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AC Servo Driver
HA-520 Series Technical Manual
● Thank you very much for your purchasing our HA-520 series
servo driver.
● 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.
● End user of the driver should have a copy of this manual.
ISO14001
（HOTAKA Plant）
ISO9001
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Table of Contents
Related Manuals for Harmonic Drive HA-520 Series
Summary of Contents for Harmonic Drive HA-520 Series
- Page 1 AC Servo Driver HA-520 Series Technical Manual ● Thank you very much for your purchasing our HA-520 series servo driver. ● 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.
- Page 2 RSF/RKF Series、HA Series Safety guide for handling servomotors CAUTION Warning ： Indicates a potentially hazardous ： Indicates a potentially hazardous situation, which, if not avoided, may result in minor or situation, which, if not avoided, could result in death moderate personal injury and/or damage to the equipment. or serious personal injury.
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Page 3: Table Of Contents
AC servo driver HA-520 Series Contents Chapter 1 Outline of HA-520 driver ································································································ 1 １−１ Main features ·········································································································· 1 １−２ Ordering information of HA-520 driver···································································· 2 １−３ Combination with actuator ······················································································ 2 １−４ Specification of HA-520 driver ················································································ 3 １−５ ... - Page 4 AC servo driver HA-520 Series ４−５ Connecting power cables ····················································································· 27 ４−５−１ Instructions for power supply··································································· 27 ４−５−２ Power cables and ground wires ······························································ 27 ４−５−３ Connecting power cables ········································································ 28 ４−５−４ Isolation transformer (sold optionally) ····················································· 28 ４−５−５ Protecting the power line ········································································· 28 ４−６...
- Page 5 AC servo driver HA-520 Series ７−２ Parameter details·································································································· 46 Chapter 8 Protective functions ······························································································ 59 ８−１ Outline of protective functions ·············································································· 59 ８−２ Details of protective functions··············································································· 60 Chapter 9 Troubleshooting procedure and action ································································· 67 ９−１ No rotation of actuator ·························································································· 67 ９−２...
- Page 6 AC servo driver HA-520 Series Memo...
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Page 7: Outline Of Ha-520 Driver
Chapter 1 Outline of HA-520 driver Chapter 1 Outline of HA-520 drivers Each HA-520 driver is available exclusively for an RSF/RKF Series actuator, consisting of a combined system ® of a small-sized precision control reduction gear HarmonicDrive and small AC servomotor. HA-520 drivers have many features to exhibit fully the characteristics of each actuator. -
Page 8: Ordering Information Of Ha-520 Driver
Chapter 1 Outline of HA-520 driver Ordering information of HA-520 driver The HA-520 driver model indication and the mark shown in this manual are as follows: HA-520-1M-100 AC servo driver HA series 520 Series Rated output current 1A or 1.4A Maximum current types 1.0A 1.5A... -
Page 9: Specification Of Ha-520 Driver
Chapter 1 Outline of HA-520 driver Specification of HA-520 drivers HA-520-1M HA-520-1N HA-520-1P HA-520-1R HA-520-3 Model -100 -100 -100 -200 -200 Item Rated output current (rms) 1.0A 1.4A 1.4A Note 1 Maximum output current 1.0A 1.5A 2.6A 4.2A (rms) Note 2 Single-phase AC200V±... -
Page 10: External Drawing Of Ha-520 Driver
Chapter 1 Outline of HA-520 driver External drawing of the HA-520 drivers The external drawing is shown below: HA-520-1 Unit: mm Name plate HA-520-3 Name plate... -
Page 11: Names And Functions Of Front Panel Components
Chapter 1 Outline of HA-520 driver Names and functions of front panel components ● Display panel component names LED display Input power supply DATA key UP key MODE key DOWN key Charge voltage monitor CN4 (unavailable) CN3 EIA232C connector (RS-232C) TB1 power supply termin CN1: External I/O connector TB1 grounding terminal... - Page 12 Chapter 1 Outline of HA-520 driver ◆ CN2: encoder connector Used to connect the position detection encoder cable of the actuator or the cable of the FWD/REV inhibit limit sensor. (Enables the encoder signal output to be monitored.) ◆ CN3: EIA232C (RS232C) serial port connector Used for connection with a personal computer.
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Page 13: Connector Pin Layout
Chapter 2 Connector pin layout Chapter 2 Connector pin layouts TB1 power supply terminal pin layout Pin No. Signal name Description １ Ｒ Pow er supply terminal ２ Ｔ AC 100 o r 200V, 50/ 60Hz ３ Ｅ Grounding terminal ４... -
Page 14: Ｃｎ２ Encoder And Limit Signal Connector Pin Layout
Use of this terminal requires changing the driver's internal switch settings. For details of its use, consult with a business office of Harmonic Drive System. Note 3: Unavailable. Do not attempt to use this terminal... -
Page 15: Ｃｎ３Serial Port Connector Pin Layout Eia232C-Compliant (Rs-232C)
Chapter 2 Connector pin layout CN3 serial port connector pin EIA232C-compliant (RS-232C) ＣＮ３ EIA232C（ＲＳ２３２Ｃ） P i n N o . S i g n a l n a m e D e s c r i p t i o n ＦＧ... -
Page 16: Control Input/Output
Chapter 3 Control input/output Chapter 3 Control input/output Command pulse input (CN1) This inputs the pulse train input to FWD+, FWD-, REV+, and REV-. This section shows a connection with a line driver command and that with an open collector command. The standard input current shall be 20mA, while the maximum input current shall be 30mA. -
Page 17: Selecting The Command Pulse Input Configuration
Chapter 3 Control input/output Selecting the command pulse input configuration Two ports of CN1-1&2 and CN1-3&4 are available for pulse input signals. Each of the signals input through these two ports has one of three pulse input configurations. ◆ Setting a command configuration [Parameter setup mode]→... -
Page 18: Control Input Signals (Cn1, Cn2)
Chapter 3 Control input/output ● Multiplication of command When the command configuration is a [2-phase pulse] type, it is possible to multiply the command pulse train by 2 or 4 for the command pulse train to an actuator. Input signal Setting ◆ ... - Page 19 Chapter 3 Control input/output CN1-5 Servo on: S-ON ◆ Functions (1) This signal turns on/off the driver circuit of the HA-520 driver. When this input is on, the driver servo goes on, causing the driver to be ready. When it is off, the servo goes off, causing the servo to be free, or the dynamic brake to be active.
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Page 20: Cn2 Input Signal Connection And Functions
Chapter 3 Control input/output CN1-8 input signal common: IN-COM ◆ Function This is a common signal to “CN1-5, -6, and -7”, and supplies power form the outside for input signals. ◆ Connection The externally supplied voltage for input signals is “+24V”. 3-3-2 CN2 input signal connection and functions FWD-LMT and REV-LMT are available for input signals. -
Page 21: Control Output Signals (Cn1, Cn2)
Chapter 3 Control input/output Control output signals (CN1, CN2) 3-4-1 CN1 output signal connection and functions READY, ALARM, IN-POS, and Z-IS are available as control output signals. Prepare the output circuit power supply separately. It can also be used in common with the input circuit power supply. - Page 22 Chapter 3 Control input/output CN1-10 alarm output: ALARM ◆ Function (1) This signal is output when the driver detects a failure. (2) The logic can be changed by selecting [Parameter setup mode] → [39: Output pin logic]. The default is 1. When the driver is operating normally, the transistor goes on.
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Page 23: ３−４−２ Cn2 Input Signal Connection And Functions(Encoder Monitor Output)
Chapter 3 Control input/output 3-4-2 CN2 output signal connection and functions (encoder monitor output) CN2-23 encoder monitor +5V power: MON+5V ◆ Function This is a power supply terminal for MON-A, -B, and –Z. ◆ Connection Connect the DC 5V external power. CN2-24 encoder monitor power common: MON0V ◆ ... -
Page 24: Encoder Input (Cn2)
Chapter 3 Control input/output Encoder input (CN2) ◆ Function Connect this with the AC servo actuator RSF/RKF Series encoder. Actuator RSF/RKF Series Driver HA-520 1〜4 +5V ＋5V 5〜8 0V 0V 9 − 220Ω A 10 B − 220Ω B ... -
Page 25: External Connection Examples
Chapter 3 Control input/output External connection examples ◆ The following is an external connection example where the pulse output configuration is a line driver. ◆ The command configuration is 2-pulse train. HA‑520 Series CN1 FWD+ 1 220 FWD command pulse signal input FWD‑ ... - Page 26 Chapter 3 Control input/output The following is an external connection example where the pulse output configuration is open collector. ◆ The command configuration is 2-pulse train. HA‑520 Series CN1 +5V FWD+ 1 220 FWD‑ 2 FWD command pulse Power transformer TB1 Line filter Note signal input...
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Page 27: Installing Driver
Chapter 4 Installing driver Chapter 4 Installing driver Receiving Inspection Check the followings when products are unpackaged. ● Inspection procedure (1) Check the shipping item for any damage that may have been caused during transportation. If the item is damaged, immediately contact the dealer it was purchased from. (2) On its side, the driver has the nameplate shown on the right. -
Page 28: Notices On Handling Drivers
Chapter 4 Installing driver Notices on handling drivers The drivers are electronic devices. Handle them with care and take the following precautions. (1) Do not drop screws, solder balls, wire chips, or any other foreign objects through the ventilation gaps of the driver. Failure to observe this caution may result in electric shock or personal injury. -
Page 29: Location And Installation
Chapter 4 Installing driver Location and installation 4-3-1 Environment of location The environmental conditions of the location are as follows: ◆ Service temperature: 0°C to +50°C Use the driver in a cabinet. The temperature in the cabinet can be higher than the atmosphere because of power loss of the housed devices and its size. -
Page 30: Installing
Chapter 4 Installing driver 4-3-3 Installing The HA-520 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 31: Installing Noise Filters
Chapter 4 Installing 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 32: Instructions For Cabling
Chapter 4 Installing driver 4-4-3 Instructions for cabling In addition to the noise suppression mentioned previously, one must also follow these instructions: (1) Use shield cables for I/O signals. When a host controls several drivers, prepare I/O signal cables for each driver individually. -
Page 33: Connecting Power Cables
Chapter 4 Installing driver Connecting power cables 4-5-1 Instructions for power supply Before connecting the power cable to the HA-520 driver, turn-off the electricity to avoid electric shock. Failure to observe this caution may result in electric shock or personal injury. Warning (1) Connect the power cable to the HA-520 driver only after installing the driver on a wall. -
Page 34: Connecting Power Cables
Chapter 4 Installing driver 4-5-3 Connecting power cables The “terminal block for the power” is located on the front panel of the HA-520 driver. Use the operating lever annexed to the optional connector shown below. 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 35: Connecting The Ground Wire
Chapter 4 Installing driver 4-5-5 Protecting the power line Be sure to use a circuit breaker (MCB) or circuit protector for the power line in order to protect it. Select the circuit breaker or protector based on the following table: HA-520-1M,N,P HA-520-1R HA-520-3... -
Page 36: Connecting Cables For The Encoder And The I/O
Chapter 4 Installing driver Connecting cables for the encoder and the I/O 4-8-1 Preparing the encoder cable and the I/ O cable Follow these instructions for the preparation of the encoder cable and the I/O cable. Use twisted pair cables for I/O signal cables and for encoder signal cables. When a host controls several drivers, install I/O signal cables for each driver individually. ... -
Page 37: Power On And Off Sequences
Chapter 4 Installing driver Power on and off sequences Program the sequence on the high-level equipment to power on and off the HA-520 driver at the following timings: ● Power on/off sequences Power OFF⇒ON Release Alarm Output Min 0.5s Min. 0.5s Servo on ON Servo on Input... -
Page 38: Operations
Chapter 5 Operations Chapter 5 Operations Follow these instructions prior to operations. 1. Inspect the cabling before turning the power ON and correct poor cabling if necessary. (1) Is the cabling correct? (2) Is there any temporary cabling? Are all wires connected to the terminals? (3) Are there any loose terminal connections? (4) Are the wires grounded properly? - Page 39 Chapter 5 Operations (2) When a failure occurs, the alarm number blinks as shown in the figure below. This indicates that a failure was found regarding the power supply, motor, or encoder wiring. According to the instructions in Chapter 8, "Protective functions", power off the driver, and then check the wiring.
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Page 40: Usual Operation
Chapter 5 Operations Usual operation No particular operations are required because the HA-520 driver operates according to the commands from the higher-level system. When a failure occurs, the alarm number blinks as in the figure below. In this case, power off the driver and remove the alarm cause according to the instructions in “Chapter 8, Protective functions"... -
Page 41: Daily Maintenance
Check point Interval Inspection standard Treatment Terminal screws Yearly No loosen screws Tightening screws Exterior circuitry Yearly No dust or metal chips on the case Cleaning No color change, no faults, no Consult with Harmonic drive Interior circuitry Yearly abnormalities systems... -
Page 42: Operating The Display Panel
Chapter 6 Operating the display panel Chapter 6 Operating the display panel The display panel of the driver is equipped with a five-digit LED display segment and four operation keys. This display segment can display all the information, and allows you to make all the adjustments, settings, and operations. -
Page 43: Monitor Mode Display Details
Chapter 6 Operating the display panel Monitor mode display details 6-3-1 Servo state display When the middle character A remains displayed rather than blinking, this indicates that the driver is operating normally. The state is displayed on bit. POW-ON TRQ-LMT Description S-ON POW-ON... -
Page 44: Outline Of Parameter Setup Mode
Chapter 6 Operating the display panel Outline of parameter setup mode This mode allows you to view the servo or change parameters. Parameters related to the basics of operation, including operation related to the higher-level system (e.g., loop gains, input signal configurations, electronic gear functions, speed/torque limits). The parameters are detailed in Chapter 7. -
Page 45: Outline Of Numeric Monitor Mode
Chapter 6 Operating the display panel Outline of numeric monitor mode The numeric monitor mode displays the position, speed, torque data, and other information about the actuator. 6-5-1 Numeric monitor list Monitor No. Contents Unit Digits displayed Number of feedback pulses (encoder High low-order Pulses... -
Page 46: Displaying Stop Cause
Chapter 6 Operating the display panel 6-5-3 Clearing the torque peak By pressing and holding down the UP and DOWN keys together while monitor number “9: Torque peak" is on display, the peak is updated with that of the torque values resulting while the keys are held down. 6-5-4 Displaying stop cause Selecting Monitor No. -
Page 47: Jog Operation Mode
Chapter 6 Operating the display panel JOG operation mode The JOG mode enables JOG operations. 6-6-1 JOG operations procedure When JOG is off, the driver operates according to the pulse input commands. Even if the servo is on, the driver cannot be operated in JOG mode unless JOG is on. Non-parameter mode Select the JOG mode by pressing the JOG mode... - Page 48 Chapter 6 Operating the display panel ● JOG operation patterns JOG operates in an environment that has been set up by the following parameters: [19: JOG operation speed] [20: JOG feed pulse count] [40: JOG acceleration/deceleration time constant] [43: JOG character-S selection] For details, refer to “Chapter 7-2, Parameter details [r/min] 3000...
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Page 49: Displaying And Setting Data Of High- And Low-Order Digits
Chapter 6 Operating the display panel Displaying and setting data of high- and low-order digits For numeric data of five or more digits, the high- and low-order digits are displayed separately. Description Lower limit Upper limit Paramete Ｐ００ Position error allowance 32767 Numeric Feedback pulse count (display of 4 times... -
Page 50: Parameter Details
Chapter 7 Parameter details Chapter 7 Parameter details Default setup parameters The following table summarizes the default parameters: Actuator model RSF-8 RSF-11 RSF-14 Display Parameter name Unit 1/50 1/100 1/50 1/100 1/50 1/100 Position error allowance Pulse 30,000 30,000 30,000 30,000 30,000 30,000... - Page 51 Chapter 7 Parameter details The following table summarizes the default parameters: Actuator model RSF-17 RSF/RKF-20 RSF/RKF-25 Display Parameter name Unit 1/50 1/100 1/50 1/100 1/50 1/100 Position error allowance Pulse 30,000 30,000 30,000 30,000 30,000 30,000 In-position range Pulse －１ Position loop gain Note ｓ...
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Page 52: Parameter Details
Chapter 7 Parameter details Parameter details Position error allowance ● Function This parameter specifies the allowable range of the difference (i.e., position error) between the command and feedback pulses in the control system. If the position error exceeds this setting, [07: Excessive error alarm] is displayed. In this case, the servo shuts off, and the “ALARM”... - Page 53 Chapter 7 Parameter details Position loop gain ● Function This parameter specifies the gain of the position loop. And it determines the value based on the frictional torque and rigidity of the machine. High setting⇒The position error is small, and high tracking performance to commands is obtained. If the setting is too high, the servo system will be unstable and hunting may easily occur;...
- Page 54 Chapter 7 Parameter details Speed loop integral gain ● Function This parameter specifies the speed loop integral gain. High setting If the setting is too high, the servo system will be unstable (hunting) and overshoot will easily occur. Low setting If the setting is too low, the responsiveness and tracking performance will be poor. ●...
- Page 55 Chapter 7 Parameter details Acceleration feed forward factor ● Function This parameter specifies the factor used to give the second-order derivative value to a torque command. Usually set this factor to 0. This setting is usually required to improve the speed. ●...
- Page 56 Chapter 7 Parameter details Electronic gear - numerator Electronic gear - denominator (After the setting is changed, the power must be turned on again.) ● Function This parameter provides consistency between the amount of movement specified with a command and the actual amount of moment of the machine.
- Page 57 Chapter 7 Parameter details Torque step correction ● Function This parameter specifies the torque command correction amount that is to be added to the torque command, depending on the positive or negative amount in the command. Usually set this parameter to 0, but it should be set when the speed is to be improved. High setting ...
- Page 58 Chapter 7 Parameter details JOG operation speed ● Function This parameter specifies the maximum revolution speed of the motor that operates according to JOG commands. ● Setting Unit Lower limit Upper limit Default r/min Note Note: The upper limit is restricted, depending on the AC servo actuator model. The upper limit is determined by the following formula: Upper limit of JOG speed = Maximum revolution speed of actuator x Reduction ratio JOG feed pulse count...
- Page 59 Chapter 7 Parameter details Step correction switching range ● Function This parameter specifies the amount of position error for the error counter where the following will take effect: speed step correction ([Parameter setup mode] → [12: Speed step correction]) and torque step correction ([Parameter setup mode] →...
- Page 60 Chapter 7 Parameter details Command configuration (After the setting is changed, the power must be turned on again.) ● Function 設定値 正転指令 逆転指令 This parameter specifies the pulse input configuration. 0: 2-phase pulse (90-degree phase difference) 90° 1: 1-pulse 90° A pulse is input for Phase-A input, and a code for Phase-B input.
- Page 61 Chapter 7 Parameter details Output pin logic setting (After the setting is changed, the power must be turned on again.) ● Function This parameter specifies the logic used to determine the functional operation state of external output signals. Using the table below, sum up the desired values of the logic to be set, and set the sum for the parameter. Example: To set the ready, in-position, and alarm output off command, set 7 for the parameter rather than 1 + 2 + 4 = 7.
- Page 62 Chapter 7 Parameter details Multiplication of 2-phase pulse (After the setting is changed, the power must be turned on again.) ● Function This parameter is available also when 0 is set for [31: Command configuration] of [Parameter setup mode] (selecting of 2-phase pulse train). 1: 1 time 2: 2 times 4: 4 times...
- Page 63 Chapter 7 Parameter details Communication condition (After the setting is changed, the power must be turned on again.) ● Function This parameter specifies the EIA232C (RS-232C) communication baud rate and parity bit. Set the baud and parity bit values based on the following table: Baud rate（bps）...
- Page 64 Chapter 7 Parameter details Dynamic brake on/off ● Function This parameter specifies whether or not the dynamic brake should be when an alarm occurs, operated with the servo-off. 0: If the servo is turned on once in the on state, when the driver is powered on. After this, the brake does not operate.
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Page 65: Protective Functions
All operations are disabled, and alarm signal output does not take place at this time. Remove the cause of the alarm, and then power on the driver. If the alarm is not yet reset, contact a business office of Harmonic Drive System. -
Page 66: Details Of Protective Functions
(2) If the alarm occurs during operation: Cause 1: A device of the HA-520 driver control circuit malfunctioned. ⇒ Action: Contact a service department or a business office of Harmonic Drive System (Replacing the HA-520 driver) In addition, check whether there is any improper point regarding the ambient conditions for the location of instruction. - Page 67 Cause 3: A component in the encoder broke, or the driver is broken. ⇒ Action: Contact a business office of Harmonic Drive System. (Replacing the actuator or driver) (2) If the alarm occurs during operation: (normally restored by cooling the actuator) Cause 1: The encoder malfunctioned due to an actuator temperature rise.
- Page 68 (1) If the alarm occurs when the power is turned on: Cause 1: HA-520 driver control circuit failure ⇒ Action: Contact a business office of Harmonic Drive System. (Replacing the HA-520 driver) (2) If the alarm occurs during operation (the operation can resume after a lapse of 4 to 5...
- Page 69 ⇒ Action: Configure the system so that the actuator cannot rotate when the driver is powered on. Cause 2: HA-520 driver control circuit failure ⇒ Action: Contact a business office of Harmonic Drive System. (Replacing the HA-520 driver) (2) If the alarm occurs during operation: Cause 1: Malfunction caused by external noise ⇒...
- Page 70 Cause 1: Motor cable short circuit ⇒ Action: Inspect and reconnect or replace/repair the motor cables. Cause 2: Motor winding short circuit ⇒ Action: Contact a business office of Harmonic Drive System. (Replacing the actuator) (4) If the alarm occurs during acceleration or deceleration:...
- Page 71 Cause 1: A motor wire has been earth fault. ⇒ Action: Ensure that motor wires are not earth fault. Cause 2: HA-520 driver circuit failure ⇒ Action: Contact a business office of Harmonic Drive System. (Replacing the HA-520 driver) (2) If the alarm occurs during operation: Cause 1: A device of the HA-520 driver control circuit malfunctioned.
- Page 72 ⇒ Action: Check the encoder cables and their wiring. Cause 3: HA-520 driver control circuit failure ⇒ Action: Contact a business office of Harmonic Drive System. (Replacing the HA-520 driver) (2) If the alarm occurs when input of a rotation command causes high-speed rotation of...
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Page 73: Troubleshooting Procedure And Action
Chapter Troubleshooting procedure and action Chapter 9 Troubleshooting procedure and action This chapter details the troubleshooting procedure and action flow for actuator operation failures other than the alarms. It consists of the following sections: No rotation Unusable rotation Poor positioning accuracy Note: In the flowcharts, "Y"... -
Page 74: Unstable Rotation Of Actuator
Chapter Troubleshooting procedure and action Previous Is CN1-7 Shut CN1-7 CLEAR CLEAR sometimes being input? Are motor wire connection Check motor cable screws loose? connection. motor wire disconnected? Motor rare short-circuited? Actuator fault Is the motor grounded? Unlock the actuator actuator shaft. - Page 75 Chapter Troubleshooting procedure and action Previous page Is the command pulse Make the command pulse level (voltage, normal? Is any noise synchronization, frequency, etc.) normal. generated? Check whether noise is being generated. Is the actuator revolution Decrease actuator speed below the revolution speed below the maximum allowance? allowance.
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Page 76: Poor Positioning Accuracy
Chapter Troubleshooting procedure and action Previous page there Securely shield and encoder noise included ground the encoder signal in the encoder cable. normal? signal? Replace actuator. Does rattle Improve resonance occur mechanical system. in the mechanical system? Replace the actuator or driver. - Page 77 Chapter Troubleshooting procedure and action Previous page Does gain Is the Decrease moment of adjustment moment of inertia of inertia of the succeed? the load. load proper? Does rattle Correct gain Improve resonance occur properly. mechanical system. in the mechanical system? Replace the actuator or driver.
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Page 78: Options
Chapter 10 Options Chapter 10 Options 10-1 Extension cables The extension cables are used for connection between the RS Series type actuator and driver. Three types of extension cables are available: motor and incremental encoder extension cables and RS-232C signal communication cable. ●Extension cable ordering models (** represents the cable length “3, 5, or 10m”.) (1) Motor extension cable ＥＷＡ－Ｍ＊＊－Ａ０４－ＷＧ０４... -
Page 79: 10-3 Eia-232C (Rs-232C) Communication Cable
PSF-520] has been installed, driver servo parameters can be changed, and the driver state can be monitored. The software is available in a Windows 2000 or XP environment. For details of the software, contact a business office of Harmonic Drive System. - 73 -... -
Page 80: 10-5 Isolation Transformer
Chapter 10 Options 10-5 Isolation transformer (1) Models (2) Specifications Each model code represents the following: The specifications of the transformers are as follows: PT1- PT1- PT1- PT1-100 02-100 10002-XXX 20002-XXX 20004-XXX Phases Single-phase Single-phase Single-phase Isolation transformer : Secondary rated 100V 200V... -
Page 81: 10-6 Regeneration Unit
Chapter 10 Options 10-6 Regeneration unit If the driver is frequently operated with a load of large moment of inertia, large registration energy is required for braking. If such a condition is expected, or a registration failure alarm occurs in the driver while the alarm is driving, calculate the registration energy as below, if necessary, for consideration. -
Page 82: 10-6-2 Main Specifications Of Registration Unit
Chapter 10 Options Pay special attention when rotating the actuator from the load. If the driver is operated while the actuator is being Warning rotated from the load, the driver may burn. 10-6-2 Main specifications of registration unit Model Ｑ Ｔ -Ｒ Ｇ Ｖ ０ １ Regeneration performance (W) ２０... -
Page 83: Connection Examples
The examples in this chapter are shown for reference only. With these connections, the driver may be unable to operate normally, depending on your system configuration. Harmonic Drive System is not responsible for any damage or injury resulting from an example shown in this chapter. - 77 -... - Page 84 The examples in this chapter are shown for reference only. With these connections, the driver may be unable to operate normally, depending on your system configuration. Harmonic Drive System is not responsible for any damage or injury resulting from an example shown in this chapter. - 78 -...
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Page 85: Index
ＡＣ servo drover ＨＡ−５２０ Series INDEX 1 pulse train ··············································· 11,54 R································································7,27,28 2-pulse train ······································· 11,19,20,54 READY ······················································7,15,40 Multiplication of 2-phase pulse····················· 45,56 REV+························································· 7,10,11 2-phase pulse train ································· 11,54,56 REV‐ ······················································· 7,10,11 A-B phase pulses with 90-degree difference····· 11 REV-LMT·········································8,14,40,51,55 A⋅A ······································································... - Page 86 ＡＣ servo drover ＨＡ−５２０ Series Regeneration brake on/off···························· 45,58 Ground wire cable ········································27,29 Regeneration unit connection terminal··········· 7,28 Location·····························································23 Rotary direction command ··························· 45,49 Operations·························································32 External regeneration unit connection terminal ··· 6 Transmit data·······················································9 External I/O connector ································ 5,7,30 Request to transmit ·············································9 Over-speed ··················································...
- Page 87 (2) disassembling, modification or repair by others than Harmonic Drive Systems, Inc. (3) imperfection caused by a non-applicable product. (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 88 〒399-8305 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／Hoenbergstraβe 14,65555 Limburg,Germany TEL06431-5008-0 FAX06431-5008-18 Harmonic Drive L.L.C／247 Lynnfield Street, Peabody, MA, 01960, U.S.A. TEL+1- 978-532-1800 FAX+1- 978-532-9406 ® "HarmonicDrive " is a trademark of Harmonic Drive Systems,Inc. №1406-2R-THA520-E ®...