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Harmonic Drive HS-360 Series Manual

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DC Servo Driver
HS-360 Series Technical Manual
● Thank you very much for your purchasing our HS-360 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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Summary of Contents for Harmonic Drive HS-360 Series

  • Page 1 DC Servo Driver HS-360 Series Technical Manual ● Thank you very much for your purchasing our HS-360 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 HS Series Safety guide for handling servomotors CAUTION ： Indicates a potentially hazardous Warning ： Indicates a potentially hazardous situation, which, if not avoided, may result in minor situation, which, if not avoided, could result in or moderate personal injury and/or damage to the death or serious personal injury.

  • Page 3: Table Of Contents

    DC servo driver HS-360 Series Contents Chapter 1 Outline of HS-360 driver······························································································ 1 Main features·················································································································· 1 Ordering information of HS-360 driver ·········································································· 2 Combination with actuator ····························································································· 2 Specification of HS-360 driver ······················································································· 3 External drawing of HS-360 driver ················································································ 4 Names and functions of front panel components ··························································...
  • Page 4 DC servo driver HS-360 Series 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 ···························································································· 29 Connecting the ground wire ························································································...
  • Page 5 DC servo driver HS-360 Series Chapter 8 Protective functions ··························································································· 59 Outline of protective functions ·············································································· 59 Details of protective functions··············································································· 60 Chapter 9 Troubleshooting procedure and action···························································· 67 No rotation of actuator ·························································································· 67 Unstable rotation of actuator················································································· 68 Poor positioning accuracy ····················································································...
  • Page 6 DC servo driver HS-360 Series Memo...

  • Page 7: Outline Of Hs-360 Driver

    Outline of HS-360 drivers Each HS-360 driver is available exclusively for an RH/RHS/RFS/LA/LAH Series actuator, consisting of ® a combined system of a small-sized precision control reduction gear Harmonic drive and small DC servomotor. HS-360 drivers have many features to exhibit fully the characteristics of each actuator.

  • Page 8: Ordering Information Of Hs-360 Driver

    The encoder resolution for the RH-5A and linear series will be, however, the line driver specification of 360P/R or 500P/R. Signal exchanges of the HS-360 series between the driver and encoder are only with a line driver. Use at the open collector is not feasible.

  • Page 9: Specification Of Hs-360 Driver

    Chapter 1 Outline of HS-360 driver 1-4 Specification of HS-360 drivers Model HS-360-1A HS-360-1B HS-360-1B HS-360-1D HS-360-3 Item Rated output current (rms) 1.0A 1.4A 3.2A Note 1 Maximum output current 1.0A 2.6A 3.7A 4.2A (rms) Note 2 Single-phase AC100V±10％ Operating current 50/60Hz Controlling PWM control (control element: IPM), switching frequency: 12.5kHz...

  • Page 10: External Drawing Of Hs-360 Driver

    Chapter 1 Outline of HS-360 driver 1-5 External drawing of the HA-360 drivers The external drawing is shown below: Unit:mm Heat ※Applicable to HS-360-3 sink ●External drawing of the DC reactor 15mH The following illustrations show the shape and dimensions of a DC reactor. ※A DC reactor of 15mH needs to be connected between the driver and actuator when the HS-360-1A is used.

  • Page 11: Names And Functions Of Front Panel Components

    Chapter 1 Outline of HS-360 driver Names and functions of front panel components ● Display panel component names LED display DATA key UP key MODE key DOWN key CN4 (unavailable) Charge voltage monitor CN3 EIA232C connector (RS-232C) TB1 power supply termin CN1: External I/O connector TB1 grounding terminal TB1 regeneration unit...
  • Page 12 Chapter 1 Outline of HS-360 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.

  • Page 13: Connector Pin Layout

    Chapter 2 Connector pin layout Chapter 2 Connector pin layouts 2-1 TB1 power supply terminal pin layout Pin No. Signal name Description １ Ｒ Pow er supply terminal ２ Ｔ AC 100V, 50/60Hz ３ Ｅ Grounding terminal ４ Ｐ Regen eratio n unit connection termi nal ５...

  • 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 Systems. 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 2-5 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 3-1 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 3-2 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 ◆...
  • Page 19 Chapter 3 Control input/output CN1-5 Servo on: ENABLE ◆ Functions (1) This signal turns on/off the driver circuit of the HS-360 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.

  • 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 3-4 Control output signals (CN1, CN2) 3-4-1 CN1 output signal connection and functions READY, ALARM, IN-POS, and Z-IZ 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. When a failure is detected, it goes off.

  • Page 23: 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-Vcc ◆ 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: MON-COM ◆...

  • Page 24: Encoder Input (Cn2)

    Chapter 3 Control input/output 3-5 Encoder input (CN2) ◆ Function Connect this with the DC servo actuator encoder. DC servo actuator Driver HS-360 1～4 PG-Vcc ＋5V 5～8 PG-0V － 220Ω － 220Ω － 220Ω Equivalent toAM26LS31 35,36 Equivalent to 26C32 Shielded ◆...

  • Page 25: External Connection Examples

    3-6 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. HS-360 シリーズ HS-360 Series FWD+ FWD command pulse 正転指令パルス信号入力 FWD- signal input 電源ﾄﾗﾝｽ...
  • 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. HS-360 Series HS-360 シリーズ FWD+ FWD- FWD command pulse Line filter Power transformer 電源ﾄﾗﾝｽ...

  • Page 27: Installing Driver

    Chapter 4 Installing driver Chapter 4 Installing driver 4-1 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.

  • Page 28: Notices On Handling Drivers

    Chapter 4 Installing driver (5) The driver input power supply voltage is shown in the "INPUT VOL." on the nameplate and at the top of the front panel of the driver. (Refer to Section 1-6, "Front panel".) Do not connect the driver to any power supply the voltage of which differs from the value specified on the nameplate.

  • Page 29: Location And Installation

    Chapter 4 Installing driver 4-3 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 HS-360 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. (2) Use twisted pair cables for encoder signal cables.

  • Page 33: Connecting Power Cables

    Chapter 4 Installing driver 4-5 Connecting power cables 4-5-1 Instructions for power supply Before connecting the power cable to the HS-360 driver, turn-off the electricity to avoid electric shock. Failure to observe this caution may result in electric shock or personal injury.

  • 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 HS-360 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: Protecting The Power Line

    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: Combination of actuator and driver HS-360-1A,1B,1C,1D HS-360-3...

  • Page 36: Connecting Cables For The Encoder And The I/O

    Chapter 4 Installing driver 4-8 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. (1) 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 4-9 Power on and off sequences Program the sequence on the high-level equipment to power on and off the HS-360 driver at the following timings: ● Power on/off sequences Power OFF⇒ON Release Output Alarm Min 0.5s Min.

  • 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? Warning...
  • 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.

  • Page 40: Usual Operation

    Chapter 5 Operations 5-2 Usual operation No particular operations are required because the HS-360 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 6-3 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. V-ON TOVR Description V-ON...

  • Page 44: Outline Of Parameter Setup Mode

    Chapter 6 Operating the display panel 6-4 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 6-5 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: Clearing The Torque Peak

    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.

  • Page 47: Jog Operation Mode

    Chapter 6 Operating the display panel 6-6 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...

  • Page 49: Displaying And Setting Data Of High- And Low-Order Digits

    Chapter 6 Operating the display panel 6-7 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 Ｐ００ Parameter Position error allowance 32767 ｄ００...

  • Page 50: Parameter Details

    Note 4: A change is not necessary when operated under normal operating conditions. If controllability is not improved by “Parameter Mode No.: 02 to 05,” controllability is sometimes enhanced by changing this parameter. Please consult Harmonic Drive Systems before making a change.

  • Page 51: Parameter Details

    Chapter 7 Parameter details 7-2 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 52: Position Loop Gain

    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 53: Speed Loop Integral Gain － 9999

    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 54: Acceleration Feed Forward Factor － 9999

    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 55: Electronic Gear - Numerator

    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. This is achieved by multiplying the position command value by a factor.

  • Page 56: Torque Step Correction － 9999

    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 57: Jog Feed Pulse Count Pulse

    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 DC 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 58: 2Nd Position Loop Gain

    This function does not operate if the value in “Parameter”→ “24: “2nd control switching range” is “0.” Be certain to consult the Harmonic Drive System sales office about a set value when a value other than “0” is set to enable this function.

  • Page 59: Control Input Filter Time Constant Ｍｓ

    Chapter 7 Parameter details 2nd control switching range ● Function This parameter is controlled by a gain set by “Parameter setting mode” → 21: “2nd position loop gain,” 22: “2nd speed lop proportional gain” and 23 “2nd speed loop integral gain” when the cumulative number of pulses in the deviation counter falls below the pulse number set here.

  • Page 60: Command Pulse Input Configuration

    Chapter 7 Parameter details Command pulse input configuration (After the setting is changed, the power must be turned on again.) ● Function Setting FWD Command REV Command Phase-A Phase-A This parameter specifies the pulse input configuration. 0: 2-phase pulse (90-degree phase difference) Phase-B Phase-B 1: 1-pulse...

  • Page 61: Input Pin Logic Setting(Bit) － 0(00H) 31(1Fh)

    Chapter 7 Parameter details Input pin logic setting(bit) (After the setting is changed, the power must be turned on again.) ● Function This parameter specifies the logic that enables the functionality of external input signals. Setting procedure: Using the table below (in decimal notation), sum up the desired values of the logics to be set. Then, convert the sum into a hexadecimal number (h).

  • Page 62: Clear Signal Function Selection

    Chapter 7 Parameter details JOG acceleration/deceleration time constant ● Function This parameter specifies the acceleration/deceleration time that is needed to reach 3,000r/min with the JOG motor shaft. ● Setting Unit Lower limit Upper limit Default 9999 CLEAR signal function selection ●...

  • Page 63: Jog Character-S Selection

    Chapter 7 Parameter details JOG operation character-S selection ● Function This parameter specifies that character S can be selected during JOG operation. 0: Character S off (linear acceleration/deceleration) 1: Character S on (character S acceleration/deceleration) ● Setting Unit Lower limit Upper limit Default －...

  • Page 64: Dynamic Break On/Off

    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.

  • 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 Systems. 1. During troubleshooting, do not perform wiring with power on. Before beginning wiring, be sure to power off the driver.

  • Page 66: Details Of Protective Functions

    (2) If the alarm occurs during operation: Cause 1: A device of the HS-360 driver control circuit malfunctioned. ⇒ Action: Contact a service department or a business office of Harmonic Drive Systems. (Replacing the HS-360 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 Systems. (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: HS-360 driver control circuit failure ⇒ Action: Contact a business office of Harmonic Drive Systems. (Replacing the HS-360 driver) (2) If the alarm occurs during operation (the operation can resume after a lapse...
  • Page 69 ⇒ Action: Configure the system so that the actuator cannot rotate when the driver is powered on. Cause 2: HS-360 driver control circuit failure ⇒ Action: Contact a business office of Harmonic Drive Systems. (Replacing the HS-360 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 Systems. (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: HS-360 driver circuit failure ⇒ Action: Contact a business office of Harmonic Drive Systems. (Replacing the HS-360 driver) (2) If the alarm occurs during operation: Cause 1: A device of the HS-360 driver control circuit malfunctioned.
  • Page 72 ⇒ Action: Check the encoder cables and their wiring. Cause 3: HS-360 driver control circuit failure ⇒ Action: Contact a business office of Harmonic Drive Systems. (Replacing the HS-360 driver) (2) If the alarm occurs when input of a rotation command causes high-speed...

  • 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 off 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? Is the actuator Unlock the actuator shaft locked? 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 the actuator speed below the revolution speed below maximum allowance? the allowance.

  • Page 76: Poor Positioning Accuracy

    Chapter Troubleshooting procedure and action Previous page Is the Is there anoise Securely shield and Encoder included in the ground the encoder signal encoder cable. normal? signal? Replace the actuator. Does rattle or Improve the resonance occur mechanical system. inthe mechanical system? Replace the actuator or driver.
  • Page 77 Chapter Troubleshooting procedure and action Previous page Does gain Is the Decrease the moment of adjustment moment of inertia inertia of the succeed? of the load. load proper? Does rattle or Correct the gain Improve the resonance occur properly. mechanical system. n the mechanical system? Replace the actuator...

  • Page 78: Index

    DＣ servo drover ＨS－３６０ 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····················· 44,56 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 79 DＣ servo drover ＨS－３６０ Series Acceleration feed forward factor ·················· 44,48 Speed feed forward factor ····························44,47 Model ····························································· 2,21 Speed loop integral gain·······························44,47 Over-current················································· 59,63 Speed loop derivative gain ···························44,47 Overheat ······················································ 59,62 Speed loop proportional gain························44,46 Overload ······················································ 59,60 2nd Position loop gain ··································44,53 Feedback pulses count ································...
  • Page 80 (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 81 〒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-THS360-E ®...

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