system will be unstable, and hunting and overshoot will easily occur.
  • Page 88 Chapter 6 Setting up parameters 04: Speed feed-forward factor (position) ● Function This parameter specifies the factor used to give the first-order derivative value to a speed command. Usually set this factor to 0. This setting is usually required to improve the speed. ●...
  • Page 89 Chapter 6 Setting up parameters 07: Speed step correction (position) ● Function This parameter specifies the speed command correction amount that is to be added to the speed command, depending on the positive or negative amount in the command. Usually set this parameter to 0. It should be set when the speed is to be improved. High setting ⇒...
  • Page 90 Chapter 6 Setting up parameters 09: Step correction switch range (position) ● Function This parameter specifies the amount of position deviation for the deviation counter where the following will take effect: speed step correction ([Parameter] ⇒ [07: Speed step correction]) and torque step correction ([Parameter] ⇒...
  • Page 91 Chapter 6 Setting up parameters 11: Input function assignment (The power must be turned on again after setting a change.) (position / speed / torque) ● Function This function selects the function of the input signal. The relations between the setting value and function selection are as follows.
  • Page 92 Chapter 6 Setting up parameters 12: Output function assignment (The power must be turned on again after setting a change.) (position / speed / torque) ● Function This function selects the function of the output signal. The relations between the setting value and function selection are as follows.
  • Page 93 Chapter 6 Setting up parameters 13: Input pin logical setting (The power must be turned on again after setting a change.) (position / speed / torque) ● Function This function sets the logic to enable the functions of the external input signals. Set the sum of the desired logic values in the following table.
  • Page 94 Chapter 6 Setting up parameters 15: Control input filter time constant (position / speed / torque) ● Function This function sets the time constant of the soft low-pass filter applied to the signals at the control input terminal other than forward rotation/reverse rotation command pulses. If it is used in an environment where there is external high-frequency noise, set the value so that the control input signal is not easily affected by the noise.
  • Page 95 Chapter 6 Setting up parameters 17: FWD current limiting (The power must be turned on again after setting a change.) 18: REV current limiting (The power must be turned on again after setting a change.) (position / speed / torque) ●...
  • Page 96 Chapter 6 Setting up parameters 20: Rotary diection (The power must be turned on again after setting a change.) (position / speed / torque) ● Function This function specifies the rotary direction of the actuator when responding to rotary direction commands (FWD or REV) of “Command input signal”.
  • Page 97 Chapter 6 Setting up parameters 22: In-position ready range (position) ● Function When the difference between “command pulse count” and “returned pulse count,” which is “deviation pulse count,” decreases below the setting value of “in-position ready range,” the signal is outputted to “CN2 In-position ready output: IN-POS”...
  • Page 98 Chapter 6 Setting up parameters 25: Command pulse input form (position) (The power must be turned on again after setting a change.) ● Function Three types of command signals can be inputted to the HA-680 driver as follows: Type 2-pulse train 1-pulse train 2-phase pulse train Forward...
  • Page 99 Chapter 6 Setting up parameters 27: Servo-on deviation clear (position) ● Function Even when the servo power is OFF, the control power is still ON. If the position of the load mechanism shifts due to gravity or manual force while the servo power is OFF, the deviation count changes. If the servo power is turned ON, the actuator rotates rapidly to make the deviation count return to [0].
  • Page 100 Chapter 6 Setting up parameters 29: Auto gain setting at positioning (position) ● Function To get short period for positioning, the function automatically makes speed loop gain higher when a deviation pulse number becomes small. For the reason that the speed loop gain is proportionate to deviation pulse number, a positioning speed at small error pulse number becomes comparatively low.
  • Page 101 Chapter 6 Setting up parameters 31: Attained speed determination value (speed / torque) ● Function This parameter is set at [speed control] or [torque control]. The [CN2 attained speed: HI-SPD] signal is outputted when the actuator speed is more than the value of [attained speed]. ●...
  • Page 102 Chapter 6 Setting up parameters 33: Acceleration time constant (speed) ● Function This function sets the time in which the motor is accelerated from 0 r/min to the maximum rotation speed during speed control. For external speed commands, when a speed command faster than the setting value is entered, the setting value has higher priority;...
  • Page 103 Chapter 6 Setting up parameters 36: Analog command A/D value (Max) (Speed / torque) ● Function This function sets the offset value when the analog command is -10V. Enter -10V to the analog command, and set the “analog command A/D value” in the value monitor of the state display window of communication software PSF-520.
  • Page 104 Chapter 6 Setting up parameters 39: Reserved for the system This parameter is reserved for the system. Do not change the setting. 40: Internal command input factor (torque) ● Function “Internal torque command value” allows you to operate the actuator without an input signal. It is useful for a test run of the actuator alone and for system diagnosis.
  • Page 105 Chapter 6 Setting up parameters 42: Reserved for the system This parameter is reserved for the system. Do not change the setting. 43: JOG operation acceleration/ deceleration time constant (position / speed / torque) ● Function This function sets the time in which the motor is accelerated from 0 r/min to the maximum rotation speed and the time in which the motor is decelerated from the motor maximum rotation speed to 0 r/min during JOG operation.
  • Page 106 Chapter 6 Setting up parameters 46: JOG operation speed (position / speed / torque) ● Function This function sets the motor maximum rotation speed for operation by JOG commands. ● Setting unit Lower limit Upper limit Default Motor maximum r/min rotation speed Remark: Motor rotation speed ＝...

  • Page 107: Default Parameter List

    Chapter 6 Setting up parameters 6-3 Default parameter list Description unit FHA-8C-30 FHA-8C-50 FHA-8C-100 Position loop gain － Speed loop proportional gain － Speed loop integral gain － Speed loop derivative gain － Speed feed-forward factor － Acceleration feed-forward factor －...
  • Page 108 Chapter 6 Setting up parameters Description unit FHA-11C-30 FHA-11C-50 FHA-11C-100 Position loop gain － Speed loop proportional gain － Speed loop integral gain － Speed loop derivative gain － Speed feed-forward factor － Acceleration feed-forward factor － Torque command filter －...
  • Page 109 Chapter 6 Setting up parameters Description unit FHA-14C-30 FHA-14C-50 FHA-14C-100 Position loop gain － Speed loop proportional gain － Speed loop integral gain － Speed loop derivative gain － Speed feed-forward factor － Acceleration feed-forward factor － Torque command filter －...
  • Page 110 Chapter 6 Setting up parameters unit Description RSF-3C-30 RSF-3C-50 RSF-3C-100 Position loop gain － Speed loop proportional gain － Speed loop integral gain － Speed loop derivative gain － Speed feed-forward factor － Acceleration feed-forward factor － Torque command filter －...
  • Page 111 Chapter 6 Setting up parameters Description unit RSF-5B-30 RSF-5B-50 RSF-5B-100 Position loop gain － (120) (120) (120) Speed loop proportional gain － (130) (130) (130) Speed loop integral gain － Speed loop derivative gain － Speed feed-forward factor － Acceleration feed-forward factor －...
  • Page 112 Chapter 6 Setting up parameters Description unit RSF-8B-30 RSF-8B-50 RSF-8B-100 Position loop gain － Speed loop proportional gain － Speed loop integral gain － Speed loop derivative gain － Speed feed-forward factor － Acceleration feed-forward factor － Torque command filter －...
  • Page 113 Chapter 6 Setting up parameters Description unit RSF-11B-30 RSF-11B-50 RSF-11B-100 Position loop gain － Speed loop proportional gain － Speed loop integral gain － Speed loop derivative gain － Speed feed-forward factor － Acceleration feed-forward factor － Torque command filter －...
  • Page 114 Chapter 6 Setting up parameters Description unit RSF-14B-30 RSF-14B-50 RSF-14B-100 Position loop gain － Speed loop proportional gain － Speed loop integral gain － Speed loop derivative gain － Speed feed-forward factor － Acceleration feed-forward factor － Torque command filter －...

  • Page 115: Chapter 7 Troubleshooting

    Chapter 7 Troubleshooting Chapter 7 Troubleshooting 7-1 Alarms and diagnostic tips The HA-680 drivers provide various functions to protect actuators and drivers against abnormal operating conditions. When these protection functions trip, driving of the actuator is stopped (the motor becomes servo-off), and the display LED blinks at 0.5-second intervals. (It illuminates in green and blinks in red: The number of times it blinks varies depending on the alarm.
  • Page 116 Chapter 7 Troubleshooting Do not make wiring works after powering the driver for troubleshooting. The troubleshooting while power is active may result in getting electric shocks. Shut off WARNING the electric power source before any wiring changes are made. 1. Clean around the device. Make sure there are no wire chips or tools inside the equipment.
  • Page 117 Chapter 7 Troubleshooting Overload (Alarm clear: available) ● Description The driver always monitors the motor current, and if the current exceeds the curve in the figure below, the overload alarm occurs. Occurrence of the overload alarm varies depending on the actuator. Overload alarm occurrence time FHA-C mini AC24V type FHA-C mini AC24V type...
  • Page 118 (1) Alarm occurs when control power is turned on: ◆ Cause 1: The control circuit of the HA-680 driver may have failed. ⇒ Remedy: Contact Harmonic Drive Systems,Inc.(Replace the HA-680 driver) (2) The alarm occurs while running (it is possible to restart after shutting off control power): ◆...
  • Page 119 Stop command pulse or the actuator, and turn on the power, again. ◆ Cause 2: HA-680 driver control circuit failure ⇒ Remedy: Contact Harmonic Drive Systems,Inc. (Replace the HA-680 driver) (2) If the alarm occurs during acceleration or deceleration: ◆ Cause 1: Gain is too low.
  • Page 120 ◆ Cause 3: The control circuit of the HA-680 driver may have failed. ⇒ Remedy: Contact Harmonic Drive Systems,Inc. (Replace the HA-680 driver) (2) Alarm occurs during running (recovers when the actuator cooled down) ◆ Cause 1: Encoder malfunctions when the actuator temperature rises.
  • Page 121 ◆ Cause 3: The control circuit of the HA-680 driver may have failed. ⇒ Remedy: Contact Harmonic Drive Systems,Inc. (Replace the HA-680 driver) (2) Alarm occurs temporarily while running: ◆ Cause 1: Malfunction may be caused by surrounding electrical noise.
  • Page 122 ◆ Cause 1: Failure of the temperature sensor of the HA-680 driver. ⇒ Remedy: Contact Harmonic Drive Systems,Inc. (Replace the HA-680 driver) (2) Alarm occurs while the motor is running: ◆ Cause 1: The motor is in an overload state while running.
  • Page 123 ◆ Cause 1: The control circuit of the HA-680 driver may have failed. ⇒ Remedy: Contact Harmonic Drive Systems,Inc. (Replace the HA-680 driver) (2) Alarm occurs by input signal of [CN2-7: S-ON (servo-ON)] is activated: ◆ Cause 1: The control or main circuit of the HA-680 driver may have failed.
  • Page 124 ◆ Cause 1: Failure of the control circuit of the HA-680 driver ⇒ Remedy: Contact Harmonic Drive Systems,Inc. (Replace the HA-680 driver) (2) Alarm occurs at an input (ON) of the input signal “CN2-7: Servo on”: ◆ Cause 1: Failure of the main circuit or control circuit of the HA-680 driver ⇒...
  • Page 125 ◆ Cause 1: The control circuit of the HA-680 driver may have failed. ⇒ Remedy: Contact Harmonic Drive Systems,Inc. (Replace the HA-680 driver) (2) Alarm occurs during running ◆ Cause 1: Malfunction of a control circuit element of the HA-680 driver ⇒...
  • Page 126 (1) Alarm occurs when the control circuit power is turned on: ◆ Cause 1: Failure of the control circuit of the HA-680 driver ⇒ Remedy: Contact Harmonic Drive Systems,Inc. (Replace the HA-680 driver) (2) Alarm occurs when you enter a rotation command and the actuator rotates at high speed: ◆...

  • Page 127: Troubleshooting For Improper Actuator Motions

    Chapter 7 Troubleshooting 7-2 Troubleshooting for improper actuator motions Troubleshooting procedures for problems other than alarms are described separately in the position control, in the speed control and in the Torque control. They are also described for the following cases: ◆...
  • Page 128 Chapter 7 Troubleshooting Previous page Is CN2 CLEAR Turn OFF CN2 CLEAR. Are motor wire connection Check motor cable screws loose? Is connection. the motor wire disconnected? Is phase order Correct the phase order correct between them. between motor and driver? No layer short, Actuator fault grounding...
  • Page 129 Chapter 7 Troubleshooting Previous page Is normal Review heat generating devices, temperature in and cooling system. cabinet? Is the command Make the command pulse level pulse normal? Is (voltage, synchronization, frequency, etc.) normal. any noise Check whether noise is being generated. generated? Is the actuator Decrease the actuator...
  • Page 130 Chapter 7 Troubleshooting Previous page Is there a noise Securely shield and Is the encoder included in the ground the encoder signal normal? encoder cable. signal? Replace the actuator. Does rattle or resonance occur Improve the in the mechanical mechanical system. system? Replace the actuator or driver.

  • Page 131: Improper Motions In Speed And Torque Control

    Chapter 7 Troubleshooting Previous page Does gain Is the load Decrease the load adjustment inertia proper? inertia. succeed? Does rattle or Correct the gain Improve the resonance occur properly. mechanical system. in the mechanical system? Replace the actuator or driver. 7-2-2 Improper motions in speed and torque control ...
  • Page 132 Chapter 7 Troubleshooting Previous page A Previous page B Are motor wire Driver failure Check motor cable connection Is voltage of connection. screws loose? Is driver’s UVW the motor wire correct? disconnected? Is phase order Is phase order Correct the phase order Correct the phase order correct correct...
  • Page 133 Chapter 7 Troubleshooting Previous page Is the command If there is a ripple on signal, stabilize it. voltage normal? Check whether noise is being generated. Is any noise generated? Is the actuator Decrease the actuator revolution speed revolution speed below below the max.
  • Page 134 Chapter 7 Troubleshooting Previous page Does rattle or Improve the resonance occur mechanical system. in the mechanical system? Replace the actuator or driver. - 128 -...

  • Page 135: Chapter 8 Options

    Chapter 8 Options Chapter 8 Options 8-1 Relay cables These are relay cables that connect the actuators and HA-680 driver. There are 3 types of relay cable: for motors, for encoders, and for EIA-232C. ◆ Relay cable 1: FHA-C mini 24VAC type (FHA-8C, 11C, 14C) ●...

  • Page 136: Connectors

    Chapter 8 Options 8-2 Connectors Connectors for CN1 and CN2 connectors of HA-680, and terminal blocks for motor connection and power supply for options are available as follows: ◆ Connector type: CNK-HA68-S1 For CN1 / For CN2 / For motor connection / For power supply......4 types ◆...
  • Page 137 (3) Imperfection caused by the other than the FHA-C series actuator and the HA-655 servo driver. (4) Disaster or others that does not belong to the responsibility of Harmonic Drive Systems, Inc. Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive Systems, Inc.
  • Page 138 HOTAKA Plant／1856-1 Hotakamaki Azumino-shi Nagano, Japan TEL+81(0)263-83-6800 FAX+81(0)263-83-6901 〒399-8305 Harmonic Drive AG／Hoenbergstrasse 14, D-65555 Limburg a.d.Lahn Germany TEL+49-6431-5008-0 FAX+49-6431-5008-18 Harmonic Drive L.L.C／247 Lynnfield Street, Peabody, Massachusetts 01960 U.S.A. TEL+1- 978-532-1800 FAX+1- 978-532-9406 ® "HarmonicDrive " is a trademark of Harmonic Drive Systems, Inc.

This manual is also suitable for:

Ha-680-6-24Ha-680-4-24Ha-680-4b-24Ha-680-6b-24

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