User Manuals: HarmonicDrive H A - 800A Servo Drives

User Manuals: HarmonicDrive H A - 800A Servo Drives

Manuals and User Guides for HarmonicDrive H A - 800A Servo Drives. We have 1 HarmonicDrive H A - 800A Servo Drives manual available for free PDF download: Manual

HarmonicDrive H A - 800A Manual

HarmonicDrive H A - 800A Manual (314 pages)

HA-800A series AC Servo Driver

Brand: HarmonicDrive | Category: Servo Drives | Size: 10 MB

Table of Contents

Safety Guide
3
- Limitation of Applications
  3
- Safety Note
  4
Structure of this Document
7
Table of Contents
8
Table of Contents
9
Related Manual
14
Related Actuator/Driver Standards
15
- Compatible Standards
  16
- Conformance to European EC Directives
  17
Chapter 1 Functions and Configuration

22
- Overview of Drivers
  22
  - Overview of Functions
    22
- Function Block Diagram
  23
- Device Configuration Diagram
  24
- Driver Model
  26
- Actuator and Extension Cable Combinations
  27
- Driver Ratings and Specifications
  28
- Function List
  32
- External Drawing
  34
- Name and Function of each Part of a Display Panel
  36
Chapter 2 Installation/Wiring

40
- Receiving Inspection
  40
  - Check Procedure
    40
- Installation Location and Installation
  41
  - Installation Environment
    41
  - Notices on Installation
    41
  - Installation Procedure
    42
- Connecting Power Cables
  44
  - Allowable Cable Sizes
    44
  - Connecting Power Cables
    45
  - Protecting Power Lines
    47
  - Connecting a Ground Wire
    47
  - Power on and off Sequences
    48
- Suppressing Noise
  53
  - Grounding
    53
  - Installing Noise Filters
    54
- Wiring the Driver and Motor
  56
  - Connecting the Motor
    56
  - Connecting the Encoder
    57
- Wiring the Host Device
  58
  - Connecting the Host Device
    58
  - Connecting the Personal Computer (PSF-800)
    59
Chapter 3 Startup

62
Chapter 4 Encoder System

88
- Overview of Encoders
  88
- 17-Bit Absolute Encoder
  91
  - Features
    91
  - Startup
    93
  - Origin Setting
    95
  - Data Output
    96
  - Remedial Actions for Errors/Warnings
    100
- 13-Bit Absolute Encoder
  102
  - Features
    102
  - Startup
    104
  - Origin Setting
    105
  - Data Output
    106
  - Remedial Actions for Errors/Warnings
    110
  - Incremental Encoder
    112
    
    Startup
    114
    
    Remedial Action for Error
    116
Chapter 5 I/O Signals

118
- I/O Signal List
  118
  - Pin Numbers and Names of I/O Signals
    118
  - Models of I/O Signal Connector CN2
    119
- Input Signals: System Parameter SP00 to SP16
  120
  - Input Signal Connection Circuit
    121
  - Input Signal List
    123
  - List of Parameter Set Values
    124
- Details of Input Signals
  126
- Inputs in each Control Mode
  133
  - Position Command Mode
    133
  - Speed Command Mode
    137
  - Torque Command Mode
    138
- Output Signals: System Parameter SP20 to SP26
  140
  - Output Signal Connection Circuit
    141
  - Output Signal List
    142
- Details of Output Signals
  143
- Monitor Output
  145
  - Encoder Output
    145
  - Current Value Data Output
    145
  - Analog Waveform Monitoring
    146
  - Digital Signal Monitor
    147
- Connection Example in Control Mode
  148
Chapter 6 Panel Display and Operation

153
- Operating Display Panel
  154
  - Overview of Modes
    154
  - Initial Panel Display
    155
  - Panel Display Hierarchy
    156
  - Operation Outline of Status Display Mode
    157
  - Operation Outline of Alarm Mode
    158
  - Operation Outline of Tune Mode
    159
  - Operation Outline of System Parameter Mode
    161
  - Operation Outline of Test Mode
    165
Chapter 7 Status Display Mode/Alarm Mode/Tune Mode

168
- Status Display Mode
  168
  - Status Display Mode List
    168
- Details of Status Display Mode
  170
  - D01, 02: Error Pulse Count Display
    170
  - D04: Overload Rate Display
    171
  - D05, 06: Feedback Pulse Display
    172
  - D07, 08: Command Pulse Display
    172
  - D11: Speed Command Voltage
    173
  - D12: Torque Command Voltage
    173
  - D13: Applicable Actuator Code
    174
  - D16: Regenerative Power (HA-800-24 Only)
    175
- Alarm Mode
  176
  - Alarm Display
    176
- Alarm List
  177
  - AL: Present Alarm/Warning Display
    177
  - Ahclr: Alarm History Clear
    178
- Tune Mode
  179
- Details of Tune Mode
  180
  - AJ00: Position Loop Gain
    180
  - AJ01: Speed Loop Gain
    180
  - AJ02: Speed Loop Integral Compensation
    181
  - AJ03: Feed-Forward Gain
    181
  - AJ04: In-Position Range
    181
  - AJ05: Attained Speed Judgment Value
    182
  - AJ06: Attained Torque Judgment Value
    182
  - AJ07: Zero Speed Judgment Value
    182
  - AJ08 to 10: Internal Speed Command 1 to 3
    183
  - AJ11: Torque Limit
    183
  - AJ12: Acceleration Time Constant
    184
  - AJ13: Deceleration Time Constant
    184
  - AJ14: External Speed Command Offset
    185
  - AJ15: External Torque Command Offset
    185
  - AJ16: Speed Monitor Offset
    185
  - AJ17: Current Monitor Offset
    185
  - AJ20: Feed-Forward Filter
    186
  - AJ21: Load Inertia Moment Ratio
    186
  - AJ22: Torque Constant Compensation Factor
    186
  - AJ23: Spring Constant Compensation Factor
    187
  - AJ24: Positioning Automatic Gain
    187
Chapter 8 System Parameter Mode

189
- System Parameter Mode
  190
- Function Extension Parameter
  192
Chapter 9 Test Mode

207
- Test Mode
  207
- Details of Test Mode
  209
  - T00: I/O Signal Monitor
    209
  - T01: Output Signal Operation
    210
  - T02: JOG Speed Setting
    211
  - T03: JOG Acceleration/Deceleration Time Constant Setting
    212
  - T04: JOG Operation
    213
  - T05: Parameter Initialization
    214
  - T06: Automatic Adjustment of Speed Command Offset
    215
  - T07: Automatic Adjustment of Torque Command Offset
    216
  - T08: Multi Revolution Clear
    217
  - T09: Auto-Tuning
    218
  - T10: Auto-Tuning Displacement
    220
  - T11: Auto-Tuning Level Selection
    221
Chapter 10 Communication Software

224
- Overview
  224
  - Setup
    224
  - Initial Screen
    227
  - Status Display
    230
- Auto-Tuning
  232
- Parameter Setting
  234
- Assigning I/O Signals
  236
- Saving and Reading Set Values
  239
- Test Operation
  245
- Output Signal Operation
  247
- IO Monitor
  248
- Waveform Monitoring
  249
- Alarms
  252
Chapter 11 Troubleshooting

253
- Alarms and Remedial Actions
  254
  - Remedial Action for Alarm
    255
- Warnings and Remedial Actions
  267
  - Warning List
    267
  - Remedial Action for Warning
    268
Chapter 12 Option

271
- Extension Cables
  272
- Option
  272
  - Dedicated Communication Cable
    273
  - Connectors
    273
  - Servo Parameter Setting Software
    274
  - Backup Battery
    275
  - Monitor Cable
    275
Appendix A-1 Default Settings

278
- Regenerative Resistor
  284
  - External Regenerative Resistor
    285
  - Allowable Load Inertia
    291
- List of Data Retained in the Driver
  297
- Driver Replacement Procedures
  300
- Notices for Using SHA-CG(-S
  302
- Control Block Diagram
  308
  - Position Control Mode
    308
  - A-6 Control Block Diagram
    308
  - Speed Control Mode
    309
  - Torque Control Mode
    309

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