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HA-675-1-100
Harmonic Drive HA-675-1-100 Servo Driver Manuals
Manuals and User Guides for Harmonic Drive HA-675-1-100 Servo Driver. We have
1
Harmonic Drive HA-675-1-100 Servo Driver manual available for free PDF download: Manual
Harmonic Drive HA-675-1-100 Manual (188 pages)
AC Servo Driver
Brand:
Harmonic Drive
| Category:
Servo Drives
| Size: 2.73 MB
Table of Contents
Table of Contents
3
Chapter 1 Outlines of HA-675 Driver
7
Main Features
7
Models of HA-675 Driver
8
Combinations with Actuators
9
Specifications of HA-675 Driver
9
External Drawing of the HA-675 Drivers
10
Front Panel
11
Outlines of I/O Ports
12
Operating Display Panel
13
Outlines of Operation Modes
13
Selecting a Mode
13
Functions of each Mode
14
Teach-Box
14
Specifications of the Teach-Box
14
External Drawing of the Teach-Box
15
Main Blocks of the Teach-Box Panel
16
Operation Keys
17
Operation Modes
19
Outlines of Protection Functions
20
Alarms
20
Protection Functions
21
Functions
24
Control System of HA-675 Driver
24
Encoder System
25
Incremental Encoder INC
25
Absolute Encoder ABS
25
Tuning Servo Gains
26
Position Control Block and Position Loop Gain
26
Speed Control Block, Speed Loop Gain, and Speed Loop Integral Compensation
27
Motion Control Functions
28
Outlines of Teach-Box
28
Outlines of Programming
29
Other Functions
33
In-Position Range
33
Manual JOG Operation
33
Monitoring Inputs and Operating Outputs
33
Error Count Clear by S-ON
34
Speed Limit and Current Limit
34
Automatic Actuator Identification for HA-675-1 Driver
35
Automatic Gain Control at Positioning for HA-675-1 Driver
35
I/O Ports
36
I/O Port Layout
36
Models of I/O Port Connector CN2
36
Outputs
38
Monitor Outputs
38
I/O Port Functions
39
Connection Example
48
I/O Ports for Absolute Position Data ABS
50
General Descriptions of Absolute Encoder
50
Outputting Position Data from Output Port: CN2
51
Installing the HA-675 Driver
52
Receiving Inspection
52
Notices on Handling
53
Location and Installation
54
Environment of Location
54
Notices on Installation
54
Installing
55
Suppressing Noise
55
Devices for Grounding
55
Installing Noise Filter
56
Instructions for Cabling
57
Connecting Power Cables
58
Instructions for Power Supply
58
Allowable Size of Cables
58
Connecting the Power Cable
59
Insulation Transformer
59
Protecting Power Lines
60
Connecting a Ground Wire
60
Connecting Motor and Regeneration Resistor Cables
60
Connecting the Encoder and the I/O Cables
61
Preparing the Encoder Cable and the I/O Cable
61
Pin Layouts of Encoder Connector (CN1)
61
Pin Layouts of the I/O Signal Connector (CN2)
62
Connecting the Encoder and the I/O Signal Cables
62
Recommendation of EIA-232C (RS-232C) Cable for CN3
62
Power on and off Sequences
63
Power on / off Sequence Circuit
63
Frequency of Power on / off Operation
63
Power on Sequence
63
Power off Sequence
64
Operations
65
Trial Run
65
Driving Actuator Only
65
Setting Parameters
74
Tuning Servo Parameters
76
Operations of Teach-Box
78
Setting Parameter Data
79
End of Trial Run
82
Normal Operation
83
Notices for Normal Operations
83
Daily Maintenance
83
Operation of the Display Panel
84
Summary of Modes
84
Selecting a Mode
84
Functions of each Mode
85
Monitor Mode
86
Operation in the Monitor Mode
86
Functions of the Monitor Mode
87
Tune Mode
95
Operation in the Tune Mode
95
Functions of Tune Mode
97
Parameter Mode
102
Operation in the Parameter Mode
102
Functions of Parameter Mode
104
Test Mode
113
Operation in the Test Mode
113
Functions of Test Mode
115
Defaults of Parameters
120
Parameters after Automatic Setting of the HA-675-1 Driver
123
Operations of the Teach-Box
124
Outlines of the Teach-Box
124
Attaching and Detaching the Teach-Box
124
Operation Keys
125
Outlines of Indications
127
Operations of Teach-Box
128
Common Operations
128
Operations for Absolute System ABS
130
Turing Servo Power on and off
131
Operation Modes
132
Program Mode
133
Setting the Program Mode
133
Specifying an Address
134
Arranging Address Numbers
134
Conditions in Programming
135
Programming of Commands
136
Examples of Program
137
Fine Adjustment of Positions
139
Functions of Program Mode
140
Test Mode
148
Servo-ON
148
Originating
148
Operation in the Test Mode
149
JOG Operations
150
Parameter Mode
151
Operation in the Parameter Mode
151
Commands in Parameter Mode
152
Troubleshooting
160
Alarms and Diagnostic Tips
160
Troubleshooting for Improper Actuator Motion
174
No Rotation
174
Unstable Rotation
175
Poor Positioning Accuracy
177
Exchanging Batteries ABS
178
Duration of Keeping a Revolution Count
178
Exchanging Procedures
178
Options
179
Extension Cables
179
Connectors
179
Software for Setting up Parameters
180
Software for Creating Operating Data
180
Backup Battery for Absolute Encoders ABS
180
Insulation Transformer (Single-Phase)
181
Index
184
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