Harmonic Drive HA-675 Series Actuator Manuals

Harmonic Drive HA-675 Series Actuator Manuals

Manuals and User Guides for Harmonic Drive HA-675 Series Actuator. We have 1 Harmonic Drive HA-675 Series Actuator manual available for free PDF download: Manual

Harmonic Drive HA-675 Series Manual

Harmonic Drive HA-675 Series 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
- 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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