100V/200V power supply AC Servo Driver HA- 800A series m anual

Transcription

1 00V/00V power supply AC Servo Driver HA- 00A series m anual (for SHA, FHA-Cmini, FHA-C, RSF/RKF, HMA series) ISO00 This operation manual covers the following software versions: Ver.x ISO00

2 Introduction Thank you very much for your purchasing our HA-00A series servo driver. Wrong handling or use of this product may result in unexpected accidents or shorter life of the product. Read this document carefully and use the product correctly so that the product can be used safely for many years. 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. The end user of the driver should have a copy of this manual. * When using this product together with a HMA series AC servo motor, replace "actuator" with "motor" when reading this manual. Also, the value of the "reduction ratio" would be "".

3 - SAFETY GUIDE To use this driver safely and correctly, be sure to read SAFETY GUIDE and other parts of this document carefully and fully understand the information provided herein before using the driver. NOTATION Important safety information you must note is provided herein. Be sure to observe these instructions. Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious personal injury. WARNING Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate personal injury and/or damage to the equipment. CAUTION Indicates what should be performed or avoided to prevent non-operation or malfunction of the product or negative effects on its performance or function. LIMITATION OF APPLICATIONS The equipment listed in this document may not be used for the applications listed below: Space equipment Aircraft, aeronautic equipment Nuclear equipment Household apparatus Vacuum equipment Automobile, automotive parts Amusement equipment, sport equipment, game machines Machine or devices acting directly on the human body Instruments or devices to transport or carry people Apparatus or devices used in special environments If the above list includes your intending application for our products, please consult us. CAUTION Safety measures are essential to prevent accidents resulting in death, injury or damage of the equipment due to malfunction or faulty operation.

4 SAFETY GUIDE SAFETY NOTE CAUTIONS FOR ACTUATORS AT APPLICATION DESIGNING CAUTION Always use under followings conditions: The actuator is designed to be used indoors. Observe the following conditions: Ambient temperature: 0 to 0 Ambient humidity: 0% to 0%RH (Non-condensation) Vibration: Max. m/s No contamination by water, oil No corrosive or explosive gas Follow exactly the instructions in the relating manuals to install the actuator in the equipment. Ensure exact alignment of motor shaft center and corresponding center in the application. Failure to observe this caution may lead to vibration, resulting in damage of output elements. CAUTION FOR ACTUATORS IN OPERATIONS WARNING Never connect cables directly to a power supply socket. Each actuator must be operated with a proper driver. Failure to observe this caution may lead to injury, fire or damage of the actuator. Do not apply impacts and shocks. Do not use a hammer during installation. Failure to observe this caution could damage the encoder and may cause uncontrollable operation. Avoid handling of actuators by cables. Failure to observe this caution may damage the wiring, causing uncontrollable or faulty operation. CAUTION Keep limited torques of the actuator. Keep limited torques of the actuator. Be aware, that if arms attached to output element hits by accident an solid, the output element may be uncontrollable.

5 - SAFETY GUIDE ITEMS YOU SHOULD NOTE WHEN USING THE DRIVER NOTICES ON DESIGN CAUTION Always use drivers under followings conditions: Mount in a vertical position keeping sufficient distance to other devices to let heat generated by the driver radiate freely. 0 to 0, % RH or below (Non condensation) No vibration or physical shock No corrosive, inflammable or explosive gas Use sufficient noise suppressing means and safe grounding. Any noise generated on a signal wire will cause vibration or improper motion. Be sure to observe the following conditions. Keep signal and power leads separated. Keep leads as short as possible. Ground actuator and driver at one single point, minimum ground resistance class: D (less than 00 ohms) Do not use a power line filter in the motor circuit. Pay attention to negative torque by inverse load. Inverse load may cause damages of drivers. Please consult our sales office, if you intent to apply products for inverse load. Use a fast-response type ground-fault detector designed for PWM inverters. Do not use a time-delay-type ground-fault detector. Safety measures are essential to prevent accidents resulting in death, injury or damage of the equipment due to malfunction or faulty operation. CAUTION FOR DRIVERS IN OPERATIONS WARNING Never change wiring while power is active. Make sure of power non-active before servicing the products. Failure to observe this caution may result in electric shock or personal injury. Do not touch terminals or inspect products at least minutes after turning OFF power. Otherwise residual electric charges may result in electric shock. In order to prevent electric shock, perform inspections minutes after the power supply is turned OFF and confirming the CHARGE lamp is turned OFF. Make installation of products not easy to touch their inner electric components.

6 SAFETY GUIDE CAUTION Do not make a voltage resistance test. Failure to observe this caution may result in damage of the control unit. Please consult our sales office, if you intent to make a voltage resistance test. Do not operate control units by means of power ON/OFF switching. Start/stop operation should be performed via input signals. Failure to observe this caution may result in deterioration of electronic parts. DISPOSAL OF AN ACTUATOR, A MOTOR, A CONTROL UNIT AND/OR THEIR PARTS CAUTION All products or parts have to be disposed of as industrial waste. Since the case or the box of drivers have a material indication, classify parts and dispose them separately.

7 - Structure of this document Chapter Functions configuration and Overviews of driver models, specifications, external dimensions, etc., are explained. Chapter Chapter Chapter Installation/wiring Startup Encoder system Receiving inspection, environment, power wiring, noise suppression and connector wiring are explained. Startup procedures to be followed when the driver is used for the first time, from receiving inspection to operation of the actual system, are explained. The encoder configuration is different depending on the actuator model. Details of each actuator are explained. Chapter I/O signals Details of I/O signal conditions and signal functions are explained. Chapter Chapter Panel display and operation Status display mode/ Alarm mode/ Tune mode How to operate the display, operation buttons on the driver's front panel and overview of operation in each mode is explained. Explanation of information displayed in the status display mode and alarm mode. Operations and details of servo loop gains, various judgment criteria and acceleration/deceleration time setting during speed control performed in the tune mode are explained. Chapter System mode parameter Details of how to assign I/O signals and set their logics, as well as extended functions such as control mode selection, pulse input system selection and electronic gear setting, etc., are explained. Chapter Chapter 0 Test mode Communication software (PSF-00) Details of how to check the system operation by auto-tuning via jogging, monitoring of I/O signals and simulated operation of output signals are explained. How you can use the dedicated personal computer software to check I/O signal statuses, rotation speeds and other servo statuses, perform auto-tuning, set parameters, assign I/O signals and monitor servo operation waveforms are explained. Chapter Troubleshooting Details of how driver alarms and warnings generate are explained. Chapter Option Appendix Options you can purchase as necessary are explained. The list of default parameters and regenerative resistors are explained.

8 - Table of contents SAFETY GUIDE... NOTATION... LIMITATION OF APPLICATIONS... SAFETY NOTE... Structure of this document... Table of contents... Related manual... Related actuator/driver standards... Compatible standards... Conformance to European EC Directives... Chapter Functions and configuration - Overview of drivers... - Overview of functions Function block diagram Device configuration diagram Driver model... - Driver model... - Option Actuator and extension cable combinations Driver ratings and specifications Function list External drawing Name and function of each part of a display panel... - Chapter Installation/wiring - Receiving inspection... - Check procedure Installation location and installation... - Installation environment... - Notices on installation... - Installation procedure Connecting power cables... - Allowable cable sizes... - Connecting power cables... - Protecting power lines... - Connecting a ground wire... - Power ON and OFF sequences... -0

9 Table of contents - Suppressing noise... - Grounding... - Installing noise filters Wiring the driver and motor... - Connecting the motor... - Connecting the encoder Wiring the host device... - Connecting the host device... - Connecting the personal computer (PSF-00)... - Chapter Startup - Startup procedures... - Startup procedures Turning ON the power for the first time... - Details on control power supply ON... - Troubleshooting upon power ON Operation check with the actuator alone... - Troubleshooting at operation check Operation check with the actual system... - Troubleshooting at actual operation check Manual gain adjustment method... - Position control... - Speed control... - Applied servo gain adjustment function Normal operation... - Notices for normal operations... - Daily maintenance/inspection... - Periodically replaced parts... - Backup battery... - How to replace the backup battery... - Chapter Encoder system - Overview of encoders bit absolute encoder... - Features... - Startup... - Origin setting... - Data output... - Remedial actions for errors/warnings bit absolute encoder... - Features... - Startup... - Origin setting... - Data output... - Remedial actions for errors/warnings... -

10 Table of contents - Incremental encoder... - Startup... - Data output... - Remedial action for error... - Chapter I/O signals - I/O signal list... - Pin numbers and names of I/O signals... - Models of I/O signal connector CN Input signals: System parameter SP00 to SP... - Input signal connection circuit... - Input signal list... - List of parameter set values Details of input signals Inputs in each control mode... - Position command mode... - Speed command mode Torque command mode Output signals: System parameter SP0 to SP... - Output signal connection circuit... - Output signal list Details of output signals Monitor output... - Encoder output... - Current value data output... - Analog waveform monitoring... - Digital signal monitor Connection example in control mode... - Connection example with default settings... - Connection example in position control mode... - Connection example in speed control mode... - Connection example in torque control mode... - Chapter Panel display and operation - Operating display panel... - Overview of modes... - Initial panel display... - Panel display hierarchy... - Operation outline of status display mode... - Operation outline of alarm mode... - Operation outline of tune mode... - Operation outline of system parameter mode... - Operation outline of test mode... -

11 Table of contents Chapter Status display mode/alarm mode/tune mode - Status display mode... - Status display mode list Details of status display mode... - d0, 0: Error pulse count display... - d0: Overload rate display... - d0, 0: Feedback pulse display... - d0, 0: Command pulse display... - d: Speed command voltage... - d: Torque command voltage... - d: Applicable actuator code... - d: Regenerative power (HA-00- only) Alarm mode... - Alarm display Alarm list AL: Present alarm/warning display AHcLr: Alarm history clear Tune mode Details of tune mode... - AJ00: Position loop gain... - AJ0: Speed loop gain... - AJ0: Speed loop integral compensation... - AJ0: Feed-forward gain... - AJ0: In-position range... - AJ0: Attained speed judgment value... - AJ0: Attained torque judgment value... - AJ0: Zero speed judgment value... - AJ0 to 0: Internal speed command to... - AJ: Torque limit... - AJ: Acceleration time constant... - AJ: Deceleration time constant... - AJ: External speed command offset... - AJ: External torque command offset... - AJ: Speed monitor offset... - AJ: Current monitor offset... - AJ0: Feed-forward filter... - AJ: Load inertia moment ratio... - AJ: Torque constant compensation factor... - AJ: Spring constant compensation factor AJ: Positioning Automatic Gain Chapter System parameter mode - System parameter mode Function extension parameter... - SP0: CN-CP output signal setting... - SP: Control mode switching setting... - SP: Command pulse input pattern setting... -

12 Table of contents 0 SP: Multiplication of -phase input setting... - SP to : Electronic gear setting... - SP: Deviation clear upon servo-on setting... - SP: Allowable position deviation... - SP0: Command polarity... - SP: Speed input factor setting... - SP: Zero clamp... - SP: Torque input factor setting... - SP: Status display setting SP: DB enable/disable setting SP: External speed limit enable/disable SP: External torque limit enable/disable SP: Angle compensation enable/disable setting... - SP0: Automatic positioning gain setting enable/disable setting... - SP: Encoder monitor output pulses... - SP: Regenerative resistor selection (HA-00- only)... - SP: FWD/REV inhibit operation... - SP: Absolute encoder function setting... - SP: Output shaft divide function setting... - SP: Feed-forward control function setting... - Chapter Test mode - Test mode Details of test mode... - T00: I/O signal monitor... - T0: Output signal operation... - T0: JOG speed setting... - T0: JOG acceleration/deceleration time constant setting... - T0: JOG operation... - T0: Parameter initialization... - T0: Automatic adjustment of speed command offset... - T0: Automatic adjustment of torque command offset... - T0: Multi revolution clear T0: Auto-tuning... - T0: Auto-tuning displacement... - T: Auto-tuning level selection... - Chapter 0 Communication software 0- Overview Setup Initial screen Status display Auto-tuning Parameter setting Editing and initializing internal parameters of the driver Assigning I/O signals Saving and reading set values Saving set parameter values Reading saved set value files... 0-

13 Table of contents 0--. Comparing a saved settings file with internal set values of the driver Writing a saved settings file to the driver Test operation Output signal operation IO monitor Waveform monitoring Alarms Chapter Troubleshooting - Alarms and remedial actions... - Alarm list... - Remedial action for alarm Warnings and remedial actions... - Warning list... - Remedial action for warning... - Chapter Option - Option... - Extension cables... - Dedicated communication cable... - Connectors... - Servo parameter setting software... - Backup battery... - Monitor cable... - Appendix A- Default settings... A- A- Regenerative resistor... A- Built-in driver regenerative resistor and regenerative power... A- External regenerative resistor... A- Allowable load inertia... A- A- List of data retained in the driver... A- A- Driver replacement procedures... A- A- Notices for using SHA-CG(-S)... A- A- Control block diagram... A- Position control mode... A- Speed control mode... A- Torque control mode... A-

14 - Related manual The table below lists related manual. Check each item as necessary. Title AC Servo Actuator SHA series manual Description The specifications and characteristics of SHA-0A to SHA-A actuators are explained. AC Servo Actuator FHA-C series manual The specifications and characteristics of FHA-C to FHA-0C actuators are explained. AC Servo Actuator FHA-Cmini series manual The specifications and characteristics of FHA-Cmini to FHA-Cmini actuators are explained. AC Servo Actuator RSF/RKF series manual The specifications and characteristics of RSF- to RSF- and RKF-0 to RKF- actuators are explained. AC Servo Motor HMA series manual The specifications and characteristics of HMAC0 to HMAAA motors are explained.

15 - Related actuator/driver standards Function HA-00*- HA-00*- HA-00*- HA-00*- Overseas standard Rated current (A). Maximum current (A) General-purpose I/O MECHATROLINK CC-Link UL/cUL CE TUV.0. HA-00A HA-00B HA-00C Applicable actuator Voltage UL/c UL CE FHA-C-xx-E00 00 Encoder type -C-00 FHA-C-xx-E C-00 FHA-C-xx-E C-00 Wire-saving FHA-C-xx-E0 00 -C-00 incremental FHA-C-xx-E0 00 -C-00 FHA-C-xx-E0 00 -C-00 FHA-0C-xx-E0 00 -C-00 FHA-C-xx-Sb 00 -D/E-00 FHA-C-xx-Sb 00 -bit absolute -D/E-00 FHA-C-xx-Sb 00 -D/E-00 FHA-C-xx-S 00 -A-00 FHA-C-xx-S 00 -A-00 -bit absolute FHA-C-xx-S 00 -A-00 FHA-0C-xx-S 00 -A-00 FHA-C-xx-E C-00 FHA-C-xx-E C-00 FHA-C-xx-E00 00 Wire-saving -C-00 FHA-C-xx-E0 00 incremental -C-00 FHA-C-xx-E0 00 -C-00 FHA-C-xx-E0 00 -C-00 FHA-C-xx-Sb 00 -D/E-00 FHA-C-xx-Sb 00 -bit absolute -D/E-00 FHA-C-xx-Sb 00 -D/E-00 FHA-C-xx-S 00 -A-00 FHA-C-xx-S 00 -bit absolute -A-00 FHA-C-xx-S 00 -A-00

16 Related actuator/driver standards Function HA-00*- HA-00*- HA-00*- HA-00*- Overseas standard Rated current (A). Maximum current (A) General-purpose I/O MECHATROLINK CC-Link UL/cUL CE TUV.0. HA-00A HA-00B HA-00C Applicable actuator Voltage UL/c UL CE Encoder type SHA0Axxxx-C0x00-xxSbA 00 SHAAxxxx-B0x00-xxSbA 00 SHAAxxxx-Bx00-xxSbA 00 SHA0Axxxx-Bx00-xxSbA 00 SHAAxxxx-Ax00-xxSbA 00 SHAAxxxx-Ax00-xxSbA 00 SHAAxxxx-B0x00-xxSbA 00 HMAC0x00-0SbA 00 HMAB0x00-0SbA 00 HMABx00-0SbA 00 HMABx00-0SbA 00 HMAAAx00-0SbA 00 HMAB0x00-0SbA 00 -bit absolute -bit absolute -D/E -00 -D/E -00 -D/E -00 -D/E -00 -D/E -00 -D/E -00 -D/E -00 -D/E -00 -D/E -00 -D/E -00 -D/E -00 -D/E -00 -D/E -00 -D/E -00 Compatible standards Motor & Actuator UL 00- (Rotating Electrical Machines - General Requirements) UL 00- (Servo and Stepper Motors) CSA-C. No. 00 (Motors and Generators) (UL File No. E) EN00- (Low Voltage Directive) * The compatible Motor and Actuator standards vary depending on the model. For details, refer to the individual catalogue.

17 Related actuator/driver standards Driver <HA-00A-*, HA-00A-*, HA-00A-*, HA-00A-*> UL 0C (Power Conversion Equipment) CSA-C. No. (Industrial Control Equipment) (UL File No. E) EN00-- (Low Voltage Directive) EN00- (EMC Directive)

18 Related actuator/driver standards Conformance to European EC Directives We conduct the Low Voltage Directive and EMC Directive conformance check test related to CE marking for the HA-00 series drivers at the third party authentication agency in order to ease CE marking by customer's device. Precautions on conformance to EMC Directives We fabricated a model that embeds AC Servo Driver and AC Servo Actuator or Motor in a control board for our AC servo system and use the model to comply with standards related to EMC Directives. Designed for EMC product standard EN00- commercial, light industrial, and industrial environments (class environments); conforms with category C limit values. In your actual use, using conditions, cable length and other conditions related to wiring may be different from the model. For these reasons, it is necessary that the final equipment or devices incorporating AC Servo Driver and AC Servo Actuator comply with EMC Directives. We introduce peripheral devices used in our model such as noise filter to make it easy for you to comply with EMC Directives when incorporating and using this product. Standard related to EMC Directives Motor/driver EN0: 00/A:00(Group Class A) EN00-: 00/A:0(Category C, nd environment) IEC000--: Electrostatic discharge immunity IEC000--: Radio frequency field immunity IEC000--: Electrical fast transient/burst immunity IEC000--: Surge immunity IEC000--: Immunity to conducted disturbances, induced by radio-frequency IEC000--: Voltage dip and voltage variations immunity IEC000--: Low frequency conducted disturbance IEC0--: Commutation notch immunity (Class B) Configuration of peripheral devices Installation environment (conditions): Please observe the following installation environment in order to use this product safely. ) Overvoltage category: III ) Pollution degree: Model configuration diagram Control board Circuit breaker Noise filter HA-00 series driver ) ) Actuator, motor Surge protector ) Host controller DCV power supply : Toroidal core : Ferrite core : Metal clamp

19 Related actuator/driver standards ) Encoder cable ) Motor cable (motor power and holding brake) ) Interface cable () Input power supply 00V input type Main circuit power: phase/single phase, 00 to 0V (+0%, -%), 0/0Hz Control power supply: Single phase, 00 to 0V (+0%, -%), 0/0Hz 00V input type Main circuit power: Single phase, 00 to V (+0%, -%), 0/0Hz Control power supply: Single phase, 00 to V (+0%, -%), 0/0Hz () Circuit breaker Use a circuit breaker complying with IEC standard and UL standard (UL Listed) for the power input area. () Noise filter Use a noise filter complying with EN0 Group Class A. (For details, refer to the next page.) () Toroidal core Install toroidal core in the power input area. Depending on the noise filter, -turn input to L, L, L, and ground or -turn input to L, L, and L, not including ground, may be valid. (For details, refer to the next page.) () Motor cable, encoder cable Use shield cables for the motor cable and encoder cable. Clamp ground the shield of the motor cable and encoder cable near the driver and motor. If you use FHA-C/C/C or RSF-B/B/B, insert the ferrite core into the motor cable and encoder cable (near the motor). () Interface cable If you use the HA-00C driver, use ferrite core for the interface cable. () Surge protector Install the surge absorber in the AC power input area. Remove the surge absorber when you perform voltage resistance test of AC/DC machine/system with built-in surge absorber. (The surge absorber may be damaged.) () Ground In order to prevent electric shock, make sure to connect the ground wire of the control board (control cabinet) to the ground terminal of the AC Servo Driver. Moreover, do not tighten the connection to the ground terminal together. of the AC Servo Driver

20 Related actuator/driver standards Recommended parts for compliance with EMC () Noise filter Model Specifications Manufacturer Remarks RF00-DLC Rated voltage: Line-Line 0 to 0V Rated current: 0 A RASMI ELECTRONICS LTD. Rated voltage: Line-Line 0 RF00-DLC to 0V RASMI ELECTRONICS LTD. Rated current: 0 A RF00-DLC HF00A-UN HF00A-UN HF00A-UN HF00C-SZC HF00C-SZC HF00C-SZC SUP-PH-EPR SUP-P0H-EPR SUP-HH-ER- SUP-H0-ER- Rated voltage: Line-Line 0 to 0V Rated current: 0 A Rated voltage: AC0V Rated current: 0A Rated voltage: AC0V Rated current: 0A Rated voltage: AC0V Rated current: 0A Rated voltage: AC00V Rated current: 0A Rated voltage: AC00V Rated current: 0A Rated voltage: AC00V Rated current: 0A Rated voltage: AC0V Rated current: A Rated voltage: AC0V Rated current: 0A Rated voltage: AC0V Rated current: A Rated voltage: AC0V Rated current: 0A RASMI ELECTRONICS LTD. Soshin Electric Co., Ltd. Soshin Electric Co., Ltd. Soshin Electric Co., Ltd. Soshin Electric Co., Ltd. Soshin Electric Co., Ltd. Soshin Electric Co., Ltd. Okaya Electric Industries Co., Ltd. Okaya Electric Industries Co., Ltd. Okaya Electric Industries Co., Ltd. Okaya Electric Industries Co., Ltd. Enable the -turn input to L, L, L, and ground for toroidal core. Enable -turn input to L, L, and L, not including ground for toroidal core. Enable the -turn input to L, L, L, and ground for toroidal core. Moreover, install insulation transformer and ferrite core at the power input area. Refer to () and (). () Toroidal core Model Outer diameter Inner diameter Manufacturer MA00R-//A mm mm JFE Ferrite Corporation LRF0MK mm mm Nippon Chemi-Con Corporation () Ferrite core Model ZCAT0-0 ZCAT0-00 ZCAT-0 () Surge protector Model RAV-BXZ- RAV-BWZ- LT-CG0WS LT-CG0WS Manufacturer TDK Corporation TDK Corporation TDK Corporation Manufacturer Okaya Electric Industries Co., Ltd. Okaya Electric Industries Co., Ltd. Soshin Electric Co., Ltd. Soshin Electric Co., Ltd.

21 Related actuator/driver standards () Insulation transformer The use of the insulation transformer is recommended in the place thought that the noise environment is severe though HA-00 series have an enough noise tolerance though it doesn't use the insulation transformer. Driver Model No. of phase Power capacity (kva) HA-00A-* FHA-,C 0. FHA-C 0. FHA-C RSF- 0. HA-00A-* SHA0 SHA FHA-C RSF-0, RKF-0, HMAC0 HMAB0 MAC0 MAB0 0. SHA 0. HA-00A-* SHA FHA-C RSF- RKF- HMAB MAB. SHA0 FHA-0C MAB. SHA0 HMAB MAB. HA-00A-* SHA SHA. HMAAA MAA.

22 Related actuator/driver standards 0

23 - Chapter Functions and configuration Outlines of driver models, specifications, external dimensions, etc., are explained in this chapter. - Overview of drivers - - Function block diagram - - Device configuration diagram - - Driver model - - Actuator and extension cable combinations - - Driver ratings and specifications - - Function list - - External drawing - - Name and function of each part of a display panel -

24 - Overview of drivers Functions and configuration 0 ppe - Overview of drivers The HA-00A driver series are dedicated servo drivers for SHA series, FHA-C series, RSF series, AC Servo Motor HMA series and other actuators which are ultra-thin and feature a hollow shaft structure. These actuators utilize speed reducer HarmonicDrive for precision control and AC servo motors. The HA-00A drivers provide many superior functions to allow various actuators to excel in performance. Overview of functions Shorter positioning stabilization time using an original control logic (compared to HA-) By utilizing the characteristics of HarmonicDrive in the control logic, positioning overshoot and undershoot are suppressed and the positioning stabilization time is reduced significantly. Adopting an I/O signal function assignment method Desired functions can be selected from a wide range of functions and assigned to I/O signals according to specific applications. Also, multiple functions can be assigned to a single input terminal for an input signal, which adds to usability. Auto-tuning function The auto-tuning function allows the driver to estimate the load and automatically set an appropriate servo gain in the test mode. Control mode switching You can use an input signal to switch the control mode applied to the current operation. The following switching patterns are supported: Position control mode Speed control mode Position control mode Torque control mode Speed control mode Torque control mode Position control mode The pulse speed and pulse count specified by an external pulse train are used to implement smooth speed control and high-accuracy positioning control. Speed control mode An external analog speed command (DC±0V) or internal speed command via parameter is used to smoothly control the rotation speed and direction of the actuator at high accuracy. Torque control mode An external analog torque command (DC±0V) is used for the torque control of the motor. -

25 Appe - Function block diagram - Function block diagram An internal function block diagram of this driver is shown. TB CN CN R S T r s CN Diode bridge Control power supply Pulse command I/F Analog command Torque command I/F Input signal I/F Output signal I/F ENC monitor I/F RS-C I/F Analog monitor I/F Digital monitor I/F TB R External type Overcurrent detection *: The HA-00- has no built-in regenerative resistor. *: The HA-00- and higher models come with a cooling fan. *: A battery is required if an absolute encoder is used. R Regenerative circuit R Cooling fan * DAC * Voltage detection Charge lamp Gate drive Control calculation Control part Power amplifier Current detection Dynamic brake Encoder I/F Operation I/F Operation part TB U V W Ground CN Battery option * Functions and configuration 0 -

26 - Device configuration diagram Functions and configuration - Device configuration diagram A basic configuration diagram of this driver is shown. HA-00A-,,-00 Power supply* Circuit breaker* Surge absorber* Host device* Noise filter* CN VDC brake power supply * 0 For I/O signals ppe Magnetic switch* Main power supply* Control power supply* Power supply cable* TB TB CN CN Drive cable Encoder cable Dedicated communication cable *: The customer should provide marked devices separately. *: The configuration in the case of -phase AC00V is shown here. Depending on the actuator model, the driver can be used with single-phase AC00V or AC00V. Refer to P- for the connection example. *: The customer should provide the brake power supply separately. Be sure to isolate the VDC power supply from I/O signal (CN) power supplies and the like. A separate power supply must always be used. Personal computer* Install Communication software (PSF-00) Servo actuator -

27 - Device configuration diagram HA-00A--00 Power supply* Circuit breaker* Surge absorber* Noise filter* Magnetic switch* Main power supply* Host device* CN For I/O signals VDC brake power supply * Functions and configuration 0 Power supply cable* Control power supply* CN Drive cable Encoder cable CN Dedicated communication cable Appe Personal computer* Servo actuator *: The customer should provide marked devices separately. *: Dedicated to AC00V -phase (Main circuit power) Refer to P- for the connection example. *: The customer should provide the brake power supply separately. Be sure to isolate the VDC power supply from I/O signal (CN) power supplies and the like. A separate power supply must always be used. Install Communication software (PSF-00) -

28 - Driver model Functions and configuration 0 ppe - Driver model The following explains how to read the driver model name and symbol, as well as options. Driver model HA-00A-A-00-SP *: For details on the available encoders, see Chapter. Option Extension cables (optional) Refer to [- Actuator and extension cable combinations]. Dedicated communication cables (optional) Model EWA-RS0 Connectors (optional) Model CNK-HA0A-S/CNK-HA0A-S/CNK-HA0A-S-A/CNK-HA0A-S-A Servo parameter setting software PSF-00 (Downloadable from our website Backup battery for absolute encoder HAB-ER/ (attached to the shipped driver) Model: AC Servo Driver HA series Series: 00 series 00A I/O command type 00B MECHATROLINK type 00C CC-Link type Rated output current:. A A A A Available encoder*: A -bit absolute encoder B -wire incremental encoder -wire wire-saving incremental C encoder D -bit absolute encoder E -bit encoding incremental model Input voltage: 00 AC00V 00 AC00V Custom specification code: Standard Blank product Special SP product -

29 - Actuator and extension cable combinations - Actuator and extension cable combinations The following explains the combinations of drivers, actuators and extension cables (option). Actuator series SHA series FHA-Cmini series FHA-C series Model No. Input voltage (V) Encoder type Combined driver HA-00A Extension cables (option) 0 00 HA-00A-D/E HA-00A-D/E-00 Motor wire EWD-MB**-A0-TN 00 HA-00A-D/E-00 Encoder wire 00 HA-00A-D/E-00 -bit EWD-S**-A0-M 0 00 HA-00A-D/E-00 Absolute 0 00 HA-00A-D/E-00 Motor wire Model No.0:EWD-MB**-A0-TMC Model No.,:EWD-MB**-D0-TMC 00 HA-00A-D/E-00 Encoder wire 00 HA-00A-D/E-00 Model No.0:EWD-S**-A0-M Model No.,:EWD-S**-D0-M 00 HA-00A-C HA-00A-C-00 Motor wire 00 wires, HA-00A-C-00 EWC-M**-A0-TN wire-saving type 00 Encoder wire Incremental HA-00A-C HA-00A-C-00 EWC-E**-M0-M 00 HA-00A-C HA-00A-D/E HA-00A-D/E-00 Motor wire 00 -bit HA-00A-D/E-00 EWC-M**-A0-TN 00 Absolute HA-00A-D/E-00 Encoder wire 00 HA-00A-D/E-00 EWD-S**-A0-M 00 HA-00A-D/E HA-00A-C-00 Motor wire 00 wires, HA-00A-C-00 EWC-MB**-M0-TN wire-saving type 00 Encoder wire Incremental HA-00A-C HA-00A-C-00 EWC-E**-B0-M 00 HA-00A-A-00 Motor wire 00 -bit HA-00A-A-00 EWC-MB**-M0-TN 00 Absolute HA-00A-A-00 Encoder wire 0 00 HA-00A-A-00 EWC-S**-B0-M 00 wires, HA-00A-C-00 Motor wire EWC-MB**-M0-TN 00 wire-saving type HA-00A-C-00 Encoder wire 00 Incremental HA-00A-C-00 EWC-E**-B0-M 00 HA-00A-A-00 Motor wire 00 -bit EWC-MB**-M0-TN HA-00A-A-00 Absolute Encoder wire 00 HA-00A-A-00 EWC-S**-B0-M Functions and configuration 0 Appe RSF series 00 HA-00A-B-00 wires 0 00 Incremental HA-00A-B-00 RSF/RKF series 00 HA-00A-B HA-00A-B-00 Motor wire EWA-M**-A0-TN Encoder wire EWA-E**-A-M -

30 - Actuator and extension cable combinations Functions and configuration Actuator series HMA series Model No. Input voltage (V) Encoder type Combined driver HA-00A 0 00 HA-00A-D/E HA-00A-D/E HA-00A-D/E bit Absolute HA-00A-D/E-00 HA-00A-D/E-00 A 00 HA-00A-D/E-00 Extension cables (option) Motor wire EWD-MB**-A0-TN Encoder wire EWD-S**-A0-M Motor wire Model No.:EWD-MB**-A0-TMC Model No.A:EWD-MB**-D0-TMC Encoder wire Model No.:EWD-S**-A0-M Model No.A:EWD-S**-D0-M *: The maximum torque, allowable continuous torque, and operable range depend on the driver combined with the SHA0A actuator. Select the option according to your intended application. Refer to "Operable Range" in the SHA Series Manual. *: ** in the extension cable model indicates the cable length. Select a desired length from the following types: 0:m, 0:m, 0:0m 0 ppe -

31 - Driver ratings and specifications - Driver ratings and specifications The following explains the ratings and specifications of this driver. Input voltage Power supply: 00V Power supply: 00V Model HA-00A-* -00 HA-00A-* -00 HA-00A-* -00 HA-00A-* -00 HA-00A-* -00 HA-00A-* -00 Driver's rated * current. A.0 A A. A.0 A A Driver's maximum * current.0 A. A.0 A.0 A. A.0 A Input voltage Main circuit AC00 to 0V (single phase * * / phase), +0 to -% AC00 to V (single phase), +0 to -% Control circuit Power frequency Allowed -bit revolution Absolute (motor -bit shaft) Absolute Allowed environment Structure Installation method Control modes Position command pulse AC00 to 0V (single phase), +0 to -% 0VA 0/0Hz AC00 to V (single phase), +0 to -% 0VA -,0 to,0 -,0 to,0 -, to, -, to, Operating temperature: 0 to 0 Storage temperature: -0 to Operating/storage humidity: below %RH (No condensation) Vibration resistance:. m/s (0 to Hz, Tested for hours each in the X, Y, and Z directions) Shock resistance: m/s (Tested once each in the X, Y, and Z directions) Ambience: Free from metal powder, powder dust, oil mist and corrosive gases Forced Forced Natural air cooling Natural air cooling air-cooling air-cooling Base mount (wall installation) Position control, speed control, torque control (Switchable using I/Os) Line collector type: Maximum response frequency -pulse train, -pulse train: MHz, -phase pulse train: 00kHz Open collector type: Maximum response frequency 00kHz Speed command voltage DC ± 0V/max. rotation speed, input impedance approx. kω Torque command voltage DC ± 0V/maximum torque, input impedance approx. kω Speed control range :,000 Operation panel Input signals Output signals Monitor terminals Digital I/O port Configuration Status display function Parameter adjustment function Emergency stop, reset, clear, FWD inhibit, REV inhibit, FWD enable, REV enable, FWD selection, REV selection, internal speed command, internal speed command, internal speed limit, internal speed limit, torque limit, electronic gear selection, control mode, INHIBIT Operation preparation complete, alarm, in-position complete, attained speed, attained torque, speed limiting, torque limiting, zero speed, control mode, DB status, battery voltage low, overload status, cooling fan stopped, FWD inhibit input effective, REV inhibit input effective, warning channels, motor rotation speed, current command, general-purpose output (parameter selection) RS-C/RS-: Status monitor, various parameters settings (PSF-00) Digital output: Absolute encoder data output Display (-segment LED), digits (red), push-button switches Rotation speed (r/min), torque command (%), over load rate (%), input signal monitor, output signal monitor, alarm history ( alarms), etc. System parameters,,,, adjustment parameters, Functions and configuration 0 Appe -

32 - Driver ratings and specifications Functions and configuration 0 ppe Protective functions Alarms Warnings Regenerative processing Regenerative resistor absorption power Embedded functions Surge-current prevention function Operation mode Emergency stop, overspeed, overload, IPM error (overcurrent), regenerative resistor overheat, encoder disconnection, encoder receiving error, UVW error, system failure, multi revolution overflow, multi revolution data error, error counter overflow, memory failure, FPGA configuration error, FPGA setting error, MEMORY error, Single revolution data error, BUSY error, overheat error, communication error Battery voltage low, Overload status, cooling fan stopped, main circuit power voltage low, FWD inhibit input effective, REV inhibit input effective Comes with an external regenerativ e resistor mounting terminal Regenerative resistor contained Comes with an external regenerative resistor mounting terminal Comes with an external regenerativ e resistor mounting terminal Regenerative resistor contained Comes with an external regenerative resistor mounting terminal - W max. W max. - W max. W max. Status display function, self diagnosis, electronic gear, JOG and other operations, dynamic brake, multi revolution data backup battery Incorporated (CPU control based on monitoring of main circuit voltage) Status display mode (for usual operations), test mode, tune mode, system parameter configuration mode Mass kg.kg kg.kg *: Set according to the specification of the combined actuator. *: If the FHA-Cmini (FHA-C/C/C) or FHA-C is combined, -phase 00V or single-phase 00V input can be used. *: If the SHA series or any of FHA-C/C/0C is combined, use of -phase 00V input is recommended. Single-phase AC00V input can also be used by derating the output. Derate the rotation speed or output torque based on the continuous motion range of the actuator being 00%. Actuator reduction ratio SHA0A // 0// SHAA // 0/ SHAA / SHAA // 0/ SHAA / SHA0A //0// (Combined with HA-00A-) FHA-C 0/00/ 0 FHA-C 0/00/ 0 FHA-0C 0/00/ 0 Derating 00% 0% 0% 0% 0% 0% 0% 0% 0% Actuator reduction ratio SHA0A 0/0/ 00/0/0 SHAA 0/0/ 00/0 SHAA 0 SHAA 0/0/ 00 SHAA 0 SHAA 0 SHA0A 0/0/00/0/0 (Combined with HA-00A-) Derating 00% 0% 0% 0% 0% 00% 0% Actuator reduction HMAC0 HMAB0 HMAB ratio Derating 0% 0% 00% -

33 - Driver ratings and specifications Input voltage Model Driver's rated current * Driver's maximum current * Main Input circuit voltage Control circuit Power frequency Allowed revolution (motor shaft) Allowed environment Structure Installation method Control modes Position command pulse Speed command voltage Torque command voltage Speed control range Operation panel Protective functions Input signals Output signals Monitor terminals Digital I/O port Configuration Status display function Parameter adjustment function Alarms Warnings Regenerative processing -, to, ( bits, absolute) Power supply: 00V HA-00A- A A AC00 to 0V ( phase), +0 to -% AC00 to 0V (single phase), +0 to -% 0VA 0/0Hz Operating temperature: 0 to 0 Storage temperature: -0 to Operating/storage humidity: below %RH (No condensation) Vibration resistance:. m/s (0 to Hz, Tested for hours each in the X, Y, and Z directions) Shock resistance: m/s (Tested once each in the X, Y, and Z directions) Ambience: Free from metal powder, powder dust, oil mist and corrosive gases Forced air-cooling type Base mount (wall installation) Position control, speed control, torque control (Switchable using I/Os) Line collector type: Maximum response frequency -pulse train, -pulse train: MHz, -phase pulse train: 00kHz Open collector type: Maximum response frequency 00kHz DC ± 0V/max. rotation speed, input impedance approx. kω DC ± 0V/maximum torque, input impedance approx. kω :,000 Emergency stop, reset, clear, FWD inhibit, REV inhibit, FWD enable, REV enable, FWD selection, REV selection, internal speed command, internal speed command, internal speed limit, internal speed limit, torque limit, electronic gear selection, control mode, INHIBIT Operation preparation complete, alarm, in-position complete, attained speed, attained torque, speed limiting, torque limiting, zero speed, control mode, DB status, battery voltage low, overload status, cooling fan stopped, FWD inhibit input effective, REV inhibit input effective, warning, channels, motor rotation speed, current command, general-purpose output (parameter selection) RS-C/RS-: For monitoring output current, setting various parameters (PSF-00) Digital output: Absolute encoder data output Display (-segment LED), digits (red), push-button switches Rotation speed (r/min), torque command (%), over load rate (%), input signal monitor, output signal monitor, alarm history ( alarms), etc. System parameters,,,, adjustment parameters, Emergency stop, overspeed, overload, IPM error (overcurrent), regenerative resistor overheat, encoder disconnection, encoder receiving error, UVW error, system failure, multi revolution overflow, multi revolution data error, error counter overflow, memory failure, FPGA configuration error, FPGA setting error, MEMORY error, MT error, ST error, PS error, BUSY error, overheat error, communication error, -phase missing error, main circuit voltage low error, overregeneration error, excessive regenerative power error Battery voltage low, Overload status, main circuit power voltage low, FWD inhibit input effective, REV inhibit input effective Regenerative resistor contained Comes with an external regenerative resistor mounting terminal -0 Functions and configuration 0 Appe

34 - Driver ratings and specifications Functions and configuration Regenerative resistor absorption power Embedded functions Surge-current prevention function 0W max. Status display function, self diagnosis, electronic gear, JOG and other operations, dynamic brake, multi revolution data backup battery Incorporated (CPU control based on monitoring of main circuit voltage) Operation mode Status display mode (for usual operations), test mode, tune mode, system parameter configuration mode Mass.kg *: Set according to the specifications of the combined actuator. 0 ppe -

35 - Function list - Function list The following explains a list of functions provided by this driver. P:Position control S:Speed control T:Torque control Applicable Function Description control Reference mode Position control mode The driver functions as a position control servo. P Speed control mode The driver functions as a speed control servo. S P- Torque control mode The driver functions as a torque control servo. T Position/speed switching A signal input is used to switch between position mode control and speed control. P/S Position/torque switching A signal input is used to switch between position mode control and torque control. P/T P- Speed/torque switching A signal input is used to switch between speed mode control and torque control. S/T Input signal selection You can assign the necessary input signal pins and select changes in their logic. All Output signal selection You can assign the necessary output signal pins and change their logics. All Chapter Once the absolute position is set, an actuator Absolute position sensor equipped with an absolute position encoder will P- All recognize the current position after each P- subsequent reconnection of power. Shorter positioning time The HarmonicDrive characteristics of the actuator are utilized in the control logic to shorten All P- the positioning time. Auto-tuning The driver can estimate the load in the JOG mode and automatically set an appropriate servo gain. All P- Regenerative processing If the regenerated power exceeds the value permitted by the driver, the excess power is used All P- for the external regenerative resistor. Alarm history The descriptions and occurrence times of up to most recent alarms are displayed. All P- Alarm history clear The alarm history is cleared. All P- Alarm code output When an alarm occurs, its description is displayed and an alarm is output. All Warning output When a warning occurs, its description is displayed and an alarm is output. All P-0 Electronic gear You can change the weight (multiplier) of pulse input by setting desired values for the numerator All P- and denominator of electronic gear. JOG operation Operation check can be performed to see if the power supply, motor wire and encoder wiring are normal, regardless of the I/O signals received from All P- the host. Status display mode The servo driver status can be displayed, and monitored if requested. All P- Test mode Functions such as I/O signal monitor, output signal operation, JOG operation and auto-tuning are All Chapter available. Tune mode Set the servo gain, in-position range and various other items relating to the servo system. All Chapter System parameter mode Assign I/O signals, electronic gear and other extended functions. All Chapter Analog monitor output The motor speed and motor current can be monitored as voltage levels. All P- Status monitor output The selected servo status can be monitored. All P- Functions and configuration 0 Appe -

36 - Function list Functions and configuration 0 ppe Output shaft single revolution absolute function * (SHA-CG-S only) Output shaft divide function * You can control the absolute position information accurately even when rotation continues in just one direction, for example indexing. You can select a setting of,000, 0,000, or,00,000 divisions for the output shaft and can set operation commands in angle units. A -bit absolute encoder can be used as an incremental encoder. Absolute encoder function setting * *: This is available for HA-00 software version.x or later. All P P- A- P- A- All P- -

37 Appe - External drawing - External drawing The following shows the external drawing of this driver. HA-00A-/ (Mass: kg) HA-00A- (Mass:.kg) Regenerative resistor Regenerative resistor Wind direction Unit: mm Unit: mm Functions and configuration 0 Wind direction Cooling fan -

38 - External drawing Functions and configuration 0 ppe HA-00A- (Mass:. kg) Installation direction Top Unit: mm Regenerative resistor Wind direction Cooling fan Terminal symbol layout -

39 - Name and function of each part of a display panel - Name and function of each part of a display panel The following explains the operation part on the front side of this driver as well as each function provided on the operation part. HA-00A-/HA-00A-/HA-00A- Device number setting switch (SW) Set the device number of each driver when multiple drivers are connected for communication. Communication setting switch (SW) Set the terminating resistance when multiple drivers are connected for communication. LED display The driver status display, alarm display, data values, etc., can be checked. CHARGE lamp This lamp turns ON when the main circuit power is input. If this lamp remains ON after the power has been turned OFF, the system is still charged with high voltage. Do not touch the power connector. Servo motor connection terminal (U, V, W) Connect the servo motor drive wire.[wiring the driver and motor] P- Regenerative resistor connection terminal (R, R, R) A terminal for connecting an external regenerative resistor. Connect an external regenerative resistor if the regeneration capacity is not enough. [ Regenerative resistor] PA- Main circuit power connection terminal (T, S, R) A terminal for connecting the main circuit power supply. [Connecting power cables] P- Cover is open Maintenance connector Do not connect. Waveform monitoring connector (CN) The speed, current waveform and status signal can be monitored. [Monitor output] (P-) Push-button switches switches are used to change the display, set various functions and perform JOG operation. [Chapter Panel display and operation] I/O signal connector (CN) A connector for command signals and I/O signals. [Chapter I /O signals] Encoder connector (CN) A connector between the servo actuator and encoder. Take note that the connection method varies depending on the model. [Connecting the encoder] P-0 Functions and configuration 0 Appe Control circuit power connection terminal (s, r) A terminal for connecting the control circuit power supply. [Connecting power cables] P- Ground terminal A ground terminal for protection against electric shock. Be sure to connect this terminal. [Connecting a ground wire] P- PSF-00 communication connector (CN) A communication connector for dedicated driver communication software PSF-00. [Chapter 0 Communication software] -

40 - Name and function of each part of a display panel HA-00A- Functions and configuration Device number setting switch (SW) Set the device number of each driver when multiple drivers are connected for communication. Communication setting switch (SW) Set the terminating resistance when multiple drivers are connected for communication. LED display The driver status display, alarm display, data values, etc., can be checked. Main circuit power connection terminal (R, S, T) A terminal for connecting the main circuit power supply. [Connecting power cables] P- Cover is open Maintenance connector Do not connect. Waveform monitoring connector (CN) The speed, current waveform and status signal can be monitored. [Monitor output] (P-) Push-button switches switches are used to change the display, set various functions and perform JOG operation. [Chapter Panel display and operation] I/O signal connector (CN) 0 ppe CHARGE lamp This lamp turns ON when the main circuit power is input. If this lamp remains ON after the power has been turned OFF, the system is still charged with high voltage. Do not touch the power connector. Maintenance terminal Do not wire the - and P terminals. DC reactor connection terminal (DL,DL) Terminals between DL and DL have been short-circuited with a short bar as default. Normally this short bar need not be removed before use Regenerative resistor connection terminal (R,R,R) A terminal for connecting an external regenerative resistor. Connect an external regenerative resistor if the regeneration capacity is not enough. [ Regenerative resistor] PA- A connector for command signals and I/O signals. [Chapter I /O signals] Encoder connector (CN) A connector between the servo actuator and encoder. Take note that the connection method varies depending on the model. [Connecting the encoder] P-0 PSF-00 communication connector (CN) A communication connector for dedicated driver communication software PSF-00. [Chapter 0 Communication software] Control circuit power connection terminal (r, s) A terminal for connecting the control circuit power supply. [Connecting power cables ] P- Ground terminal A ground terminal for protection against electric shock. Be sure to connect this terminal. [Connecting a ground wire] P- Servo motor connection terminal (U, V, W) Connect the servo motor drive wire. [Wiring the driver and motor] P- -

41 - Chapter Installation/wiring Receiving inspection, environment, power wiring, noise suppression and connector wiring are explained in this chapter. - Receiving inspection - - Installation location and installation - - Connecting power cables - - Suppressing noise - - Wiring the driver and motor - - Wiring the host device -

42 - Receiving inspection Installation/wiring - Receiving inspection After unpacking, check the items described below. Check procedure Check for damage. If any damage is found, immediately contact the supplier or store where you purchased your driver. Check if the driver is what you ordered. Check the model code shown below the display panel on the front face of this driver. For information on how to check the model, refer to [Driver model] (P-). Check the model, input voltage and combined actuator on the nameplate attached on the right side face of the driver. If the model is wrong, immediately contact the supplier or store where you purchased your driver. Nameplate The driver model is shown. The applicable power supply is shown. The driver output is shown. The model and adjustment model code of the applicable actuator combined with this driver are shown. The serial number of each driver The driver model number is shown. WARNING Do not combine the actuator other than the one specified on the nameplate. The characteristics of this driver have been adjusted according to the actuator. Wrong combinations of HA-00A drivers and actuators may cause insufficient torque or overcurrent that may lead to actuator burnout, injury or fire. Do not connect the power supply other than the voltage specified on the nameplate. Connecting a power supply not matching the input voltage specified on the nameplate may result in damage to the HA-00A driver, injury or fire. -

43 - Installation location and installation - Installation location and installation Install this driver in a manner meeting the conditions specified below. Installation environment Operating temperature Operating humidity Vibration Impact Others 0 to 0 Store the driver in a cabinet. The temperature in the cabinet may be higher than the outside air temperature due to power losses of the housed devices, size of the cabinet, etc. Consider an appropriate cabinet size, cooling and layout to make sure the temperature around the driver does not exceed 0. Relative humidity of % or less, non-condensing Exercise caution if the driver is used in a place subject to significant temperature differences between day and night or in patterns where the driver is started/stopped frequently, because these conditions increase the chances of condensation.. m/s (0.G) (0 to Hz) or less (Tested at 0- MHz for hours each in the X, Y, and Z directions) If there is a source of vibration nearby, install the driver on a base via a shock absorber to prevent the vibration from transmitting directly to the driver. m/s (0G) or less (Tested once each in the X, Y, and Z directions) Free from dust, dirt, condensation, metal powder, corrosive gases, water, water droplets, oil mist, etc. Avoid using the driver in an environment subject to corrosive gases because accidents may occur due to poor contact of contact parts (connectors, etc.). Avoid exposure to direct sunlight. Installation/wiring Appe 0 Appe -

44 - Installation location and installation Installation/wiring Notices on installation Install this driver vertically by providing sufficient clearances around it to ensure good ventilation. When installing the driver, provide a clearance of at least 0mm from a wall or adjacent machine, at least 0mm from the floor, and at least 0mm from the ceiling. The table below shows the power losses of HA-00A drivers for reference when planning the cooling system. FHA-C series (00V) Driver HA-00A- HA-00A- HA-00A- Actuator FHA-C FHA-C FHA-C FHA-C FHA-C FHA-C FHA-0C Power loss W 0W 0W 0W 0W 0W 0W RSF/RKF series Driver HA-00A- HA-00A- HA-00A- Actuator RSF- RSF/RKF-0 RSF/RKF- RSF/RKF- Power loss W 0W W 0W SHA series (00V) Driver HA-00A- HA-00A- HA-00A- Actuator SHA0 SHA SHA SHA0 SHA0 SHA SHA Power loss W W W 0W 0W 0W 0W SHA series (00V) Driver HA-00A- Actuator SHA Power loss 0W HMA series (00V) Driver HA-00A- HA-00A- HA-00A- Actuator HMAC0 HMAB0 HMAB HMAB HMAAA Power loss W W W 0W 0W HMA series (00V) Driver HA-00A- Actuator HMAB0 Power loss 0W Air flow Air flow 0mm or more 0mm or more 0mm or more 0mm or more Cooling fan Wall mounted Air flow 0mm or more Driver Air flow Air filter -

45 - Installation location and installation Installation procedure [HA-00A-, HA-00A-, HA-00A-] Install the driver using mounting holes provided at the back. The wall on which to install the driver should be made of an iron sheet of mm or more in thickness. Screw a M screw into the middle of the tapped hole provided at the bottom of the mounting surface. Hook the mounting hole (cut hole) provided at the bottom of the driver onto the M screw installed in. Securely tighten a M screw through the mounting hole at the top of the driver and hole in the mounting surface. Securely tighten the M screw at the bottom. HA-00A-/ Wall Installation/wiring Appe 0 Appe HA-00A- Wall -

46 - Installation location and installation Installation/wiring [HA-00A-] An iron sheet of mm or more in thickness is recommended for the wall on which to install the driver. Screw an M screw into the middle of the mounting hole (U-shaped) provided at the bottom of the driver. Securely tighten an M screw through the mounting hole (U-shaped) at the top of the driver. Securely tighten the screw at the bottom of the driver as well. Confirm that all the screws are securely tightened. HA-00A- Wall -

47 - Connecting power cables - Connecting power cables The following explains how to connect the power supply to this driver. WARNING CAUTION Before connecting the power cable to the HA-00A driver, completely unplug the power cable from the main power supply. Failure to do so may result in electric shock during the connection work. () Connect the power cable to the HA-00A driver after installing the driver on the specified wall. () Ground the HA-00A driver to avoid electric shock, malfunctions caused by external noise, and for the suppression of radio noise emissions. Installation/wiring Appe Allowable cable sizes The table below lists the minimum allowable wire sizes of power cables, ground cables and other cables. We recommend the thickest wires possible. When bundling wires or placing them into ducts, rigid plastic conduits or metal pipes, use wires of the next larger size. It is recommended to use HIV (special heat-resistant vinyl wires). [-phase 00V input] Min. allowable wire size (mm ) Driver HA-00A- HA-00A- HA-00A- HA-00A- SHA0 SHA SHA FHA-C SHA0 SHA0 FHA-C HMAC0 FHA-C SHA FHA-C HMAB HMAB FHA-C HMAB0 FHA-0C SHA FHA-C MAB MAB MAC0 MAB MAB0 Combined actuator Combined motor Main circuit power Control circuit power Motor cables * U,V,W,E Ground (FG) wire Regener ative resistor HMAAA MAA R,S,T r, s Ground mark.0.0. (.) * (.) * (.) * R,R.... Encoder cable CN Twisted pair shield cable of 0.mm or larger * Control signal CN Twisted pair wire or twisted pair whole-shield cable (AWG, 0. mm ) wire *: We provide extension cables (m/m/0m) for motor cables (including brake cables) and encoder cables. For the combinations of HA-00A drivers, actuators and extension cables, refer to [Actuator and extension cable combinations] (P-). *:. mm is used in case of 0 heat-resistant wires. If you use HIV cables, mm or thicker cables are recommended. *:. mm is used in case of 0 heat-resistant wires. If you use HIV cables,. mm or thicker cables are recommended. 0 Appe -

48 - Connecting power cables Installation/wiring [single-phase 00V input] Min. allowable wire size (mm ) Driver HA-00A- HA-00A- HA-00A- Combined FHA-C SHA FHA-C actuator FHA-C FHA-C HMAB0 FHA-C Combined motor FHA-C MAB0 Main circuit R,S,T power Control circuit power r, s 0... Motor cables * Ground (FG) wire Regenera tive resistor Encoder cable Control signal wire U,V,W, E Groun d mark *: We provide extension cables (m/m/0m) for motor cables (including brake cables) and encoder cables. For the combinations of HA-00A drivers, actuators and extension cables, refer to [Actuator and extension cable combinations] (P-). *:. mm is used in case of 0 C heat-resistant wires. If you use HIV cables, mm or thicker cables are recommended. Connecting power cables The following terminal block for power connection is provided on the display panel on the front face of this driver. Connect the power source cables to the respective terminals as shown below. If a -phase power supply is used, its phases can be arranged in any order. Terminal block for power connection (for TB) Manufacturer Phoenix Contact Model FKC,/-ST-.0 HA-00-// -phase power supply (00V).0 (.) *... R,R... CN Twisted pair shield cable of 0.mm or larger * CN Twisted pair wire or twisted pair whole-shield cable (AWG, 0. mm ) Circuit breaker T S R s r NF Noise filter Magnetic switch HA-00A T S R s r - Single-phase power supply (00V, 00V) Circuit breaker NF Noise filter Magnetic switch HA-00A T S R s r

49 - Connecting power cables HA-00- -phase power supply (00V) Terminal block for power connection Terminal name Screw size Crimp terminal external diameter R,S,T M φmm Circuit breaker Reference Round crimp terminal (R-type).-R (J.S.T. Mfg. Co., Ltd).-NS (J.S.T. Mfg. Co., Ltd) r,s M φmm Round crimp terminal (R-type) R.- (J.S.T. Mfg. Co., Ltd) NF Noise filter HA-00A Magnetic switch R S T r s Installation/wiring Appe 0 Appe With HA-00A-//, be sure to use a connector compatible with the terminal block for power connection (for TB). With HA-00A-, be sure to use a crimp terminal compatible with the terminal block for power connection. The power-receiving part of the driver adopts a surge-current-suppress-circuit. Although this circuit prevents extreme voltage drops when the power is input, avoid daisy-chain wiring between the power supply and devices and wire each device separately from the main power supply switch. Power supply Main Switch HA-00 Other device Other device Power supply Main Switch HA-00 Other device Other device Good wiring example Bad wiring example -

50 - Connecting power cables Installation/wiring Protecting power lines Be sure to use a circuit breaker (MCB) in the power line to protect the power line. Select an appropriate circuit breaker from the table below. Input 00V 00V 00V 00V 00V 00V 00V 00V voltage Driver model Actuator motor Rated current capacity (A) of circuit breaker (MCB) Required power capacity per driver (kva) * HA-00A --00 FHA-C FHA-C HA-00A --00 FHA-C HA-00A --00 FHA-C RSF- Surge-curre nt upon main circuit power ON (A) * *: The values are for allowable continuous output of the actuator. *: The values are quoted at ambient temperature of. The above values are based on the standard input voltage (AC00V, AC00V). The circuit breaker cutoff capacity is a recommended value for -phase AC00V input or single-phase AC00V input. Connecting a ground wire HA-00A --00 SHA0 SHA FHA-C RSF-0 RSF- RKF-0 RKF- HMAC0 HMAB0 MAC0 MAB0 HA-00A --00 SHA HMAB0 MAB0 HA-00A --00 SHA FHA-C RSF- RKF- HMAB MAB Use a ground wire of an appropriate size selected from the table below, or larger. Cable Ground (FG) wire HA-00A --00 SHA0 FHA-0C MAB SHA0 HMAB MAB HA-00A--00 SHA SHA HMAAA MAA Symbol Ground mark Min. allowable wire size (mm ) HA-00A- HA-00A- HA-00A- HA-00A-....,. The HA-00A driver has types of ground terminals, as shown below. Make sure to use wire sizes in the table above or larger for the ground terminals and connect it using a round crimp terminal. Make sure to connect a single wire to a single ground terminal. For actuator - For control cabinet

51 - Connecting power cables Power ON and OFF sequences Provide a sequence circuit that cuts off the main circuit power ON/OFF switch in response to an emergency stop signal, etc. If an alarm signal has been assigned to an output signal, also provide a sequence circuit that cuts off the main circuit power ON/OFF switch in response to the alarm output. Turn ON/OFF the power after switching the [CN- servo-on: S-ON] signal of the HA-00A driver to OFF. If the power is turned ON/OFF too frequently, the surge-current limiting resistor in the internal circuit may deteriorate. The power ON/OFF frequency should not exceed times in an hour and 0 times in a day. Furthermore, the interval between turning OFF and ON the power should keep more than 0 seconds. Power ON sequence, servo-on sequence (HA-00A-, -, -) Create a sequence program for the host device so that the power to this driver will be turned ON at the timings shown below. The chart below shows a power ON sequence based on a -bit absolute encoder system. I/O outputs and monitor output remain indeterminable for approximately 0 seconds after turning the control power supply ON. Control circuit power Main circuit power Output signals Servo ON input enable (SREADY) Input signals CN- servo-on (S-ON) ON OFF ON OFF ON OFF ON OFF 0s (max) * 0ms (min) s (typ) * 0ms (min) Installation/wiring Appe 0 Appe Dynamic brake (DB enabled, SP = ) Motor excitation (DB enabled, SP = ) Disable Enable Excitation ON Excitation OFF 0ms (typ) 0ms (typ) ms (typ) Output signal: Operation preparation complete (DB enabled, SP = ) ON OFF Dynamic brake (DB disabled, SP =0) Motor excitation (DB disabled, SP = 0) Disable Enable Excitation ON Excitation OFF s (typ) 0ms (typ) ms (typ) Output signal: Operation preparation complete (DB disabled, SP = 0) ON OFF *: This value is for when the control circuit power and main circuit power are turned ON simultaneously. If the main circuit power is turned ON seconds or more after the control circuit power, the servo ON enable signal will be output after approximately seconds, provided that the capacitor in the main circuit power has been discharged fully. -0

52 - Connecting power cables Servo-OFF sequence (HA-00A-, -, -) Installation/wiring Input signal: CN- servo-on (S-ON) Motor excitation Output signal: Operation preparation complete Dynamic brake (DB enabled, SP = ) Dynamic brake (DB disabled, SP = 0) ON OFF Excitation ON Excitation OFF ON OFF Disable Enable Disable Enable ms (typ) ms (typ) ms (typ) (Dynamic brake disabled) Sequence when an alarm generates (HA-00A-, -, -) Input signal: CN- servo-on (S-ON) Alarm ON OFF Without alarm With alarm Motor excitation Output signal: Operation preparation complete Output signal: Alarm output (OFF during alarm) Excitation ON Excitation OFF ON OFF ON OFF ms (typ) Dynamic brake (DB enabled, SP = ) Disable Enable ms (typ) Dynamic brake (DB disabled, SP = 0) Disable Enable (Dynamic brake disabled) -

53 - Connecting power cables Power OFF sequence (HA-00A-, -, -) Create a sequence program for the host device so that the power to this driver will be turned OFF at the timings shown below. s (min) * ON Control circuit power Main circuit power Output signal: Servo ON input enable *: After turning OFF the control circuit power, wait for at least seconds before turning it ON. *: If the main circuit power is turned OFF while [CN- servo-on (S-ON)] is OFF (servo OFF), it may take up to minutes or so before the servo ON input enable signal (SREADY) turns OFF (main circuit DC voltage drop). If the main circuit power is turned OFF while servo-on (during motor excitation), the motor excitation is continued until the servo ON input enable signal (SREADY) turns OFF (main circuit DC voltage drop). If the main circuit DC voltage does not drop due to regeneration operation, etc., it takes long until the motor excitation turns OFF. Turn the servo OFF first and then cut the main circuit power OFF, except when alarms are being generated. If the main circuit power and control circuit power are turned OFF simultaneously, the motor excitation turns OFF in several 0 to 00ms (the time varies depending on the input voltage). At this point, the servo ON input enable signal (SREADY) also turns OFF, but the capacitor for the main circuit power is still charged and therefore do not touch the power terminals until the main circuit charge monitor LED on the front panel turns OFF (approximately minutes). Power ON, servo-on sequence (HA-00A-) Create a sequence program for the host device so that the power to this driver will be turned ON at the timings shown below. The chart below shows a power ON sequence based on a -bit absolute encoder system. I/O outputs and monitor output remain indeterminable for approximately 0 seconds after turning the control power supply ON. Control circuit power Main circuit power Output signals Servo ON input enable (SREADY) ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0s (max) * 0ms (min) s (typ) * 0ms (min) 0ms (min) minutes (max) * Installation/wiring Appe 0 Appe Input signal: CN- servo-on (S-ON) Dynamic brake * Motor excitation (DB enabled, SP = * ) Output signal: Operation preparation complete (DB enabled, SP = * ) ON OFF Disable Enable Excitation ON Excitation OFF ON OFF s (typ) 0ms (typ) ms (typ) *: This value is for when the control circuit power and main circuit power are turned ON simultaneously. If the main circuit power is turned ON seconds or more after the control circuit power, the servo ON enable signal will be output after approximately seconds, provided that the capacitor in the main circuit power has been discharged fully. *: Make sure to use HA-00A- by setting [SP: DB enable/disable setting] to (default setting). *: The dynamic brake operates interlinked to the main circuit power. -

54 - Connecting power cables Installation/wiring Servo-OFF sequence (HA-00A-) Input signal: CN- servo-on (S-ON) Motor excitation Output signal: Operation preparation complete Dynamic brake (DB enabled, SP = * ) *: Make sure to use HA-00A- by setting [SP: DB enable/disable setting] to (default setting). *: The dynamic brake operates interlinked to the main circuit power. Sequence when an alarm generates (HA-00A-) Input signal: CN- servo-on (S-ON) Alarm Motor excitation Output signal: Operation preparation complete Output signal: Alarm output (OFF during alarm) ON OFF Without alarm With alarm Excitation ON Excitation OFF ON OFF ON OFF ON OFF Excitation ON Excitation OFF ON OFF Disable Enable ms (typ) ms (typ) (Dynamic brake disabled* ) ms (typ) Main circuit power Dynamic brake (DB enabled, SP = * ) Main circuit power * Dynamic brake * (DB enabled, SP = * ) ON OFF Disable Enable ON OFF Disable Enable (Dynamic brake disabled* ) 00ms (typ) *: Make sure to use HA-00A- by setting [SP: DB enable/disable setting] to (default setting). *: The dynamic brake operates interlinked to the main circuit power. *: It is possible to use the dynamic brake by using output signal alarm output to cut off the main circuit power of the driver. By cutting off the driver's main circuit power, the main circuit discharge function is enabled, which lowers the main circuit DC voltage and activates the dynamic brake. However, if regenerative resistances such as regenerative overheat alarm (AL) and overregeneration alarm (AL) are under high load, the discharge function may not operate and the dynamic brake thus may not be activated. -

55 - Connecting power cables Power OFF sequence (HA-00A-) Create a sequence program for the host device so that the power to this driver will be turned OFF at the timings shown below. Control circuit power Main circuit power Output signal: Servo ON input enable ON OFF ON OFF ON OFF 0ms (min) 00ms (typ) * s (min) * *: After turning OFF the control circuit power, wait for at least seconds before turning it ON. *: If you turn the main circuit power OFF, the servo ON input enable signal (SREADY) turns OFF in approximately 0. seconds due to the main circuit discharge function. However, if regenerative resistance such as regenerative resistor overheat alarm (AL) and overregeneration alarm (AL) are under high load, the discharge function may not operate and it takes approximately 0 minutes to discharge. If the main circuit power is turned OFF while servo-on (during motor excitation), the motor excitation is continued until the servo ON input enable signal (SREADY) turns OFF (main circuit DC voltage drop). If the main circuit DC voltage does not drop due to regeneration operation, etc., it takes long until the motor excitation turns OFF. Turn the servo OFF first and then cut the main circuit power OFF, except when alarms are being generated. If the main circuit power and control circuit power are turned OFF simultaneously, the motor excitation turns OFF in several 0 to 00ms (the time varies depending on the input voltage). At this point, the servo ON input enable signal (SREADY) also turns OFF, but the capacitor for the main circuit power is still charged and therefore do not touch the power terminals until the main circuit charge monitor LED on the front panel turns OFF (approximately minutes). ON Installation/wiring Appe 0 Appe -

56 - Suppressing noise Installation/wiring - Suppressing noise The main circuit of this driver uses a power element (IPM) based on PWM control. Switching noise generates due to sudden changes in current/voltage that occur when this element is switched. If wiring and grounding are inappropriate, other external devices may malfunction or radio noise may generate. This driver also has a CPU and other built-in electronic circuits. Accordingly, provide appropriate wiring and other measures to minimize malfunctions caused by external noise. To prevent troubles caused by external noise, be sure to provide wiring and grounding as follows. Grounding Refer to the figure below when grounding all devices comprising the system. Power input phase Circuit break er *: For information on grounding line filters, refer to [Installing noise filters] P-. *: FHA-C to 0C actuators come with a shield connected to the body. Grounding motor frame When the actuator is grounded on the driven machine side through the frame, current flows through the floating capacity (Cf) of the motor from the power circuit of the driver. To avoid negative influence of the current, always connect the ground terminal (motor frame) of the actuator to the ground terminal of the driver, and connect the ground terminal of the driver directly to ground. Grounding ducts Surge absor ber Noise Filter * Operation relay sequence, etc. User signal generation circuit Magn etic switch Wire of.mm or larger HA-00A R S T r s CN.mm or larger When the motor cables are housed in a metal conduit or a metal box, be sure to ground their metal parts. Always connect the ground at a single point. U V W E CN * HD M E Grounding to the earth (must be single-point grounding) Wire of.mm or larger -

57 - Suppressing noise Installing noise filters Use of noise filters is recommended to prevent malfunctions caused by impulse noise that may enter from the power line and also to prevent noise generating inside the driver from emitting to the power line. When multiple drivers are used, install noise filters for each driver. Select bi-directional noise filters that can suppress both external noise and internal noise. Recommended noise filters are shown below. Model Specifications Manufacturer RF00-DLC Rated voltage: Line-Line 0 to 0V, rated current: 0A RF00-DLC Rated voltage: Line-Line 0 to 0V, rated current: 0A RASMI ELECTONICS LTD RF00-DLC Rated voltage: Line-Line 0 to 0V, rated current: 0A HF00A-UN Rated voltage: 0VAC, rated current: 0A HF00A-UN Rated voltage: 0VAC, rated current: 0A Soshin Electric Co., Ltd. HF00A-UN Rated voltage: 0VAC, rated current: 0A SUP-PH-EPR Rated voltage: 0VAC, rated current: A SUP-P0H-EPR Rated voltage: 0VAC, rated current: 0A Okaya Electric Industries SUP-HH-ER- Rated voltage: 0VAC, rated current: A Co., Ltd. SUP-H0H-ER- Rated voltage: 0VAC, rated current: 0A EMC Directive conformance check tests are conducted by connecting the noise filter and toroidal core in the table above to the driver power input area. For the measure to comply with EC Directives, refer to "Conformance to European EC Directives" on P. Installation/wiring Appe 0 Appe -

58 - Suppressing noise Installation/wiring Install the noise filters and this driver as close as possible with one another. Also install noise filters to the power source cables of electric devices other than this driver in the same manner. In particular, always install noise filters to sources of high-frequency, such as electric welders and electrical-discharge processing machines. Incorrect use of noise filters can seriously reduce its effectiveness. Install noise filters by referring to the cautionary information provided below. Separate the filtered wires and unfiltered wires from each other. Do not place them in the same pipe or duct, or bundle them together. Filter Filter Do not place the ground wire and filtered wires in the same pipe or duct, or bundle them together. Do not daisy-chain ground wires, but connect one ground wire separately to each device or to a single point on the control cabinet or ground plate. Grounding in a control cabinet Filter M Grounding wires near power lines is acceptable. Grounding in a control cabinet Grounding in a control cabinet Filter E Grounding in a control cabinet Filter Filter E E F E E F E Shield wire Shield wire Grounding in a control cabinet Grounding in a control cabinet Be sure to install surge protector devices to coils of magnetic relays, magnetic switches (contactors), solenoids, etc. Do not open the end of analog input signal cables such as speed signal cables. Since this driver is designed for industrial use, it incorporates no measures to prevent radio interference. If the driver is used in the following environments, connect line filters to the input side of the power source cable: Used near houses Where radio interference may present problems -

59 - Wiring the driver and motor - Wiring the driver and motor The following explains how to wire this driver and motor. Connecting the motor Connect the motor by connecting the U, V and W terminals of the TB connector, as shown below. Refer to the actuator manual to check the phase order of motor cable wires beforehand, and connect each pair of terminals that have the same symbol. Take note that if the phase order is wrong or any of the phases is missing, alarms, etc., will not generate. The optional yellow and blue motor relay cables are used to connect the power supply ( DCV, no polarity) for releasing the brake on actuators that have a brake. For actuators without a brake, the cables need not to be connected. [HA-00A-/-/-] U V W R R R Terminal block for motor connection (for TB) Manufacturer Phoenix Contact Model FKIC./-ST-.0 [HA-00A-] TB R R U V U V W R R R TB R W When using a built-in regenerative resistor with the HA00A-, short-circuit the R and R. (These terminals are already short-circuited with a short bar as default.) When using an external regenerative resistor, keep R and R open and connect the regenerative resistor between R and R. If an external regenerative resistor is not used, do not open the short bar. If the short bar is open, the main circuit discharge function will not operate. Red Red White Black White Black Regenerative resistor M M AC Servo Actuator Regenerative Regenerative resistor resistor When using a built-in regenerative resistor with the HA-00A-/, short-circuit the R and R.(On our extension cables, these terminals are already short-circuited with a short bar.) When using an external regenerative resistor, keep R and R open and connect the regenerative resistor between R and R. AC Servo Actuator Installation/wiring Appe 0 Appe Terminal block for motor connection Crimp terminal outer Screw size diameter M φmm Reference Round crimp terminal (R-type).-R (J.S.T. Mfg. Co., Ltd).-NS (J.S.T. Mfg. Co., Ltd) If the phase order of the motor cable is wrong or any wire is disconnected or connected during operation, an uncontrollable operation may result. WARNING -

60 - Wiring the driver and motor Installation/wiring With HA-00A-//, be sure to use a connector compatible with the terminal block for motor connection (for TB). With HA-00A-, be sure to use a crimp terminal compatible with the terminal block for motor connection. -

61 - Wiring the driver and motor Connecting the encoder To connect the encoder, connect the CN connector, as shown below. For the encoder signal wire, use a twisted pair shield cable with a wire size of 0.mm or larger and having the necessary number of cores. Shorten the wiring length as much as possible. If provided by the customer Wiring length: 0m or less Wire conductivity: 0.0Ω/m or less We have optional cables of m/m/0m long. CN Encoder connector (CN) Connector Cover Manufacturer M M Model 0-000PE 0-F0-00 Pin layout of encoder connector (CN) The pin layout shown below is viewed from the soldered side. E -wire wire-saving incremental encoder Encoder -bit absolute encoder Installation/wiring Appe 0 Appe SD NC NC NC SD NC NC NC NC 0 NC -bit absolute encoder NC NC +V 0V SD NC CLR NC SD NC BAT- NC NC 0 NC BAT+ NC -wire incremental encoder +V 0V SD NC NC NC SD NC BAT- NC NC 0 NC BAT+ NC +V 0V A W Z W A V B V Z 0 U B U +V 0V (*: In the -bit encoder incremental model, there is no need to connect BAT+/BAT-.) Do not connect NC terminals. If NC terminals are connected by mistake, malfunctions may result. -0

62 - Wiring the host device Installation/wiring - Wiring the host device The following explains wiring of this driver and host device. Connecting the host device To connect the host device, connect the CN connector, as shown below. For the I/O signal cable, use a twisted pair shield cable or twisted pair whole-shield cable with a wire size of 0.mm (AWG) and having the necessary number of cores. CN I/O signal connector (CN) Connector Cover Manufacturer M M Model PE 00-F0-00 Pin layout of I/O signal connector (CN) The pin layout shown below is viewed from the soldered side. OUT- COM 0 FG OUT- COM FG Z (OC) MON- COM OUT Z- OUT Z+ Host device 0 OUT B- OUT B+ OUT A- OUT A+ OUT POS- DAT- 0 POS- DAT+ 0 IN IN TRQ- COM Assign functions to input signals (IN to IN) and output signals (OUT to OUT) using system parameters for input/output signals. Refer to [Chapter I/O signals] for the functions that are assigned by default. IN- COM TRQ- CMD IN SPD- COM IN SPD- CMD IN 0 REV- IN REV+ IN IN (S-ON) FWD- FWD+ IN- COM +V Keep the I/O signal cable to m or shorter. Separate power cables (power source cables and motor wires and other circuits subject to strong electric power) and I/O signal cables by more than 0cm. Do not encase them in the same pipe or duct, nor bundle them together. Do not open the end of cables for analog input signals, such as speed signals. -

63 - Wiring the host device Connecting the personal computer (PSF-00) To connect to the personal computer, use dedicated communication cable or refer to the following pin layout. Dedicated communication cable: EWA-RS0 (option) Cable length:.m PSF-00 communication connector (CN) Connector Manufacturer Hirose Electric Co., Ltd. Model TMP-P() Connector on the personal computer side (D-sub -pin female) Socket Hood Jack screw OMRON OMRON Manufacturer OMRON Corporation Corporation Corporation Model XMD-00 XMS-0 XMZ-00 Pin layout of PSF-00 communication connector (CN) Driver side Personal computer side Symbol Pin No. Pin No. Symbol TxD - GND TxD + RxD - - GND GND RxD The host and the first axis communicate via RS-C. The second and subsequent axes perform RS- communication. Prepare commercially available Sanwa Supply TEL-FC-, etc. for RS- communication cables. Prepare RS Online model No. -0, etc. for RS- communication branch connectors. Installation/wiring Appe 0 Appe -

64 - Wiring the host device Installation/wiring -

65 - Chapter Startup Startup procedures to be followed when the driver is used for the first time, from receiving inspection to operation of the actual system, are explained in this chapter. - Startup procedures - - Turning ON the power for the first time - - Operation check with the actuator alone - - Operation check with the actual system - - Manual gain adjustment method - - Normal operation -

66 - Startup procedures - Startup procedures The following explains the procedures to start up this driver. Startup WARNING CAUTION Shut off the electric power source on the plant side before any wiring works are carried out. Once the electric power on the plant side is supplied to the system, do not perform any wiring works. Electric shock may result. () Check the wirings again and correct the problems, if any, before turning ON the power. Are all wirings correct? Are there temporarily wired lines? Are there any loose terminal connections? Are the wires grounded properly? () Clean around the devices. In particular, thoroughly inspect the interior of the system for wire chips, tools and other objects remaining inside the system. () When or more persons are working together, they should discuss the details of work before turning ON the power and each person should pay attention to the safety of others. () Do not operate the driver by turning ON/OFF the power. Frequent power ON/OFF operations may cause deterioration of circuit elements inside the driver. Start/stop the actuator using command signals. -

67 - Startup procedures Startup procedures Key startup procedures are as follows: Check before turning ON the power for the first time Operation check with the actuator alone in the actual control mode Operation check with the actual system Refer to: [Turning ON the power for the first time] (P-) Refer to: [Operation check with the actuator alone] (P-) Refer to: [Operation check with the actual system] (P-) Startup Appe Normal operation Refer to: [Normal operation] (P-) 0 Appe -

68 - Turning ON the power for the first time - Turning ON the power for the first time The following explains the startup procedure when turning ON the power for the first time. Startup CAUTION () Be sure to perform a trial run before commencing the normal operation. () In a trial run, separate the actuator from the machine/system and operate the actuator alone (under no load). Receiving inspection Check the installation location Check the wirings Turn ON the control power supply Turn ON the main power supply JOG operation with the actuator alone in the test mode Check the nameplate attached on the right side face of the driver to see if the driver and actuator combination is correct. Refer to: [Receiving inspection] (P-) Check the installation environment of the driver. Refer to: [Installation location and installation] (P-) Check the wirings of power source cable, motor wire, encoder wire and I/O signal cables. Refer to: [Connecting power cables] (P-) Turn ON the control power supply. The sequence of the driver's LED display varies depending on the encoder equipped in the actuator. For the absolute encoder, AL and AL are generated. Execute [T0: multi revolution clear] and turn the control power OFF then ON to reconnect the power. Refer to: [Details on control power supply ON] (P-, P-) Turn ON the main power supply. Perform rotary operations via JOG operation to confirm that the power supply, motor, and encoder are wired correctly. Refer to: [Chapter Test mode] CAUTION Take note that in rotary operations via JOG, for input signals other than emergency stop, operations ignore the signal status. -

69 - Turning ON the power for the first time Details on control power supply ON The driver's internal process sequence to be implemented upon power ON varies depending on the connected actuator. () -bit absolute encoder (-bit encoder incremental model) (SHA series, FHA-Cmini series, HMA series) combination (P-) () When a -bit absolute encoder (FHA-C series) is combined (P-) () When a -wire incremental encoder (FHA-Cmini series) is combined (P-) () When a -wire incremental encoder (FHA-C series) or -wire incremental encoder is combined (P-) () When a -bit absolute encoder (SHA series, FHA-Cmini series, HMA series) is combined Turn ON the control circuit power. Check the driver and actuator combination as well as the input voltage and multi revolution data of the absolute encoder. Startup Appe Normal Abnormal 0 Appe MODE UP DOWN SET The system switches to the status display mode. The default setting is to display the motor rotation speed. If multiple alarms or warnings have occurred, the applicable alarms/warnings are displayed one by one. If the actuator combination is wrong As shown on the right, [UA: Wrong actuator connected] is displayed. Action to be taken The combined actuator is specified on the nameplate attached on the right side face of the driver. Shut off the control circuit power, and exchange the actuator to the correct one. After connecting the correct actuator, turn ON the power again to confirm that the system starts correctly. MODE UP DOWN SET Absolute multi revolution data error his error occurs when the power is turned ON for the first time or the actuator has been disconnected from the driver for an extended period of time (approximately 0 minutes or more). As shown to the left, [AL : System down] is generated. Action to be taken Issue a multi revolution clear command. After the multi revolution clear command, reconnect the driver power. For the method to clear the multi revolution counter, refer to [T0: Multi revolution clear](p-0). MODE UP DOWN SET -

70 - Turning ON the power for the first time () When a -bit absolute encoder (FHA-C series) is combined Turn ON the control circuit power. Check the input voltage and multi revolution data of the absolute encoder. Startup Normal Abnormal MODE UP DOWN SET The system switches to the status display mode. The default setting is to display the motor rotation speed. If multiple alarms or warnings have occurred, the applicable alarms/warnings are displayed one by one. Absolute multi revolution data error This error occurs when the power is turned ON for the first time or the actuator has been disconnected from the driver for an extended period of time (approximately 0 minutes or more). As shown to the left, [AL : System down] is generated. Action to be taken Issue a multi revolution clear command. After the multi revolution clear command, reconnect the driver power. For the method to clear the multi revolution counter, refer to [T0: Multi revolution clear](p-0). MODE UP DOWN SET -

71 - Turning ON the power for the first time () When a -wire incremental encoder (FHA-Cmini series) is combined Turn ON the control circuit power. Check the driver and actuator combination. Normal MODE UP DOWN SET The system switches to the status display mode. The default setting is to display the motor rotation speed. If multiple alarms or warnings have occurred, the applicable alarms/warnings are displayed one by one. If the actuator combination is wrong [UA: Wrong actuator connected] is displayed. Action to be taken The combined actuator is specified on the nameplate attached on the right side face of the driver. Shut off the control circuit power, and exchange the actuator to the correct one. After connecting the correct actuator, turn ON the power again to confirm that the system starts correctly. Abnormal MODE UP DOWN SET Startup Appe 0 Appe -

72 - Turning ON the power for the first time () When a -wire incremental encoder (FHA-C series) or -wire incremental encoder is combined Turn ON the control circuit power. Startup Normal MODE UP DOWN SET Abnormal The system switches to the status display mode. The default setting is to display the motor rotation speed. If multiple alarms or warnings have occurred, the applicable alarms/warnings are displayed one by one. Wrong wiring/faulty wiring If there are any problems in wiring the phase A, B, and Z signals, phase U, V, and W and/or power supply, [AL 0: Encoder disconnection] is generated. Wrong wiring/faulty wiring If there are any problems in wiring of phase U, V, and W signals and/or power supply of the encoder, [AL : UVW error] is generated. MODE UP DOWN S E T MODE UP DOWN S E T -

73 - Turning ON the power for the first time Troubleshooting upon power ON Description of operation Power ON JOG operation Description of problem The LEDs do not turn ON. An alarm generates. AL and AL are generated. Does not rotate. The rotation direction is reversed. An alarm generates. Check item Estimated cause Reference The situation improves when the CN connector is unplugged. The situation improves when the CN connector is unplugged. The situation does not improve even after unplugging the CN and CN connectors and wires. Refer to [Chapter Troubleshooting]. Insufficient input voltage or poor power connection Defective driver Insufficient input voltage or poor power connection Defective driver Insufficient input voltage or poor power connection Defective driver Execute the multi revolution clear, then reconnect the power. Is the motor wire connected correctly? Refer to [Chapter Troubleshooting]. P- P- Chapter P-0 Poor motor wire connection Defective driver Defective actuator P- Chapter Startup Appe 0 Appe -

74 - Operation check with the actuator alone - Operation check with the actuator alone The following explains the operation check procedure on the motor alone before the motor is assembled into the system. Startup CAUTION () Be sure to perform a trial run before commencing the normal operation. () In a trial run, separate the actuator from the machine/system and operate the actuator alone (under no load). Set the control mode Assign input signals Assign output signals Set the function extension mode Check the I/O wirings and logics in the test mode The position control mode is selected as the default setting. To use the driver in the speed control mode or torque control mode, the setting must be changed. Refer to: [SP-: Control mode switching setting] (P-) The factory default values of input signals are shown in Chapter. To change other signals and logics, the signal assignments and logics must be changed. Refer to: [Input signals: System parameter SP00 to SP] (P-) The factory default values of output signals are shown in Chapter. To change other signals and logics, the signal assignments must be changed. Refer to: [Output signals: System parameter SP0 to SP] (P-) As necessary, change the function settings of the driver. Check the settings for parameters that strongly affect operation. Refer to: [Function expansion signals] (P-) [Startup] (P-, P-) Check the wirings of driver signals input from the host, as well as driver outputs and host signal wirings/logics, in the test mode. Refer to: [Chapter Test mode] Operate from the host controller Perform actual operations according to the actual operation commands from the host controller. -

75 - Operation check with the actuator alone Troubleshooting at operation check Position control mode Operation Servo-ON input Description of problem The servo does not lock. Check item Is the motor wire connected correctly? Is the operation preparation completed? Is warning generated? Estimated cause Poor motor wire connection.the servo-on signal has not been input..is the DCV power supplied correctly to the IN-COM? The main circuit voltage is not input or lower than the warning threshold. Reference P- P- P- An alarm generates. Refer to [Chapter Troubleshooting]. Chapter Command The actuator Is the motor wire connected Wrong motor wire UVW connection pulse input does not correctly? P- rotate. Check the command pulse in.pulse pattern setting error the status display mode.-pulse train signal logic error P- explained in Chapter. Is the FWD or REV inhibit The FWD/REV inhibit is enabled. inputs enabled? P- Check the CN wirings. Wiring error Rotates only in direction. Pulse input pattern setting Pulse input pattern setting and pulse input system do not match. P- P- Is the FWD or REV inhibit input enabled? The inhibit input in non-rotatable direction is enabled. P- Check the CN wirings. Wiring error The rotation Check the CN wirings. Pulse signal wiring error direction * P- is reversed. Check the command polarity. Parameter setting error P- An alarm generates. Refer to [Chapter Troubleshooting]. Chapter *: The rotation polarity varies depending on the actuator model. Refer to the manual of your actuator. P- Startup Appe 0 Appe -0

76 - Operation check with the actuator alone Startup Speed control mode Operation Servo-ON input FWD enable or REV enable ON Description of problem The servo does not lock. An alarm generates. The actuator does not rotate. The rotation direction * is reversed. Check item Is the motor wire connected correctly? Is the operation preparation completed? Is warning generated? Refer to [Chapter Troubleshooting]. Is the motor wire connected correctly? Check the d speed command voltage in the status display mode. Monitor the I/O statuses using PSF-00 software. Are the internal speed command value and related items correctly set and selected? Is the FWD or REV inhibit input enabled? Check FWD/REV enable status. Is the command voltage input correctly? Check FWD/REV enable status. Estimated cause Poor motor wire connection.the servo-on signal has not been input..is the DCV power supplied correctly to the IN-COM? The main circuit voltage is not input or lower than the warning threshold. Wrong motor wire UVW connection The speed command voltage is 0V. Input signal is incorrect. Internal speed command setting error or internal speed command selection (CN) error The FWD/REV inhibit inputs are enabled. Both the FWD and REV enable inputs are turned ON or OFF. The opposite polarity is set. At + (-) command voltage input, the FWD (REV) enable inputs are turned OFF and the REV (FWD) enable inputs are turned ON. Parameter setting error Check the command polarity. An alarm Refer to [Chapter Troubleshooting]. generates. *: The rotation polarity varies depending on the actuator model. Refer to the manual of your actuator. Reference P- P- P- P- Chapter P- P-0 P- P-0 P- P- P- Chapter -

77 - Operation check with the actuator alone Torque control mode Operation Servo-ON input FWD selection or REV selection ON Description of problem The servo does not lock. An alarm generates. The actuator does not rotate. The rotation direction * is reversed. Check item Is the motor wire connected correctly? Is the operation preparation completed? Is warning generated? Refer to [Chapter Troubleshooting]. Is the motor wire connected correctly? Check the d torque command voltage in the status display mode. Monitor the I/O statuses using PSF-00 software. Is the FWD or REV inhibit input enabled? Check the FWD/REV selection status. Is the command voltage input correctly? Check the FWD/REV selection status. Check the command polarity. Estimated cause Poor motor wire connection.the servo-on signal has not been input..is the DCV power supplied correctly to the IN-COM? The main circuit voltage is not input or lower than the warning threshold. Wrong motor wire UVW connection The torque command voltage is 0V. Input signal is incorrect. The FWD/REV inhibit inputs are enabled. Both the FWD and REV selections are turned ON or OFF. The opposite polarity is set. At + (-) command voltage input, the FWD (REV) selection inputs are turned OFF and the REV (FWD) selection inputs are turned ON. Parameter setting error An alarm Refer to [Chapter Troubleshooting]. generates. *: The rotation polarity varies depending on the actuator model. Refer to the manual of your actuator. Reference P- P- P- P- Chapter P- P-0 P- P-0 P- P- Chapter Startup Appe 0 Appe -

78 - Operation check with the actual system - Operation check with the actual system The following explains the operation checking procedure to be performed using the applicable system assembled with the motor. Startup WARNING If this product is applied to any facility that affects life or may trigger material losses, install safety devices so that accidents will not occur even when the output control is disabled due to damage. Assemble into the actual system Perform auto-tuning in the test mode Manually adjust the gain Set the origin using the absolute encoder Operate from the host controller Stop Assemble the system into the ultimate condition to be used. Perform auto-tuning in the offline test mode to set an appropriate gain. Refer to: [Chapter Test mode] Issue operation commands from the host controller and check how the machine moves. If the machine movements must be calibrated further, manually adjust the gain. Refer to: [Manual gain adjustment method] (P-) This is necessary only on models equipped with an absolute encoder. Refer to: [Origin setting] (P-, P-) Perform actual operations according to the actual operation commands from the host controller. Refer to: [Chapter I/O signals] -

79 - Operation check with the actual system Troubleshooting at actual operation check Operation Auto-tuning Manual gain adjustment Description of problem Significant vibration does not decrease even after tuning. An alarm generates. Vibration does not decrease even after adjusting the gain. Check item Estimated cause Refere-nce Is the startup or shutdown time too short? Is the load inertia too big? Refer to [Chapter Troubleshooting]. Check the servo gain set value. Is the startup or shutdown time too short? Host controller setting error Actuator selection error Servo gain setting error Host controller setting error P- Chapter P- Startup Appe Is the load inertia too big? Actuator selection error An alarm generates. Refer to [Chapter Troubleshooting]. Chapter 0 Appe -

80 - Manual gain adjustment method Startup - Manual gain adjustment method If sufficient adjustment could not be achieved by auto-tuning, manual adjustment can be performed using various parameters. When manually adjusting the servo gain, adjust the gains of individual servos one by one. Check the response characteristics using the HA-00 driver monitor software PSF-00 waveform monitoring. Prepare a measuring instrument to observe monitored output waveforms to CN. Position control A block diagram of position control is shown below. HA-00A driver Mechanical load system Position command Position control part Speed control part Power amplifier Actuator Position loop Speed feedback Position feedback Encoder Parameters The following parameters are used to adjust the position control gain. Parameter No. Description Default AJ00 Position loop gain * AJ0 Speed loop gain * AJ0 Speed loop integral compensation * *: The default varies depending on the applicable actuator. Refer to the values of applicable actuator that are the targets of [Appendix: Default setting] (A-). Adjustment procedure Perform rough adjustment via auto-tuning. Refer to [T0: Auto-tuning] (P-). Set a smaller position loop gain (AJ00) and larger speed loop integral compensation (AJ0). Gradually increase the speed loop gain (AJ0) to the extent that the machine does not vibrate or produce abnormal sound, and once vibration or abnormal sound is detected decrease the gain slightly. Gradually decrease the speed loop integral compensation (AJ0) to the extent that the machine does not vibrate or produce abnormal sound, and once vibration or abnormal sound is detected increase the compensation slightly. Gradually increase the position loop gain (AJ00), and once vibration is detected decrease the gain slightly. Fine-tune the above gains by observing the settling after positioning and condition of machine operation. -

81 - Manual gain adjustment method Adjustment details Speed loop gain (AJ0) This parameter is used to determine the response of the speed loop. Increasing the set value of this parameter improves the response, but increasing the value excessively causes the mechanical system to vibrate easily. On the other hand, a lower response of the speed loop eliminates vibration but it may cause the response to drop. In addition, setting the response of the speed loop too low can cause a delay in the external position loop, thereby resulting in overshooting or the machine may vibrate as it executes a speed command. Speed loop integral compensation (AJ0) The speed loop can be integrally compensated to reduce the negative effect of speed fluctuation as the load fluctuates. The greater this integral compensation, the slower the response becomes upon load fluctuation. On the other hand, a smaller compensation improves the speed response upon load fluctuation, but too small a setting induces vibration. Accordingly, adjust the integral vibration to an appropriate level. Position loop gain (AJ00) By increasing the position loop gain, you can improve the control response and shorten the positioning time. However, an excessively high gain causes overshooting and the machine will reverse at high speed to compensate for the overshoot. These operations will be repeated and vibration will occur. If the position loop gain is too low, on the other hand, the control response drops. Startup Appe 0 Speed control Appe A block diagram of speed control is shown below. Speed command Position control part HA-00A driver Speed control part Power amplifier Mechanical load system Speed loop Actuator Speed feedback Position feedback Encoder Parameters The following parameters are used to adjust the speed control gain. Parameter No. Description Default AJ0 Speed loop gain * AJ0 Speed loop integral compensation * *: The default varies depending on the applicable actuator. Refer to the values of applicable actuator that are the targets of [Appendix: Default setting] (A-). Adjustment procedure Perform rough adjustment via auto-tuning. Refer to [T0: Auto-tuning] (P-). Set a larger speed loop integral compensation (AJ0). -

82 - Manual gain adjustment method Startup Gradually increase the speed loop gain (AJ0) to the extent that the machine does not vibrate or produce abnormal sound, and once vibration or abnormal sound is detected decrease the gain slightly. Gradually decrease the speed loop integral compensation (AJ0) to the extent that the machine does not vibrate or produce abnormal sound, and once vibration or abnormal sound is detected increase the compensation slightly. Fine-tune the above gains by observing the condition of machine operation under speed control. Adjustment details Speed loop gain (AJ0) This parameter is used to determine the response of the speed loop. Increasing the set value of this parameter improves the response, but increasing the value excessively causes the mechanical system to vibrate easily. On the other hand, a lower response of the speed loop eliminates vibration but it may cause the response to drop. In addition, setting the response of the speed loop too low can cause a delay in the external position loop, thereby resulting in overshooting or the machine may vibrate as it executes a speed command. Speed loop integral compensation (AJ0) The speed loop can be integrally compensated to reduce the negative effect of speed fluctuation as the load fluctuates. The greater this integral compensation, the slower the response becomes upon load fluctuation. On the other hand, a smaller compensation improves the speed response upon load fluctuation, but too small a setting induces vibration. Accordingly, adjust the integral vibration to an appropriate level. -

83 - Manual gain adjustment method Applied servo gain adjustment function The feed-forward control function can be adjusted with the applied adjustment function. Normally, you should first use the above manual gain adjustment methods in [Position control] (P-).Only when these adjustments do not provide satisfactory results you should use the applied adjustment function. The feed-forward control function calculates the speed command/torque command required for operation from the position command. Compared to feedback control alone, the error pulses can be made smaller to improve the responsiveness. The feed-forward control function is only effective during position control. It does not operate for speed control or torque control. [SP: Feed-forward control function setting] allows you to select feed-forward control and the feed-forward control simple adjustment edition. The feed-forward control simple adjustment edition is a function that can achieve the same degree of control performance with fewer setting parameters ( relevant parameters) than the previous feed-forward control ( relevant parameters). SP: Feed-forward control function setting : Affected by AJxx setting : Not affected by AJxx setting Set Relevant parameters Function value AJ0 AJ0 AJ AJ AJ 0 Feed-forward control (previous compatible function) Feed-forward control Feed-forward control simple adjustment version (stable operation mode) Feed-forward control simple adjustment version (normal operation mode) Feed-forward control simple adjustment version (high-speed operation mode) Feed-forward control simple adjustment version (manual tune mode) * [SP: Feed-forward control function setting] is available for HA-00 software version.x or later. *: Changes to system parameter settings (SP00 to ) are put into effect by changing the setting, then turning control power supply OFF, then ON again. Do not set [SP: Feed-forward control function setting] to 0 unless you have been using feed-forward control function with software version.0 or earlier, and will use the HA-00A with the same device with software version.x or later. The feed-forward control function does not operate after switching from speed control or torque control to position control. When using the feed-forward control function, it is necessary to set [AJ: Load inertia moment ratio] correctly. Set this value correctly using the machine specifications value or the auto-tuning function. Changes to [AJ0: Feed-forward gain] take effect when the motor shaft rotation speed drops to [AJ0: Zero speed judgment value] or lower. Changes to feed-forward function related parameters (AJ0-) take effect when the motor stops. Setting values can be changed while the motor is operating. Startup Appe 0 Appe -

84 - Manual gain adjustment method Block diagram of feed-forward control function Startup Position command Differentiation Feed-forward control part Position control part HA-00A driver Speed control part Power amplifier Speed feedback Position feedback Mechanical load system Actuator Encoder Parameters The following parameters are used for feed-forward control. Parameter No. Description Default SP * Feed-forward control function setting * AJ0 Feed-forward gain 0 AJ0 Feed-forward filter AJ Load inertia moment ratio 00 AJ Torque constant compensation factor 00 AJ Spring constant compensation factor 00 *: Changes to system parameter settings (SP00 to ) are put into effect by changing the setting, then turning control power supply OFF, then ON again. *: The default varies depending on the applicable actuator. Refer to [Default settings] (Apx-) in the appendix. Adjustment details Feed-forward control function setting (SP) Setting details This sets the responsiveness when [SP: Feed-forward control function setting] is [,, or ].The appropriate feed-forward filter frequency is set automatically based on the machine s resonance frequency due to the rigidity of the speed reducer in the actuator and the load inertia moment ([AJ: Load inertia moment ratio]). When [SP: Feed-forward control function setting] is [0,, or ], [AJ0: Feed-forward filter] can be set to any desired value. Adjustment method Normally, set [SP=: Normal operation mode].from the vibration and responsiveness, set the appropriate operation mode, referencing the table below. The vibration and responsiveness are greatly affected by [AJ0: Feed-forward gain].also, for a low inertia ratio (when [AJ: Load inertia moment ratio] is 0 or less), vibration occurs particularly easily. When the responsiveness is not satisfactory with [SP=: High-speed operation mode], you can also adjust the feed-forward filter manually with [SP=: Manual tune mode].only use [SP=: Feed-forward control] when [SP=: Manual tune mode] cannot produce satisfactory results. Vibration Responsiveness SP=: Stable operation mode Small Low speed SP=: Normal operation mode Medium Medium speed SP=: High-speed operation mode Large High speed -

85 - Manual gain adjustment method Feed-forward gain (AJ0) Adjustment method If the feed-forward gain is set too high, the command is achieved more quickly. However, an excessively high gain leads to mechanical shock or vibration (hunting). Set [AJ0L Feed-forward gain] in the range [0 to 00].Set the feed-forward gain to around 0 and check the response. Raise and lower the gain about degrees at a time until you have adjusted to a satisfactory response. When [AJ0: Feed-forward gain] is 0, the feed-forward control function is disabled. Effect of electronic gear setting Note that when the electronic gear ratio is high, adequate effects may not be obtained from feed-forward control and vibration may occur. For example, setting the numerator larger and denominator smaller for the electronic gear has the same effect as inputting (numerator)/(denominator) pulses per positioning command pulse. In this case, input change increases in discontinuous steps. Since an input change is differentiated under feed-forward control, if this discontinuous input change increases, the derivative value becomes discontinuous, and vibration may occur. Also, for a low inertia ratio (when [AJ: load inertia moment ratio] is 0 or less) and low-speed operation, vibration occurs particularly easily. Feed-forward filter (AJ0) Setting details Set the filter frequency to be used in feed-forward control. When [SP: Feed-forward control function setting] is 0,, or, the setting has an effect. Adjustment method A higher set value has faster response but vibration is more likely to occur. In order to make feed-forward control function effectively, it is necessary to set a value larger than the value of [AJ00: Position loop gain].while checking the response, gradually raise the setting value. Load inertia moment ratio (AJ) Setting details Set the ratio of the moment of inertia of load relative to the self-inertia moment.00% means that the load factor is the same as the self-inertia moment. Set the actual load inertia value of the machine. This value can also be set automatically using the auto-tuning function. For details on the auto-tuning function, refer to [Auto-tuning] (P-, P0-). Effect of setting Increasing the load inertia moment ratio has the effect of increasing the feed-forward amount just like when the feed-forward gain is raised. Lowering the load inertia moment ratio has the same effect as lowering the feed forward gain. Set the actual load inertia value of the machine correctly. Torque constant compensation factor (AJ) Normal use Variation in the actuator torque constant is compensated for.feed-forward control is performed based on the value set here.set this factor to 00% in normal use.when [SP: Feed-forward control function setting] is 0 or, the setting has an effect. Effect of factor The reference value of the torque constant compensation factor is 00%. Setting a higher value increases the actuator torque constant, meaning that the feed-forward control part decreases the feed-forward amount and thereby lowers the feed-forward gain. On the other hand, setting a low torque constant compensation factor has the same effect as increasing the feed-forward gain. Torque constants of actuators are subject to slight variation, and this parameter is used to compensate for this variation. Accordingly, set this parameter to 00% in normal use. Startup Appe 0 Appe -0

86 - Manual gain adjustment method Startup Spring constant compensation factor (AJ) Normal use Variation in the actuator spring constant is compensated for. Feed-forward control is performed based on the value set here. Set this factor to 00% in normal use. When [SP: Feed-forward control function setting] is 0 or, the setting has an effect. Effect of factor Although the reference value of the spring constant compensation factor is 00%, set an appropriate compensation factor depending on the variation in the actuator's spring constant. Resonance frequencies that cause mechanical resonance may occur depending on the actuator's spring constant compensated for by the spring constant compensation factor and the setting of load inertia moment ratio (AJ).The feed-forward control part implements controls to lower the feed-forward gain at these resonance frequencies. -

87 - Normal operation - Normal operation This driver operates according to commands received from the host device. No special procedures are required in normal operations. The following explains the notices when performing normal operations as well as daily maintenance/inspection. Notices for normal operations WARNING () Do not change wirings while the power is supplied. Disconnecting wires or connectors while the power is supplied may cause electric shock or an uncontrollable operation. () Do not touch the terminals for minutes after the power is turned OFF. Even after the power is turned OFF, electric charge remains in the driver. Do not touch the terminals for minutes after the power-off to avoid electric shock. () Do not operate the driver by turning ON/OFF the power. Frequent power ON/OFF operation may cause deterioration of circuit elements inside the driver. Daily maintenance/inspection Perform maintenance/inspection according to the maintenance/inspection standards for electronic devices specified by the department introducing the driver. WARNING () Be sure to shut down the power before carrying out maintenance/inspection. Carrying out maintenance/inspection while the power is supplied may cause electric shock. () Do not touch the terminals for minutes after the power is turned OFF. Even after the power is turned OFF, electric charge remains in the driver. Do not touch the terminals for minutes after the power-off to avoid electric shock. () Do not perform megger test or voltage resistance test. The control circuits in the driver may be damaged and an uncontrollable operation may occur. Startup Appe 0 Appe Inspection point Terminal screws Unit exterior Unit interior Interval Inspection standard Treatment -year inspection -year inspection -year inspection No loosen screws No dust or metal chips on the case No discoloration, damage or other abnormalities Tightening screws Cleaning Consult Harmonic Drive Systems -

88 - Normal operation Startup Periodically replaced parts A detection circuit is provided for the following replacement parts of this driver so that any part that can no longer operate correctly can be identified. However, it is recommended that each part be replaced at the specified timing listed below. For details, contact our sales office. Replacement part Cooling fan Battery Electrode capacitor Relay Replacement timing years year years 00,000 times (Number of power ON times) Replacement method Replaced by our office. Ship your HA-00A driver to our sales office. The driver will be returned once the part has been replaced. Purchase a new battery from our sales office. Replace the old battery with the new one after purchase by referring to [How to replace the backup battery]. When the capacitor is operated in an environment of 0 in average temperature throughout the year. It varies depending on the use environment. Use the relay at the frequency of turning power ON/OFF of 0 times/day or less. The life of the cooling fan assumes that this driver is operated hours a day in an environment of 0 in average temperature throughout the year. The life of the battery assumes that the driver remains unpowered in a condition connected to the actuator. Backup battery The backup battery is used to hold the multi revolution data in the absolute encoder when the power supply is cut off. The absolute encoder has a built-in capacitor to hold the data even after the backup battery is replaced. All drivers of absolute encoder model come with this battery pre-assembled. Backup battery Model code: HAB-ER/- Battery type Lithium battery Manufacturer Hitachi Maxell, Ltd. Manufacturer model ER/ (.V,00 mah) Data retention time Data retention time Conditions Approx. year after the power is cut off Not used, ambient temperature:, axis stopped, continuous use (The actual life varies depending on the condition of use.) A battery purchased separately from the battery manufacturer does not come with connector wires or removal tape. Prepare them on your own and attach them to the battery before use. -

89 - Normal operation Built-in capacitor of actuator Data retention time Data retention time Conditions Approx. 0 min. after the power is cut off After h of charging, ambient temperature, axis stopped How to replace the backup battery If [UA : Low battery power] displays, replace the battery by following the procedure below: Open the operation panel cover. Panel cover Startup Appe Remove the battery. Battery holder Set the new battery by placing it in the battery holder with the positive side facing down. Push the battery all the way in and close the panel cover. With a -bit absolute encoder or a -bit absolute encoder (SHA0, FHA-Cmini series and HMA series)*, UA will be automatically reset after the battery is replaced. With a -bit absolute encoder (SHA series (excluding SHA0) and HMA series (excluding HMAC0)), UA will be reset by resetting the alarm and reconnecting the power after the battery is replaced. * In Version.x and earlier, after the battery is replaced, turning the power back ON releases UA. 0 Appe Exercise caution to prevent the battery cable from getting caught when closing the panel cover. -

90 - Normal operation Startup -

91 - Chapter Encoder system The encoder configuration is different depending on the actuator model. Details of each actuator are explained in this chapter. - Overview of encoders - - -bit absolute encoder - - -bit absolute encoder - - Incremental encoder -

92 - Overview of encoders 0 Encoder system - Overview of encoders A different type of encoder is embedded in the actuator according to the actuator model. Accordingly, wirings, signal exchange with the driver, etc., vary depending on the applicable model. Details are explained below for each encoder type. Check the section corresponding to your actuator. Encoder type Actuator model Driver model Details SHA series -bit absolute encoder FHA-Cmini series -bit encoder incremental model HMA series HA-00A-*D-00/00 P- -bit absolute encoder FHA-C series HA-00A-*A-00/00 P- -wire wire-saving incremental encoder FHA-C series HA-00A-*C-00/00 -wire wire-saving incremental encoder FHA-Cmini series HA-00A-*C-00/00 P- -wire incremental encoder RSF/RKF series HA-00A-*B-00/00 -

93 - Overview of encoders The specifications of encoders that can be connected to the HA-00A driver are shown below. Select an applicable driver model according to the actuator used and the applicable encoder specification. Item -bit absolute encoder * Actuator model SHA series (excluding SHA0), HMA series (excluding HMAC0) SHA0, FHA-Cmini series, HMAC0 -bit absolute encoder FHA-C series -wire wire-saving incremental encoder FHA-Cmini series FHA-C series -wire incremental encoder RSF/RKF series Details P- P- P- P- P- P- Applicable driver HA-00A-C- model 00/00 HA-00A-D/E-00/ 00 HA-00A-D/E-00/ 00 HA-00A-D/E-00 HA-00A-D/E -00 HA-00A-D/E -00/00 Sensor type Magnetic sensor Single revolution: Optical sensor multi revolution: Magnetic sensor Data storage upon power OFF Resolution per motor shaft rotation Maximum motor shaft rotation range Encoder monitor output pulses Max. permissible rotational speed upon power failure Retention time by driver's built-in backup battery Battery backup method bits (,0 pulses) bits (- to ) Parameter setting can be changed. Up to, pulses are output per motor shaft rotation.,000 r/min However, 00 r/min when the power is input/encoder is started. Approx. year (Power not supplied) Battery backup method bits (,0 pulses) bits (- to ) Parameter setting can be changed. Up to, pulses are output per motor shaft rotation.,000 r/min However, 0 r/min when the power is input/encoder is started. Approx. year (Power not supplied) HA-00A-A -00/00 HA-00A-A -00/00 HA-00A- C -00/00 HA-00A- C -00/00 Optical sensor Optical sensor Optical sensor Battery backup method bits (, pulses) bits (-0 to 0) None None None,000 pulses * Not limited 0,000 pulses * Not limited HA-00A-B -00/00 HA-00A-B -00/00 Optical sensor,000 pulses * Not limited Fixed Fixed Fixed Fixed,000 r/min (constant speed),00 r/min (accelerating) Approx. year (Power not supplied) Encoder system Retention time by actuator's built-in capacitor Encoder/driver communication method Encoder/driver connection cable Approx. 0. h (Fully charged) Line driver receiver method/. Mbps EWD-S**-A0-M (model No.,, 0) EWD-S**-D0-M (model No., ) -core twisted wire x -pair shield cable Approx. 0. h (Fully charged) Line driver receiver method EWD-S**-A0- M -core twisted wire x -pair shield cable Approx. 0. h (Fully charged) Line driver receiver method EWC-S**-B0- M -core twisted wire x -pair shield cable Line driver receiver method EWC-E**-M0 -M -core twisted wire x -pair shield cable Line driver receiver method EWC-E**- B0-M -core twisted wire x -pair shield cable A, B, Z, U, V and W parallel signals EWA-E**-A -M -core twisted wire x -pair shield cable -

94 - Overview of encoders 0 Encoder system Item -bit absolute encoder * Actuator model HA-00A current value data output (for reading initial position) Alarm SHA series (excluding SHA0), HMA series (excluding HMAC0) -bit data transmission output of signed current value (,00 bps, data refresh cycle 00 ms) SHA0, FHA-Cmini series, HMAC0 -bit data transmission output of signed current value (,00 bps, data refresh cycle 00 ms) -bit absolute encoder FHA-C series -bit data transmission output of signed current value (,00 bps, data refresh cycle 00 ms) -wire wire-saving incremental encoder FHA-Cmin i series FHA-C series -wire incremental encoder RSF/RKF series Encoder disconnection MEMORY error System failure Single rotation data error Multi revolution data error BUSY error Overheat error Communicati on error Encoder counter receiving error Multi revolution counter overflow Multi revolution data error Safety/ redundancy Absolute data dualredundancy matching method Absolute data dualredundancy matching method None None None None *: The -bit encoder incremental model does not perform multi revolution detection and do not require a backup battery. Otherwise it is the same as a -bit absolute encoder. *: Quadruplicated pulses -

95 - -bit absolute encoder - -bit absolute encoder CAUTION Features If AL (system failure), AL (single rotation data error) or AL (multi revolution data error) occurs due to a loss of absolute position or error, be sure to reset the origin. Failure to do so may result in unexpected operations. The SHA series (excluding SHA0) and HMA series (excluding HMAC0) are equipped with a multi revolution-type -bit magnetic absolute encoder. The SHA0, FHA-Cmini series, and HMAC0 are equipped with a multi revolution-type -bit optical absolute encoder. (Multi revolution detection is magnetic.) It consists of a detector ( bits/revolution) for detecting the position after one motor shaft revolution and a cumulative counter ( bits) for detecting the number of motor revolutions. This encoder constantly detects the absolute machine position and stores it by means of the backup battery, regardless of whether the power supply for driver or external controller is turned ON/OFF. Accordingly, once the origin is detected when the machine is installed, originating is not required after subsequent power ON operations. This facilitates the recovery operation after a power failure or breakdown. The SHA-CG output shaft single revolution absolute model (SHA-CG-S) assumes a machine that only moves the index table in one direction. When the machine continues to rotate in just one direction, the absolute encoder eventually exceeds the number of revolutions that can be detected with multi-revolution detection and it becomes impossible to manage position information accurately. Therefore, each time the output shaft turns through single revolution, the cumulative multi revolution counter is cleared to 0 to achieve the output shaft single revolution absolute function. This is how position information is accurately managed when the shaft continuously turns in just one direction. With the -bit absolute encoder, the single revolution absolute position detector and the revolution detection/cumulative counter are both made dual-redundant. Two identical data items are constantly compared to ensure highly reliable design permitting self-detection of encoder errors should they occur. A backup capacitor is also provided in the encoder. (Internal backup. Take note that the retention time is short.) The -bit encoder incremental model does not perform multi revolution detection and do not require a backup battery. Otherwise it is the same as a -bit absolute encoder. 0 Encoder system The backup time is 0 minutes when a new capacitor has been charged for at least hours by supplying power to the actuator. This backup time becomes shorter if the power is supplied for a shorter period or the capacitor deteriorates over time. -

96 - -bit absolute encoder 0 Actuator Data calculation part Single revolution detection part Multi revolution detection part Communication control part HA-00A driver Communication control part Backup battery Angle compensation data Encoder system Standard connection Backup capacitor Block diagram of actuator/encoder and driver A connection example of an actuator of -bit absolute encoder model with a HA-00A driver is shown. HA-00A-*D U V W R R R Red White Black Green/Yellow AC Servo Actuator SHA, FHA-Cmini AC Servo Motor HMA M R and R are shorted. When using an external regenerative resistor, keep R and R open and connect the regenerative resistor between R and R. CN +V 0V Be sure to connect to the ground terminal. Red Black E SD SD BAT+ BAT- Yellow Blue Orange Gray -bit absolute encoder Connector shell Shield Use a twisted pair shield cable. Securely connect the shield to the cable-clamp with grand-brain of the connector. -

97 - -bit absolute encoder Startup Parameters that must be set Parameter No. SP SP SP Name Encoder monitor output pulses Absolute encoder function setting Output shaft divide function setting* Function Set the phase A and B pulses to be output to the encoder monitor output terminals (CN- to ) when the motor shaft of the -bit absolute encoder turns one revolution. Setting range: to, (Default: ) If this parameter is set to the maximum value of,, the resolution becomes, pulses (, x ). This corresponds to one-fourth the resolution,0 of the -bit encoder. A -bit absolute encoder can be set to be used as an incremental encoder. Setting range: 0, 0: Use as an absolute encoder. (Default value on HA-00A-*D) : Use as an incremental encoder. (Default value on HA-00A-*E) When using for position control combined with an SHA-CG series unit, you can set the actuator resolution. Setting range: 0 to (Default value: 0) 0: According to electronic gear settings (SP, SP/SP, SP/SP) : Division of single output shaft rotation into,000 parts (equivalent to 0.0 degree resolution) : Division of single output shaft rotation into 0,000 parts (equivalent to 0.00 degree resolution) : Division of single output shaft rotation into,00,000 parts (equivalent to degree resolution) *: If you change the setting, the origin needs to be set again. Be sure to change the value before setting the origin. Startup procedures Absolute encoder function setting (checking the backup battery Set [SP: Absolute encoder function setting] according to the method used, then turn the power OFF, then ON again. For details, refer to [SP: Absolute encoder function setting] (P-). When setting [SP: Absolute encoder function setting] to 0 (default value on HA-00A-*D) and using as an absolute encoder, open the operation panel cover and confirm that the backup battery is installed. If not, set one by referring to [How to replace the backup battery] (P-). When setting [SP: Absolute encoder function setting] to (default value on HA-00A-*E) and using as an incremental encoder, the backup battery is not required. 0 Encoder system Initializing the absolute encoder system When the power supply is turned ON for the first time, [AL: System failure], [AL: Single revolution data error], [AL: Multi revolution data error] and [UA: Battery voltage low warning] generate. It is necessary to initialize (multi revolution data clear) the errors. For details, refer to [T0: Multi revolution clear] (P-0). When setting [SP: Absolute encoder function setting] to and using as an incremental encoder, the backup battery is not required. * UA will not occur on the SHA0, FHA-Cmini series, and HMAC0 absolute type if the battery is normal. If UA occurs, replace the battery. -

98 - -bit absolute encoder 0 Encoder system Setting the parameters Set [SP: Encoder monitor output pulses] and [SP: Output shaft divide function setting*] according to the method used, then turn the power OFF, then ON again to put the parameter into effect. For details, refer to [SP: Encoder monitor output pulses] (P-), [SP: Output shaft divide function setting] (P-), and [Output signal pulses] (P-). *: If you change the setting, the origin needs to be set again. Be sure to change the value before setting the origin. Origin setting Set the origin in order to link the actuator driver and the mechanical origin.. Using as an absolute encoder (SP=0) For the origin setting method, refer to [Origin setting] (P-).. Using as an incremental encoder (SP=) In order to establish the relationship between the actuator driver and the machine origin, use the return-to-origin function on the host controller to execute a return to origin and manage the coordinates with the host controller. When the control power supply is turned ON When the driver has been replaced When the actuator has been replaced -

99 - -bit absolute encoder Origin setting Perform the following to set the origin (read the current value data at the mechanical origin position) in order to link the actuator driver and the mechanical origin. () Move the actuator to the target mechanical origin position via a JOG operation, manually, or using the various host controller functions. () Execute T0 (multi revolution clear) by operating the HA-00A panel, and reconnect the HA-00A power supply. () Perform any of the following to read the current absolute encoder value. (a) Use the current value data output at the pins CN-0,.From the pins CN-0 and, receive the absolute encoder s current value with the host controller and check the data.for details, refer to [Data output] (P-). (b) (b) Use the HA-00 driver monitor software PSF-00.Check the PSF-00 status display value monitor feedback pulses. For details, refer to [Chapter 0 Communication software]. (c) (c) Use the status display panel for the HA-00A driver. You can check the current encoder value from the d0 feedback pulse (Low) and d0 feedback pulse (High) shown on the display panel in the status display mode. For details, refer to [d0, 0: Feedback pulses display] (P-). () Manage the coordinates (set the origin) with the host controller with the read out current value of the absolute encoder as the origin data. () In operations after setting the origin, use the CN-0, current value data output to acquire the current value data and manage the coordinates with the host controller. For details, refer to [Data output] (P-). *: The current HA-00A position display will not usually indicate zero at the mechanical origin. Do not turn the actuator until the Step () Multi revolution clear is executed and Step () Receiving/reading of the current value is completed. If the actuator moves, the origin may become offset. Take note that the current value of the -bit absolute encoder (0 digits) cannot be fully displayed (only the last digits are displayed) because only a total of digits are allocated for d0 feedback pulse (Low) and d0 feedback pulse (High) on the display panel of the HA-00A driver. Set the origin in the following situations even if it's not during a start-up. The driver has been replaced The actuator has been replaced [AL: System failure], [AL: Single revolution data error] or [AL: Multi revolution data error] generated due to a loss of absolute position or error. When the electronic gear (SP/SP, SP/SP) or output shaft divide function (SP) has been changed 0 Encoder system -

100 - -bit absolute encoder 0 Encoder system Data output Outputting the current value data from the pins CN-0 and This is used to acquire the current value data in order to manage the absolute position with the absolute encoder. The current value of the -bit absolute encoder is constantly output cyclically. Data of bits 0 to (including the sign) is divided into parts and sent. Data of bits 0 to is sent in transmissions taking 00 ms each, or over a total period of 00 ms. It is output with a line driver (LS), so receive using a line receiver (AMLS or equivalent). This data is transmitted cyclically and repeatedly after the driver power supply is turned ON and CPU is started, regardless of the timings of phase A, B and Z output signals. With the SHA-CG series, operation commands can be set in the actuator in angle units with [SP: Output shaft divide function setting].in this case, the absolute encoder current value data is also output equivalent to degree units. Also, with the SHA-CG output shaft single revolution absolute model, the output range for the current value is the values for single revolution of the output shaft. For details on the current value data output range, refer to the table below. * For the current value data reception sequence, sample ladder is available for the Mitsubishi Electric Q Series and the Keyence KV Series. For details, contact our sales office. * The current value data is unstable immediately after turning the control power supply ON. Read the current value data after 0 seconds or longer elapsed after turning the control power supply ON. Output format Communication speed Stop bit Data length Parity bit Format Refresh cycle (refresh cycle of each number of divisions data) Start-stop 00 bps bit bit Even parity LSB first 00 ms Current value data output+ Current value data output- Monitor ground Output format* Number Current value data Number of divisions data of divisions Bit0 Bit Bit Bit Bit Bit Bit Bit Current value data bits 0 to Current value data bits to Current value data bits to 0 0 Current value data bits to Current value data bits to 0 0 Current value data bits 0 to 0 0 Current value data bits to 0 Current value data bits to Code data (If positive, all 0. If negative, all ) 0 0 *: If the current value data is negative, each bit of the data is output as its s complement CN 0 LS -

101 - -bit absolute encoder Model Setting Output range Unit FHA-C series - - to pls SHA-SG/HP series FHA-Cmini series HMA series SHA-CG SHA-CG-S - - to pls SP=0 - to pls SP= -0 to 0 * pls ( 0.0deg equivalent) SP= -00 to 00 * pls ( 0.00deg equivalent) SP= -000 to 000 * pls ( 0.000deg equivalent) SP=0 0 to 0 * pls SP= 0 to pls ( 0.0deg equivalent) SP= 0 to pls ( 0.00deg equivalent) SP= 0 to pls ( 0.000deg equivalent) *: On the SHA=CG, when SP=,, or, the output range depends on the speed reduction range of the actuator and is the range of the calculated angle values of the multi revolution detection range. The output range is from [- /( x speed reduction ratio) x number of output divisions to ( -)/( x speed reduction ratio) x number of output divisions]. *: On the SHA=CG, when SP=0, the output range depends on the speed reduction ratio of the actuator. The output range is [0~ x speed reduction ratio ]. With the SHA-CG series, the current value data output range depends on the value of [SP: Output shaft divide function setting]. With the SHA-CG series, when the power is turned ON, the current value data becomes a value that occurs in single revolution of the output shaft. Note that the directions of increase and decrease for the current value output depend on [SP0: command polarity] setting.*: With the SHA-SG/HP series and HMA series, rotation is in the opposite directions from those below. For 0, : Increase with clockwise rotation For : Increase with counter-clockwise rotation 0 Encoder system -0

102 - -bit absolute encoder 0 Encoder system Example: The current value is (00Dh) First Second Third Fourth Fifth Sixth Seventh Eighth Ninth Start bit 0 p Encoder phase A, B and Z signal outputs When the motor shaft equipped with a -bit absolute encoder turns, incremental phase A, B and Z signals are output to the pins CN- to. The number of pulses per motor shaft revolution is set by [SP: System parameter]. CN- Phase output-a+ (LD) CN- Phase output-a- (LD) CN- Phase output-b+ (LD) CN- Phase output-b- (LD) CN- Phase output-z+ (LD) CN- Phase output-z- (LD) CN- Monitor ground Current value data Number of divisions data Encoder phase A+ signal output Encoder phase A- signal output Encoder phase B+ signal output Encoder phase B- signal output Encoder phase Z+ signal output Encoder phase Z- signal output Monitor ground Stop bit Parity bit LS - Output signal pulses The output pulses per motor shaft revolution are set by the parameter [SP: Encoder monitor output pulses]. Output pulses per motor shaft revolution Phase A signal output Set value of SP ([] to [,]) Phase B signal output Set value of SP ([] to [,]) Phase Z signal output For phase Z, pulse is output per motor shaft revolution. For example, setting the maximum value, in SP causes, pulses to be output per motor shaft revolution. Although this corresponds to a resolution of, pulses, or times,, it is one-fourth the resolution,0 of the -bit absolute encoder per motor shaft revolution., =, (Quadruplicate)

103 - -bit absolute encoder,0 =, Phase A, B and Z incremental output waveforms For FWD rotation, the phase A signal is output with an advance of 0 relative to the phase B signal. For REV rotation, the phase A signal is output with a delay of 0 relative to the phase B signal. To obtain the resolution in the quadrupled mode, utilize the leading edges and trailing edges of both phase A and B signals. Phase A signal Phase B signal Incremental output signal for FWD rotation When, is set in SP, the values of the -bit absolute encoder and phase A, B and Z waveforms are as follows. However, the phases of phase-a, B, and Z waveforms delay with respect to the value of the absolute encoder for the signal processing time within the driver, due to the rotation speed of the actuator. Absolute encoder value Phase A signal output Phase B signal output Phase Z signal output Phase A signal Phase B signal + + FWD rotation direction Incremental output signal for REV rotation Phase A pulses =, pulses/revolution Phase B pulses =, pulses/revolution Phase Z pulses = pulse/revolution 0 Encoder system REV rotation direction Signal input method Each phase signal is output by a line driver (LS). Receive the signals using a line receiver (AMLS or equivalent). Use an EIA-A compliant line receiver to receive the signals. -

104 - -bit absolute encoder 0 Encoder system Remedial actions for errors/warnings Remedial action for error Name Description Cause Action AL0 Encoder disconnection AL0 MEMORY error AL System failure AL Single rotation data error AL Multi revolution data error AL BUSY error AL Overheat error Encoder signals have been cut off. EEPROM memory error in encoder Encoder system shutdown Encoder single revolution data error Encoder multi revolution data error When the encoder was started, the motor shaft rotated at a constant speed or above and a position specification problem occurred. Heated actuator/encoder () Disconnected encoder signal wire () Poor contact/connection of encoder signal connector () Encoder error () HA-00A driver control circuit error () Encoder error () HA-00A driver control circuit error () Turned the power ON for the first time after the purchase. () SHA series (excluding SHA0) and HMA series (excluding HMAC0): Either the voltage of the backup capacitor in the encoder or HA-00 driver battery, whichever is higher, has become.v or below. SHA0, FHA-Cmini series and HMAC0: The battery voltage has dropped to.v or below. FHA-Cmini series absolute type: The battery voltage has dropped to.v or below. () Encoder failure () Turned the power ON for the first time () Malfunction due to external noise () Encoder failure () Turned the power ON for the first time () Malfunction due to external noise () Encoder failure () When the power supply was turned ON and encoder was started, the motor shaft rotated at a constant speed or above. SHA series (excluding SHA0) and HMA series (excluding HMAC0): 00 r/min or more SHA0, FHA-Cmini series and HMAC0: 0 r/min or more () Encoder failure () The board temperature in the encoder has reached or above. () The heat sink temperature of the driver has reached 0 or above. () Encoder failure () Repair the wire. () Connect the connector properly. () Replace the actuator. () Replace the HA-00A driver. () Replace the actuator. () Replace the HA-00A driver. () Perform [T0: Multi revolution clear] to reconnect the power. () Replace the HA-00A driver battery with a new one. After the battery has been replaced, set the origin. () Replace the actuator. () Perform [T0: Multi revolution clear] to reconnect the power. () Provide noise suppression measures to eliminate negative effects of external noise. () Replace the actuator. () Perform [T0: Multi revolution clear] to reconnect the power. () Provide noise suppression measures to eliminate negative effects of external noise. () Replace the actuator. () When the power supply is turned ON and encoder is started, ensure that the motor shaft rotates at a constant speed or below. () Replace the actuator. () Remove the cause of actuator overheat, such as relaxing the actuator drive conditions or improving the heat radiation conditions for the heat sink. () Same as above () Replace the actuator. -

105 - -bit absolute encoder Name Description Cause Action AL Communication error Data could not be received in at least consecutive communications between the actuator and this driver. Remedial action for warning () Disconnected encoder signal wire () Poor contact/connection of encoder signal connector () Malfunction due to external noise () Repair the wire. () Connect the connector properly. () Provide noise suppression measures to eliminate negative effects of external noise. () Check the ground line or other ground. Name Description Cause Action UA Battery voltage low The backup battery voltage has dropped to DC.V or below. () Voltage drop due to consumption of backup battery () Short-circuit the encoder battery wire () HA-00A driver control circuit error () Encoder failure () SHA series (excluding SHA0) and HMA series (excluding HMAC0): Replace the battery with a new one, input alarm reset and then reconnect the power supply. SHA0, FHA-Cmini series, and HMAC0: * Replace the battery with a new one. * In Version.x and earlier, after the battery is replaced, turning the power back ON releases UA. () Repair the wire. () Replace the HA-00A driver. () Replace the actuator. 0 Encoder system -

106 - -bit absolute encoder 0 Encoder system - -bit absolute encoder CAUTION Features If AL (system failure), AL (multi revolution counter overflow) or AL (multi revolution data error) generates due to a loss of absolute position or error, be sure to reset the origin. Failure to do so may result in unexpected operations. The FHA-C series is equipped with a multi revolution-type -bit optical absolute encoder. It consists of a detector ( bits/revolution) for detecting the position after one motor shaft revolution and a cumulative counter ( bits) for detecting the number of motor revolutions. This encoder constantly detects the absolute machine position and stores it by means of the backup battery, regardless of whether the power supply for driver or external controller is turned ON/OFF. Accordingly, once the origin is detected when the machine is installed, originating is not required after subsequent power ON operations. This facilitates the recovery operation after a power failure or breakdown. A backup capacitor is also provided in the encoder. (Internal backup. Take note that the retention time is short.) The backup time is 0 minutes when a new capacitor has been charged for at least hours by supplying power to the actuator. This backup time becomes shorter if the power is supplied for a shorter period or the capacitor deteriorates over time. Actuator Data calculation part Single revolution detection part Multi revolution detection part Communication control part HA-00A driver Communication control part Backup battery Backup capacitor Block diagram of actuator/encoder and driver -

107 - -bit absolute encoder Standard connection A connection example of an actuator of -bit absolute encoder model with a HA-00A driver is shown. 0 HA-00A-*A U V W R R R CN CLR +V 0V Red White Black Green/ Yellow Shield AC Servo Actuator FHA-C series R and R are shorted. M When using an external regenerative resistor, keep R and R open and connect the regenerative resistor between R and R. If you are not using an external regenerative resister, and R and R are kept open, the built-in regenerative resister will not operate. Make sure to short R and R if there is no external regenerative resistance. Be sure to connect to the ground terminal. Green White Red Black E Encoder system Connector shell SD SD BAT+ BAT- Shield Yellow Blue Orange Gray -bit absolute encoder Use a twisted pair shield cable. Securely connect the shield to the cable-clamp with grand-brain of the connector. -

108 - -bit absolute encoder 0 Encoder system Startup Startup procedures Setting the backup battery Open the operation panel cover, and confirm that the backup battery is set. If not, set one by referring to [How to replace the backup battery] (P-). Initializing the absolute encoder system When the power supply is turned ON for the first time, [AL: System failure] generates. It is necessary to initialize (multi revolution data clear) the errors. For details, refer to [T0: Multi revolution clear] (P-0). Origin setting Set the origin in order to link the actuator driver and the mechanical origin. For the origin setting method, refer to [Origin setting] (P-). -

109 - -bit absolute encoder Origin setting Perform the following to set the origin (read the current value data at the mechanical origin position) in order to link the actuator driver and the mechanical origin. () Move the actuator to the target mechanical origin position via a JOG operation, manually, or using the various host controller functions. () Execute T0 (multi revolution clear) by operating the HA-00A panel, and reconnect the HA-00A power supply. () Perform any of the following to read the current absolute encoder value. (a) Use the current value data output at the pins CN-0,.From the pins CN-0 and, receive the absolute encoder s current value with the host controller and check the data. For details, refer to [Data output] (P-). (b) Use the HA-00 driver monitor software PSF-00.Check the PSF-00 status display value monitor feedback pulses. For details, refer to [Chapter 0 Communication software]. (c) Use the status display panel for the HA-00A driver. You can check the current encoder value from the d0 feedback pulse (Low) and d0 feedback pulse (High) shown on the display panel in the status display mode. For details, refer to [d0, 0: Feedback pulses display] (P-). (d) The current value output data from the pins CN- to (HA- driver mode) is used. For customers who have been using the HA- driver, position data is output from the phase A, B and Z output ports similar to those of the HA- driver. Receive the data with the host controller and check it. For details, refer to [Outputting the current value data from pins CN- to (HA- driver mode] (P-). () Manage the coordinates (set the origin) with the host controller with the read out current value of the absolute encoder as the origin data. () In operations after setting the origin, use the CN-0, current value data output to acquire the current value data and manage the coordinates with the host controller. For details, refer to [Data output] (P-). *: The current HA-00A position display will not usually indicate zero at the mechanical origin. Do not turn the actuator until the Step () Multi revolution clear is executed and Step () Receiving/reading of the current value is completed. If the actuator moves, the origin may become offset. 0 Encoder system Set the origin in the following situations even if it's not during a start-up. The driver has been replaced The actuator has been replaced [AL: System failure], [AL: Multi revolution counter overflow] or [AL: Multi revolution data error] generated due to a loss of absolute position or error. When the electronic gear (SP/SP, SP/SP) has been changed -

110 - -bit absolute encoder 0 Encoder system Data output Outputting the current value data from pins CN-0 and The current value data is output with the same technique as for a -bit absolute encoder. For details, refer to [Data output] (P-). Outputting the current value data from the pins CN- to (HA- driver mode) Position data is output from the encoder phase A, B and Z signal output ports as with any HA- series driver. Following the powering sequence, the output ports of the [CN- phase-a: A+] through [CN- phase-z: Z-] automatically output multi revolution data and absolute data as the current value data just for once. In normal operation, pulse train signals are output following the transmission of position data and implement similar operations to an incremental encoder. CN- Phase output-a+ (LD) CN- Phase output-a- (LD) CN- Phase output-b+ (LD) CN- Phase output-b- (LD) CN- Phase output-z+ (LD) CN- Phase output-z- (LD) CN- Monitor ground Encoder phase A+ signal output Encoder phase A- signal output Encoder phase B+ signal output Encoder phase B- signal output Encoder phase Z+ signal output Encoder phase Z- signal output LS Multi revolution data "Multi revolution data" is output by phase signals having a phase difference of 0. If the multi revolution data of the encoder counter installed on the motor shaft is positive, the multi revolution data has a positive value and the phase A signal is output with an advance of 0 relative to the phase B signal. If the multi revolution data is negative, on the other hand, the multi revolution data has a negative value and the phase A signal is output with a delay of 0 relative to the phase B signal. The pulse frequency is 00kHz. Have the host device discriminate the positive/negative polarities of multi revolution data based on the advance/delay relationships of these phase signals. For the count, use the leading edge of phase A. Multi revolution: Positive Monitor ground Multi revolution: Negative Phase A signal 0 Phase A signal 0 Phase B signal Phase B signal Count Count

111 - -bit absolute encoder Absolute position The absolute position is output using phase signals having a phase difference of 0. If the multi revolution data is positive, the phase A signal is output with an advance of 0 relative to the phase B signal. If the multi revolution data is negative, on the other hand, the phase A signal is output with a delay of 0 relative to the phase B signal. The pulse frequency is 00kHz. Since pulses are output in the quadrupled form, count the leading edges and trailing edges of both phase A and B signals. In the example shown below, the absolute position is. Encoder phase A, B and Z incremental signals Once multi revolution data and absolute position have been output, -phase pulse signals are output in the incremental method. For FWD rotation, the phase A signal is output with an advance of 0 relative to the phase B signal. For REV rotation, the phase A signal is output with a delay of 0 relative to the phase B signal. Phase A signal Phase B signal Phase Z signal Incremental output signal for FWD rotation Phase A signal Phase B signal Phase Z signal Incremental output signal for REV rotation Output signal sequence An example of signal output where the multi revolution data is +, absolute value is +, and when REV rotation is started after output of position data, is shown below. Control circuit power Phase A signal Phase B signal Count ON OFF Absolute position when the multi revolution data is positive ms (min) Phase A signal Phase B signal Count Absolute position when the multi revolution data is negative Encoder system Main circuit power Servo ON input enable (: SREADY output) ON OFF ON OFF s (max). s (min) Phase Z signal output Phase A signal output Phase B signal output ms (min) ms 0 ms (max.). ms 0 ms (max.) Multi revolution data Absolute position data Data per motor shaft revolution Incremental signal for REV rotation -0

112 - -bit absolute encoder 0 Encoder phase A, B and Z signal outputs When the motor shaft equipped with a -bit absolute encoder turns, incremental phase A, B and Z signals are output to the pins CN- to. Number of output pulses When the motor shaft turns one revolution,,0 pulses are output. For phase Z, pulse is output per motor shaft revolution. Note that, for phase Z signal, pulse is output per motor shaft rotation, but the width is indeterminable. Encoder system CN- Phase output-a+ (LD) CN- Phase output-a- (LD) CN- Phase output-b+ (LD) CN- Phase output-b- (LD) CN- Phase output-z+ (LD) CN- Phase output-z- (LD) CN- Monitor ground Encoder phase A+ signal output Encoder phase A- signal output Encoder phase B+ signal output Encoder phase B- signal output Encoder phase Z+ signal output Encoder phase Z- signal output Monitor ground Output pulses per motor shaft revolution LS Phase A,0 Phase B,0 Phase Z -

113 - -bit absolute encoder Phase A, B and Z output signal waveforms For FWD rotation, the phase A signal is output with an advance of 0 relative to the phase B signal. For REV rotation, the phase A signal is output with a delay of 0 relative to the phase B signal. To obtain the resolution in the quadrupled mode, utilize the leading edges and trailing edges of both phase A and B signals. Phase A signal Phase B signal Phase Z signal Incremental output signal for FWD rotation The values of the -bit absolute encoder and phase A and B waveforms are shown below. Absolute encoder value Phase A signal Phase B signal Phase Z signal Incremental output signal for REV rotation Encoder system Phase A signal output Phase B signal output FWD rotation direction Phase A pulses =,0 pulses/revolution Phase B pulses =,0 pulses/revolution REV rotation direction Signal input method Each phase signal is output by a line driver (LS). Receive the signals using a line receiver (AMLS or equivalent). Use an EIA-A compliant line receiver to receive the signals. -

114 - -bit absolute encoder 0 Encoder system Remedial actions for errors/warnings Remedial action for error Name Description Cause Action AL0 Encoder disconnection AL Encoder counter receiving error AL System failure AL Multi revolution counter overflow AL Multi revolution data error Encoder signals have been cut off. Encoder serial data could not be received accurately. Encoder multi revolution data has been lost. The value in the encoder multi revolution counter has exceeded the range of -,0 to +,0 revolutions (motor shaft). The angular acceleration and rotation speed of the motor have exceeded the allowable response range when the encoder power supply was cut off and data was backed up by the battery. () Disconnected encoder signal wire () Poor contact/connection of encoder signal connector () Encoder malfunction due to rise in actuator temperature () Defective encoder () HA-00A driver control circuit error () Electrical discontinuity of encoder signal wire () Non-connection or poor connection of encoder connector CN () Defective encoder () HA-00A driver control circuit error () Communication problem due to noise, etc. () The purchased driver was connected and power supply was turned ON for the first time. () The HA-00A driver and actuator have been disconnected for many hours. () Either the voltage of the backup capacitor in the encoder or HA-00 driver battery, whichever is higher, has become.v or below. () Encoder error () The actuator has turned in one direction in excess of the multi revolution counter range of -,0 to +,0 revolutions (motor shaft). () Defective encoder () HA-00A driver control circuit error () The actuator operated at an acceleration of,000 rad/s or more or speed of,00 rpm or more, as an equivalent value on the motor shaft, when the driver power supply was cut off. () Defective encoder () HA-00A driver control circuit error () Repair the wire. () Connect the connector properly. () Review the actuator installation location and cooling system. () Replace the actuator. () Replace the HA-00A driver. () Repair the wire. () Connect the connector properly. () Replace the actuator. () Replace the HA-00A driver. () Check the ground line or other ground. () Execute test mode T0 to perform multi revolution clear and then reconnect the power. () Execute test mode T0 to perform multi revolution clear and then reconnect the power. () Replace the HA-00 driver battery with a new one. After the battery has been replaced, set the origin. () Replace the actuator. () Execute T0 in the test mode to clear the multi revolution data. () Replace the actuator. () Replace the HA-00A driver. () Execute T0 in the test mode to clear the multi revolution data. () Replace the actuator. () Replace the HA-00A driver. -

115 - -bit absolute encoder Remedial action for warning Name Description Cause Action UA Battery voltage low The backup battery voltage has dropped to DC.V or below. () Voltage drop due to consumption of backup battery () Short-circuit the encoder battery wire () HA-00A driver control circuit error () Encoder failure () Replace with a new battery. () Repair the wire. () Replace the HA-00A driver. () Replace the actuator. 0 Encoder system -

116 - Incremental encoder 0 - Incremental encoder The incremental encoder has a relatively simple structure where pulses are output according to changes in rotation angle. However, it has one drawback of causing loss of current position data when the power supply is cut off, and therefore position control requires originating operation using a separately provided origin sensor. Standard connection -wire wire-saving incremental encoder model Encoder system HA-00A-*C Connector shell U V W R R R CN +V 0V SD SD Shield Red White Black Green/ Yellow Shield AC Servo Actuator FHA-C series FHA-Cmini series Be sure to connect to the ground terminal. Red Black Yellow Blue M E -wire wire-saving incremental encoder Use a twisted pair shield cable. Securely connect the shield to the cable-clamp with grand-brain of the connector. R and R are shorted. When using an external regenerative resistor, keep R and R open and connect the regenerative resistor between R and R. If you are not using an external regenerative resistor, and R and R are kept open, the built-in regenerative resistor will not operate. Make sure to short R and R if there is no external regenerative resistance. -

117 - Incremental encoder -wire wire-saving incremental encoder model HA-00A-*B Connector shell U V W R R R CN +V 0V A A B B Z Z U U 0 V V W W Shield Red White Black Green/ Yellow Shield Be sure to connect to the ground terminal. Red Black Green Green/white Gray Gray/white Yellow Yellow/white Brown Brown/white Blue Blue/white Orange Orange/white AC Servo Actuator RSF/RKF series M E Use a twisted pair shield cable. Securely connect the shield to the cable-clamp with grand-brain of the connector. R and R are shorted. When using an external regenerative resistor, keep R and R open and connect the regenerative resistor between R and R. If you are not using an external regenerative resistor, and R and R are kept open, the built-in regenerative resistor will not operate. Make sure to short R and R if there is no external regenerative resistance. -wire incremental encoder 0 Encoder system -

118 - Incremental encoder 0 Encoder system Startup Parameters that must be set Nothing in particular. Startup procedures Initializing the incremental encoder system With incremental encoder systems using FHA-Cmini, FHA-C or RSF/RKF series actuators, driver feedback pulses are reset to 0 (initialized) when the driver power supply is turned ON. Checking originating operation In order to link the actuator driver and the mechanical origin to each other, either perform originating using the originating function of the host controller, or manage the coordinate data at the host controller. Set the origin in the following situations even if it's not during a start-up. The control power supply has been turned ON The driver has been replaced The actuator has been replaced -

119 - Incremental encoder Data output Encoder phase A, B and Z signal outputs When the motor shaft equipped with an encoder turns, incremental phase A, B and Z signals are output to the pins CN- to. Number of output pulses The numbers of phase A and B signal output pulses per motor shaft revolution vary depending on the encoder resolution. For phase Z, pulse is output per motor shaft revolution. CN- Phase output-a+ (LD) CN- Phase output-a- (LD) CN- Phase output-b+ (LD) CN- Phase output-b- (LD) CN- Phase output-z+ (LD) CN- Phase output-z- (LD) CN- Monitor ground Encoder phase A+ signal output Encoder phase A- signal output Encoder phase B+ signal output Encoder phase B- signal output Encoder phase Z+ signal output Encoder phase Z- signal output Monitor ground Output pulses per motor shaft revolution Phase A (Encoder resolution) / * Phase B (Encoder resolution) / * Phase Z *: For example, assume that the encoder resolution is 0,000 pulses. In this case,,00 pulses (0,000 / ) are output. LS Phase A, B and Z output signal waveforms For FWD rotation, the phase A signal is output with an advance of 0 relative to the phase B signal. For REV rotation, the phase A signal is output with a delay of 0 relative to the phase B signal. To obtain the resolution in the quadrupled mode, utilize the leading edges and trailing edges of both phase A and B signals. 0 Encoder system Phase A signal output Phase B signal output Phase Z signal output Incremental output signal for FWD rotation Phase A signal output Phase B signal output Phase Z signal output Incremental output signal for REV rotation Signal input method Each phase signal is output by a line driver (LS). Receive the signals using a line receiver (AMLS or equivalent). Use an EIA-A compliant line receiver to receive the signals. -

120 - Incremental encoder 0 Encoder system Remedial action for error Name Description Cause Action AL0 Encoder disconnection AL Encoder counter receiving error AL UVW error Encoder signals have been cut off. Encoder serial data could not be received accurately. Encoder phase U/V/W signal error () Disconnected encoder signal wire () Poor contact/connection of encoder signal connector CN () Encoder malfunction due to rise in actuator temperature () Defective encoder () HA-00A driver control circuit error () Electrical discontinuity of encoder signal wire () Poor contact/connection of encoder signal connector CN () Defective encoder () HA-00A driver control circuit error () Communication problem due to noise, etc. () Electrical discontinuity of encoder signal wire () Poor contact/connection of encoder signal connector CN () Defective encoder () HA-00A driver control circuit error () Repair the wire. () Connect the connector properly. () Review the actuator installation location and cooling system. () Replace the actuator. () Replace the HA-00A driver. () Repair the wire. () Connect the connector properly. () Replace the actuator. () Replace the HA-00A driver. () Check the ground line or other ground. () Repair the wire. () Connect the connector properly. () Replace the actuator. () Replace the HA-00A driver. -

121 -0 Chapter I/O signals Details of I/O signal conditions and signal functions are explained in this chapter. - I/O signal list - - Input signals: System parameter SP00 to SP - - Details of input signals - - Inputs in each control mode - - Output signals: System parameter SP0 to SP - - Details of output signals - - Monitor output - - Connection example in control mode -

122 - I/O signal list I/O signals 0 Appe - I/O signal list This unit communicates with the host device via the CN connector. The following explains the I/O signals used in this communication. Pin numbers and names of I/O signals The CN pin numbers and corresponding signal names are shown in the table below. Functions can be set and assigned to input signals (pins to, and 0) and output signals (pins to ) using system mode parameters and. The parentheses after each signal name indicate the function assigned by default setting. Pin Input Pin Input Signal Symbol Signal Symbol No. Output No. Output Input signal common IN-COM Input +V +V Input Servo-ON S-ON Input FWD pulse+ FWD+ Input Input (alarm reset) IN Input FWD pulse- FWD- Input Input (deviation counter clear) IN Input REV pulse+ REV+ Input Input (FWD inhibit) IN Input 0 REV pulse- REV- Input Input (REV inhibit) IN Input Speed command SPD-CMD Input Input (FWD enable/selection) IN Input Input signal common IN-COM Input input Speed command ground Torque command input Torque command ground SPD-GND TRQ-CMD Input (REV enable/selection) IN Input TRQ-GND Input 0 Input (control mode selection) IN Input 0 Output (operation preparation complete) Output (servo-on input enable) OUT Output Current value data output+ (LD) Current value data output- (LD) POS-DAT+ POS-DAT- Input Input Output Output OUT Output Phase output-a+ (LD) A+ Output Output (alarm) OUT Output Phase output-a- (LD) A- Output Output (in-position OUT Output Phase output-b+ (LD) B+ Output complete) 0 Output (torque limiting) OUT Output Phase output-b- (LD) B- Output Output (zero speed output) OUT Output Phase output-z+ (LD) Z+ Output Output (warnings) OUT Output phase output-z- (LD) Z- Output Phase Z open collector output Z (OC) Output Monitor COM MON-COM Output Output signal common OUT-COM Output Ground FG Output Output signal common OUT-COM Output 0 Ground FG Output OC indicates open collector, while LD indicates line driver. Do not connect the pins marked "-". These pins are connected to internal circuits, so connecting them may result in failure. -

123 - I/O signal list Models of I/O signal connector CN The models of CN connector are shown below: Connector Cover Manufacturer M M Model PE 00-F0-00 I/O signals 0 Appe -

124 - Input signals: System parameter SP00 to SP I/O signals 0 - Input signals: System parameter SP00 to SP The following explains the input signals. The input signals are explained in the order of pin numbers of CN. Signals corresponding to system parameters SP00 to SP can be assigned to pin numbers to, and 0. CN connector (input) Pin Signal No. Input signal common Servo-ON Input (alarm reset) Input (deviation counter clear) Input (FWD inhibit) Input (REV inhibit) Input (FWD enable/selection) Input signal common Input (REV enable/selection) Input (control mode 0 selection) +V FWD pulse+ FWD pulse- REV pulse+ 0 REV pulse- Speed command input Speed command common Torque command input Torque command common SP00 to can be assigned. SP00 to can be assigned. Appe -

125 - Input signals: System parameter SP00 to SP Input signal connection circuit The following explains how to connect the input signal port to the host device. This driver has input signal ports as shown below. Specifications of input ports Voltage: DCV ± 0% Current: 0 ma or less (per port) External power supply DCV 0V Servo-ON IN-COM S-ON /.k.k Input (alarm reset) Input (deviation counter clear) IN(RESET) IN(CLEAR).k.k Input (FWD inhibit) Input (REV inhibit) Input (FWD enable)/ (REV selection) Input (REV enable)/ (REV selection) IN(FWD-IH) IN(REV-IH) IN(FWD-EN) /(FWD-SEL) IN(REV-EN) /(FWD-SEL).k.k.k.k I/O signals Input (control mode selection) The default setting is shown in parentheses. IN(CON-SEL) 0 The driver has no built-in input signal power supply. Connect the +V side of the external power supply for input signals, to [CN-: Input signal common]. The required current capacity is calculated by multiplying the minimum number of ports used by 0 ma. 0 DCV External IN-COM CN- IN /.kω 0Ω 0.0μF Appe -

126 - Input signals: System parameter SP00 to SP Input signal function (logic) Opt-isolator ON Input signal status from host Opt-isolator OFF Circuit status IN-COM HA-00 IN-COM HA-00 I/O signals 0 Appe 0:Normally open (contact A) Enable Logic Logic NO setting :Normally closed (contact B) Disable Logic NC Enable: The function of the selected signal is enabled. Disable: The function of the selected signal is disabled. Disable Enable -

127 - Input signals: System parameter SP00 to SP Input signal list The input signals to which to, and 0 pins of CN can be assigned are as shown below. Set the values on the following page to the input signals to be used (Parameter Nos. SP00 to ) and specify the input pins to be assigned and the corresponding signal logic. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Display parameter No. Input signal name Abbreviation Applicable control mode Assigned pin Default set value Logic * Parameter set value (PSF-00) Detail page Servo-ON S-ON P.S.T CN- NO --- P- (fixed) (fixed) SP00 Emergency ESTOP P.S.T - NO 0000(0) P- stop SP0 Alarm reset RESET P.S.T CN- NO 000() P- (AL-RES) SP0 Deviation CLEAR P CN- NO 000() P- counter clear (ERR-CLR) SP0 FWD inhibit FWD-IH P.S.T CN- NC 00(0) P-0 SP0 REV inhibit REV-IH P.S.T CN- NC 00() P-0 SP0 FWD enable FWD-EN S CN- NO 000() P- SP0 REV enable REV-EN S CN- NO 000() P- SP0 FWD selection FWD-SEL T CN- NO 000() P- SP0 REV selection REV-SEL T CN- NO 000() P- SP0 Internal speed SPD-SEL S - NO 0000(0) P- command selection SP0 Internal speed SPD-SEL S - NO 0000(0) P- command selection SP Internal speed SPD-LMT P - NO 0000(0) P- limit selection SP Internal speed SPD-LMT P - NO 0000(0) P- limit selection SP Torque limit TRQ-LMT P.S - NO 0000(0) P- SP Electronic gear G-SEL P - NO 0000(0) P- selection SP Control mode CON-SEL P.S.T CN-0 NO 000() P- selection (MOD-SEL) SP Position command disable INHIBIT P - NO 0000(0) P- *: Logic NO: Logical setting 00 (normally open), Logic NC: Logical setting 0 (normally closed) I/O signals 0 Appe Setting example) Setting details: Use the torque limit (Limit the output torque using the torque limit AJ- when the opt-isolator of the CN-0 pin turns ON.) Parameter setting method: Torque limit SP = 000 () Control mode selection SP = 0000 (0) * If the control mode selection SP = 000 () remains unchanged from the default setting, the torque will be limited and control mode switched when the opt-isolator of the CN-0 pin turns ON. -

128 - Input signals: System parameter SP00 to SP I/O signals 0 Appe Multiple input signals can be assigned to one pin. Unnecessary signals should be deleted from the pin assignments. If unnecessary signals are assigned, the system will not operate as expected. For the input signal servo-on, the assigned pin or the logic cannot be changed. With signals that are not assigned to pins, their functions are enabled. For example, setting the normally closed (contact B) logic without assigning the emergency stop signal to a pin will cause the system to remain in an emergency stop state. The functions of all other input signals are also enabled. So, exercise caution that setting the normally closed (contact B) logic will enable the functions of these other signals at all times. List of parameter set values Set value*, Front panel PSF- 00 Setting details Input signal is always disabled. 000 Input signal is always enabled. Set to the signal [FWD inhibit (SP0)] FWD inhibit is always disabled (FWD inhibit is cancelled). FWD inhibit is always ON Operation example Set to the signal [Electronic gear selection (SP)] Electronic gear selection is always disabled (Select electronic gear ). Electronic gear selection is always enabled (Select electronic gear ). Electronic gear selection is enabled when IN = ON. Electronic gear selection is enabled when IN = OFF. Electronic gear selection is enabled when IN = ON. Electronic gear selection is enabled when IN = OFF. Electronic gear selection is enabled when IN = ON. Electronic gear selection is enabled when IN = OFF. Electronic gear selection is enabled when IN = ON. Electronic gear selection is enabled when IN = OFF. Electronic gear selection is enabled when IN = ON. Electronic gear selection is enabled when IN = OFF. Electronic gear selection is enabled when IN = ON. Electronic gear selection is enabled when IN = OFF. Electronic gear selection is enabled when IN = ON. Electronic gear selection is enabled when IN = OFF. Electronic gear selection is 000 If IN (CN-) = ON, input signal is enabled. FWD rotation is inhibited when IN = ON (opt-isolator ON). 00 If IN (CN-) = OFF, FWD rotation is inhibited when input signal is enabled. IN = OFF (opt-isolator OFF). 000 If IN (CN-) = ON, FWD rotation is inhibited when input signal is enabled. IN = ON (opt-isolator ON). 00 If IN (CN-) = OFF, FWD rotation is inhibited when input signal is enabled. IN = OFF (opt-isolator OFF). 000 If IN (CN-) = ON, FWD rotation is inhibited when input signal is enabled. IN = ON (opt-isolator ON). 00 If IN (CN-) = OFF, FWD rotation is inhibited when input signal is enabled. IN = OFF (opt-isolator OFF). 000 If IN (CN-) = ON, FWD rotation is inhibited when input signal is enabled. IN = ON (opt-isolator ON) If IN (CN-) = OFF, FWD rotation is inhibited when input signal is enabled. IN = OFF (opt-isolator OFF). 000 If IN (CN-) = ON, FWD rotation is inhibited when input signal is enabled. IN = ON (opt-isolator ON). 00 If IN (CN-) = OFF, FWD rotation is inhibited when input signal is enabled. IN = OFF (opt-isolator OFF). 000 If IN (CN-) = ON, FWD rotation is inhibited when input signal is enabled. IN = ON (opt-isolator ON). 00 If IN (CN-) = OFF, FWD rotation is inhibited when input signal is enabled. IN = OFF (opt-isolator OFF). 000 If IN (CN-) = ON, FWD rotation is inhibited when input signal is enabled. IN = ON (opt-isolator ON). 00 If IN (CN-) = OFF, FWD rotation is inhibited when input signal is enabled. IN = OFF (opt-isolator OFF). 000 If IN (CN-0) = ON, FWD rotation is inhibited when input signal is enabled. IN = ON (opt-isolator ON). enabled when IN = ON. 00 If IN (CN-0) = OFF, FWD rotation is inhibited when Electronic gear selection is input signal is enabled. IN = OFF (opt-isolator OFF). enabled when IN = OFF. *: The values of the front panel items shows the values displayed on the driver s front display panel (refer to the figure below).for details on operation of the driver s front display panel, refer to [Operation outline of system parameter mode] (P-). -

129 - Input signals: System parameter SP00 to SP *: The values of PSF-00 items show the values displayed in the PSF-00 communication software parameter window. For details on the method for setting input signals using the PSF-00, refer to [Assigning I/O signals] (P0-). MODE Logical set value 00: Normally open 0: Normally closed UP DOWN S E T Assign to one of IN to IN of CN. I/O signals 0 Appe -

130 - Details of input signals I/O signals 0 Appe - Details of input signals The following explains the details of input signals. For the signal logic, refer to P-. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. P: Position control S: Speed control T: Torque control Parameter No. - SP00 SP0 SP0 Signal name (Abbreviation) Servo-ON (S-ON) Emergency stop (ESTOP) Alarm reset (RESET) Deviation counter clear (CLEAR) Function When the servo ON signal is enabled while the following conditions are satisfied, the driver's servo circuit turns ON and the driver becomes ready:. No servo alarm is present.. [UA: Main circuit voltage low] is not present. Disabling the servo-on signal turns OFF the servo circuit. If the system parameter mode [SP: DB enable/disable setting] is set to, the built-in dynamic brake turns ON. Caution The pin assignment of this signal is fixed. It is assigned to pin and the logic is set to normally open. When this input signal is enabled, the servo is turned OFF and [AL0: Emergency stop] is generated. If this signal is assigned to an input pin of CN, the system operates according to the operation set by the ON/OFF state of the signal. If [SP: DB enable/disable setting] is set to when the emergency stop signal is enabled, the built-in dynamic brake turns ON. Caution The emergency stop function is enabled even when the signal is not assigned to an input pin. If the signal logic is set for the normally closed without assigning emergency stop to an input pin, an emergency stop alarm generates when the driver power is turned ON and the alarm will remain active. If a driver alarm generates, the alarm can be reset by the edge of this input signal. The alarm reset signal is effective only when the applicable alarm is resettable and the corresponding alarm condition has already been reset. For the resettable alarms, refer to [Alarms and remedial actions] (P-). The servo-on signal must be input again before the system becomes ready. If the driver is operating in the position control mode, the value of the deviation counter is added to the command counter at the edge of this input signal to clear the deviation counter to 0. Default setting - Applicable control mode P.S.T 0000 P.S.T 000 P.S.T 000 P -

131 - Details of input signals Parameter No. SP0 SP0 Signal name (Abbreviation) FWD inhibit (FWD-IH) REV inhibit (REV-IH) P: Position control S: Speed control T: Torque control Function Applicable Default control setting mode This parameter sets the limit of moving in forward and 00 P.S.T reverse directions. When the FWD/REV inhibit signal is input, either forward or reverse rotation, whichever corresponds to the input signal, stops. The rotary drive corresponding to the input inhibit signal is turned OFF. If pulse signals continue to be 00 input in the inhibited direction, an [AL0: Excessive deviation alarm] will be generated. REV inhibit FWD inhibit Motion range Also, for the position control and speed control, you can change the operation during the inhibit status to lock the servo using [SP: FWD/REV inhibit operation]. It is also possible to reverse the inhibited direction with [SP0: Command polarity] (This is available for HA-00 software Version.x or later). I/O signals 0 Appe -0

132 - Details of input signals Parameter No. SP0 Signal name (Abbreviation) FWD enable (FWD-EN) P: Position control S: Speed control T: Torque control Function Applicable Default control setting mode This parameter determines the rotary operation status 000 S of the actuator relative to the speed command value according to the input status of FWD/REV enable signals when the actuator is operating in the speed control mode. The SP0 and SP0 statuses, speed command polarities (operation directions), and the operating statuses are shown in the table below. (The table below is for when [SP0: Command polarity] is 0; when SP0= or, the polarities are the reverse of those in the table below.) I/O signals 0 Appe SP0 REV enable (REV-EN) FWD enable SP0 Enabled Enabled Disabled Disabled Signal input REV enable SP0 Enabled Disabled Enabled Disabled Selected speed command SP0 and SP0 external (analog) speed command input External speed command (positive voltage) External speed command (negative voltage) Internal speed command, and External speed command (positive voltage) External speed command (negative voltage) Internal speed command, and External speed command (positive voltage) External speed command (negative voltage) Internal speed command, and External speed command (positive voltage) External speed command (negative voltage) Internal speed command, and Operation direction Operating status Zero speed* FWD rotation REV rotation FWD rotation REV rotation FWD rotation REV rotation Zero speed* *: One of two statuses can be selected for zero speed. Select one of the two operations for zero speed by enabling or disabling [SP: Zero clamp setting]. When zero clamp (SP) is enabled: In the same way as the system switches to the position control mode, the actuator is forcibly stopped so that the position deviation becomes zero (current value is maintained). (Perform position control (positioning) at the position where the speed command value is zero.) When zero clamp (SP) is disabled: The actuator stops when the speed command value is zero in the speed control mode. If external torque is input, the actuator may rotate because of the torque

133 - Details of input signals Parameter No. SP0 SP0 SP0 SP0 Signal name (Abbreviation) FWD selection (FWD-SEL) REV selection (REV-SEL) Internal speed command selection (SPD-SEL) Internal speed command selection (SPD-SEL) P: Position control S: Speed control T: Torque control Function Applicable Default control setting mode This parameter determines the operating status of the 000 T actuator relative to the torque command value according to the input status of FWD/REV selection signals while the actuator is operating in the torque control mode. If FWD/REV selection is assigned to a CN input pin with [SP0: FWD selection input setting] or [SP0: REV selection input setting], the operating status of the actuator is determined according to the set 000 operation or whether the signal is enabled or disabled. (The table below is for when [SP0: Command polarity] is 0; when SP0= or, the polarities are the reverse of those in the table below.) FWD selection SP0 Enabled Enabled Signal input Disabled Disabled REV selection SP0 Disabled Disabled Enabled Disabled External (analog) torque command input External torque command (positive voltage) External torque command (negative voltage) External torque command (positive voltage) External torque command (negative voltage) External torque command (positive voltage) External torque command (negative voltage) External torque command (positive voltage) External torque command (negative voltage) Operation directions Operating status Zero torque FWD rotation REV rotation REV rotation FWD rotation Zero torque The driver lets you select a rotation speed command input proportional to an external command voltage value or one of three internal speed command values that have been set. For internal speed commands, set desired motor shaft rotation speeds (r/min) in [AJ, and 0: internal speed commands, and ]. In the speed control mode, one of the external speed command and internal speed commands, and shown in the table below is selected according to the input status of internal speed command selections and S 0000 I/O signals 0 Appe Internal speed command selection Disable Enable Disable Enable Internal speed command selection Disable Disable Enable Enable Selected speed command External speed command Internal speed command Internal speed command Internal speed command -

134 - Details of input signals Parameter No. SP Signal name (Abbreviation) Internal speed limit selection (SPD-LMT) P: Position control S: Speed control T: Torque control Function Applicabl Default e control setting mode When the actuator is operating in the position control 0000 P mode, the speed can be limited to the speed specified by an external speed command voltage or the speeds set in [AJ, and 0: Internal speed commands, and ]. The speed limit value is selected by internal speed limit selections and. I/O signals SP Internal speed limit selection (SPD-LMT) Selected statuses of internal speed limit selections and and internal speed commands, and Internal Internal Selected speed speed limit speed limit command selection selection The speed is limited Disable Disable according to the external speed command value.* Enable Disable The speed is limited according to internal speed command. Disable Enable The speed is limited according to internal Enable Enable speed command. The speed is limited according to internal speed command. *: This is the operation when [SP: External speed limit enable/disable] is set to (enable).if this parameter is set to 0 (disable), speed limit is not performed Appe -

135 - Details of input signals Parameter No. SP SP Signal name (Abbreviation) Torque limit (TRQ-LMT) Electronic gear selection (G-SEL) P: Position control S: Speed control T: Torque control Function Applicable Default control setting mode The driver can limit the output torque to the value set 0000 P.S.T in [AJ: Torque limit value] or less. If this signal is assigned to CN, the actuator's output torque is limited according to the set operation based on whether the signal is enabled or disabled. Torque limit Control Operation input modes Disable Position control Enable Speed control Torque control Position control Speed control Torque control The torque is limited to the external torque limit.* The torque is limited to the external torque limit.* The torque is not limited. The torque is limited to the set torque limit value. The torque is limited to the set torque limit value. The torque is limited to the set torque limit value. *: This is the operation when [SP: External torque limit enable/disable] is set to (enable).if this parameter is set to 0 (disable), torque limit is not performed. The driver has types of built-in electronic gear functions to allow the actuator resolution to be changed electrically during position control. If this signal is assigned to CN, you can select one of built-in electronic gears according to the set operation or whether the signal is ON or OFF. The electronic gear selection function is enabled even when the signal is not assigned to CN P I/O signals 0 Electronic gear selection input Disable Enable Operation Electronic gear is selected. Electronic gear is selected. Electronic gear is determined by the values set in system parameters SP and SP. Electronic gear is determined by the values set in system parameters SP and SP. For details, refer to [SP to : Electronic gear setting](p-). * With the SHA-CG series, [SP: Electronic gear selection] is only enabled when [SP: Output shaft divide function setting] is 0 (default value).for details, refer to [SP: Output shaft divide function setting] (P-). Appe -

136 - Details of input signals I/O signals 0 Parameter No. SP SP Signal name (Abbreviation) Control mode selection (CON-SEL) Position command disable (INHIBIT) P: Position control S: Speed control T: Torque control Function Applicable Default control setting mode The driver can operate in one of three control modes 000 P.S.T of position control, speed control, and torque control.with the control mode selection, you can switch between the control modes that have been selected from the control modes with [SP: Control mode switching setting]. The control mode selection function is enabled even when the signal is not assigned to CN. SP Set value of control mode selection 0 Control modes selection Disable Enable Disable Enable Disable Enable Operation Position control Speed control Position control Torque control Speed control Torque control Caution To switch the operation to the position control mode and other control mode, after the control mode signal has been input, the zero speed judgment value is enabled first and then the actual operation mode is switched. While the driver is operating in the position control mode, the command pulse currently input becomes disabled when the INHIBIT signal input is enabled P Appe -

137 - Inputs in each control mode - Inputs in each control mode The following explains the input signals corresponding to pins to of the CN connector for each control mode (position command mode, speed command mode, and torque command mode). Position command mode Pulse train input connection pattern and power supply voltage This parameter selects line driver connection, +V input voltage or +V open collector. The driver has no internal power supply built in for input signals. Provide an external power supply. Line collector type Forward command pulse signal input Terminal voltage (Vin): Set to.v or more. FWD+ FWD- REV+ Reverse command pulse signal input REV- AmLS (EIAA) or equivalent Vin Vin CN 0 Ω 0 Ω 0.k.k I/O signals Use a line driver conforming to the EIA-A standard. If a line driver conforming to other standard is used, the system may not operate correctly. In such cases, consult us on technical details. Open collector type V Supply voltage: +V ± 0% Input current (I): ma, standard (0 ma or less) Provided by the customer +V CN 0 Appe Forward command pulse signal input Reverse command pulse signal input -

138 - Inputs in each control mode V Supply voltage: +V ± 0% Input current (I): ma, standard (0 ma or less) Forward command pulse signal input Reverse command pulse signal input Provided by the customer +V FWD+ FWD- REV+ REV- CN Ω 0 Ω 0 0.k.k I/O signals If necessary, provide an external-current limiting resistor for each input signal (FWD- and REV-). With drivers of open collector type, the maximum response frequency is 00kHz and duty is 0% ± 0%. Since the noise resistance drops compared to drivers of line collector type, use of drivers of line collector type is recommended whenever possible. 0 Appe Pulse input system input command signal patterns of -pulse train, single-pulse train and -phase pulse train are available. Set a desired pattern according to [SP: Command pulse input pattern setting] (P-). Even when a command pulse is input, the pulse will be ignored if the actuator's servo is OFF. () -pulse train (FWD/REV pulse train) The FWD command is input to the FWD port, while the REV command is input to the REV port. FWD command REV command Opt-isolator: OFF FWD+ FWD- CN Ω 0 Opt-isolator: OFF REV+ REV- 0 Ω 0 -

139 - Inputs in each control mode Use the negative logic for command pulse signals. A negative logic circuit determines a condition of low voltage level (OFF) as and that of high voltage level (ON) as 0. If [-pulse train] is selected, the opt-isolator to which no pulse is input should be in OFF state. In ON status, pulses are ignored. () Single-pulse train (code + pulse train) Command pulses are input to the FWD port only, and only the code indicating the rotation direction is input to the REV port. FWD command Opt-isolator: OFF () -phase pulse train (-phase pulse train with 0 phase difference) For the FWD command, the pulse input to the FWD port has a phase advanced by 0 relative to the pulse input to the REV port. For the REV command, the pulse input to the REV port has a phase advanced by 0 relative to the pulse input to the FWD port. FWD command 0 Input signal multiplication REV command Opt-isolator: ON FWD+ FWD- CN With -phase pulse train input signals, the input signal can be multiplied to double or quadruple the number of movement pulses relative to input signal pulse. Set a desired multiplication using [SP: Multiplication of -phase input setting] (P-). FWD REV command 0 REV+ REV- 0 FWD+ FWD- REV+ REV- Ω 0 Ω 0 CN 0 Ω 0 Ω 0 I/O signals 0 Appe REV Input signals Double Quadruplicate 0 -

140 - Inputs in each control mode I/O signals Pulse time condition For command pulses, input those satisfying the following conditions. The maximum response frequency of the HA-00A's command pulse input circuit is MHz (or 00kHz if the -phase pulse train or open collector is selected). Input command pulses within a duty range of 0 ± 0%. If the single-pulse train is selected, command pulses in the specified direction should be input at least 00 ns after the direction discrimination signal has been input. Command pulse Direction discrimination 00 ns or more μs or more 00 ns or more 00 ns or more 0 The time in the above figure is based on the line-driver method. Under the open collector method, assume that the time will be five times longer. Appe -

141 - Inputs in each control mode Speed command mode Example of speed command input circuit Input impedance: kω Example of command using a variable resistor kω CN V SPD-CMD kω 0kΩ V SPD-GND kω Example of command using an operation amplifier SPD-CMD SPD-GND CN kω Setting Input speed commands using voltage values. The motor rotation speed and speed command voltage are determined according to the value set in [SP: Speed input factor]. Motor rotation speed = Speed command voltage Speed input factor 0.0V The motor rotation direction is specified with the polarity of the speed command voltage and [SP: Forward start input setting] and [SP0: Reverse start input setting] and [SP0: Command polarity]. I/O signals The default setting for the value of [SP: Speed input factor] is set according to the max. rotational speed of the actuator combined with the driver. The permissible max. rotational speed depends on the actuator. The default setting for [SP: Speed input factor] is set to the maximum value permitted by the motor shaft. For details, refer to [Appendix- Factory settings] (PA-). FWD enable is enabled -speed command voltage (V) Rotation speed (r/min) FWD rotation REV enable is enabled FWD rotation Rotation speed (r/min) +speed command voltage (V) 0 Appe REV rotation 0 +speed command voltage (V) -speed command voltage (V) 0 REV rotation -0

142 - Inputs in each control mode I/O signals 0 Appe Torque command mode CAUTION Torque commands control the motor torque. The output torque of the actuator is subject to a HarmonicDrive speed reducer loss of 0 to 0%. If the actuator's torque must be controlled accurately, provide a control system that uses a torque sensor on the output shaft. Example of torque command input circuit Setting Input impedance: kω Example of command using a variable resistor V V KΩ 0KΩ KΩ TRQ-CMD TRQ-GND CN KΩ Example of command using an operation amplifier Input torque commands using voltage values. The motor output torque and torque command voltage are determined according to the value set in [SP: Torque input factor]. Output torque (%) = Torque command voltage TRQ-CMD TRQ-GND Torque input factor 0.0V The motor torque direction is specified with the polarity of the torque command voltage and [SP0: Forward select input setting] and [SP0: Reverse select input setting] and [SP0: Command polarity]. KΩ The default setting for the value of [SP: Torque input factor] is set according to the maximum torque of the actuator combined with the driver. Be sure to pay full attention to the operating speed as the torque control mode does not include a speed limiting function. CN -

143 - Inputs in each control mode FWD selection is enabled REV selection is enabled -command voltage (V) REV torque Torque (%) FWD torque FWD torque 0 +command -command 0 voltage (V) voltage (V) Torque (%) REV torque +command voltage (V) I/O signals 0 Appe -

144 - Output signals: System parameter SP0 to SP - Output signals: System parameter SP0 to SP The following explains the details of output signals. The output signals are explained in the order of pin numbers of CN. Desired output signals can be set to pin No. to using the settings of system parameters SP0 to SP. For details, refer to [Details of output signals] (P-). * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. CN connector (output) I/O signals 0 Appe Available parameter No. Pin Signal parameter No. Default setting No. (PSF-00) * Output (operation SP0 preparation complete) 000() Output (servo-on input SP enable) 000() Output (alarm output) SP 00() Output (in-position SP complete) 000() 0 Output (torque limiting SP output) 000() Output (zero speed output) SP 000() Output (warning output) SP 00() Phase Z open collector output Output signal common Output signal common 0 Current value data output+ (LD) Current value data output- (LD) Phase output-a+ (LD) Phase output-a- (LD) Phase output-b+ (LD) Phase output-b- (LD) Phase output-z+ (LD) Phase output-z- (LD) Monitor COM Ground 0 Ground * Values in parentheses ( ) are ones when PSF-00 parameters are displayed. One of signals can be assigned as desired. -

145 - Output signals: System parameter SP0 to SP Output signal connection circuit Specifications of output ports Open-collector output opt-isolator insulation Voltage: DCV or less Current: 0 ma or less/port Output OUT Output Output OUT OUT Output Output OUT OUT 0 Output Output Phase output-z (OC) OUT OUT Z (OC) I/O signals How to connect OUT COM / Connect an output signal between each output port and [CN-/: Output signal common OUT-COM]. CN- to Ry CN-/ HA-00A PS0 OUT-COM 0 Output signal function (logic) Function (logic) definition Appe Transistor output signal status Transistor ON Transistor OFF Logic setting 00 Enable Disable 0 Disable Enable Enabled: The function of the output signal is enabled. Disabled: The function of the output signal is disabled. How to change function (logic) Input signal functions can be changed using system parameters or servo parameter setting software PSF. For the operation method of the setting software PSF, refer to [Chapter 0 Communication software]. -

146 - Output signals: System parameter SP0 to SP I/O signals 0 Appe Output signal list The output signals that can be assigned to outputs to are explained below. The signals that can be used are limited by the number of connector pins. Accordingly, select desired signals and assign them to output pins if you wish to use signals other than signals set as default. When setting with the driver s front display panel, refer to [Operation outline of system parameter mode] (P-). When setting with the PSF-00 communication software, refer to [Assigning I/O signals] (P0-). For the output signal logic, refer to P-. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value Applicable Default setting Logic Signal Signal name Abbreviation control Assigned specification specification mode pin Logic 00 / 0 00 No assignment Operation READY P.S.T Normally 00 / 0 0 preparation complete open 00 / 0 0 Servo ON input S-READY P.S.T Normally enable open 00 / 0 0 Alarm ALARM P.S.T Normally closed 00 / 0 0 In-position IN-POS P Normally complete open 00 / 0 0 Attained speed HI-SPD P.S.T / 0 0 Attained torque HI-TRQ P.S.T / 0 0 Speed limiting SLMT-OUT P / 0 0 Torque limiting TLMT-OUT P.S 0 Normally open 00 / 0 0 Zero speed ZERO-SPD P.S.T Normally open 00 / 0 0 Control mode CNT-MOD P.S.T / 0 DB status output DB-OUT P.S.T / 0 Alarm code ALM-COD P.S.T / 0 Alarm code ALM-COD P.S.T / 0 Alarm code ALM-COD P.S.T / 0 Battery voltage BAT-LOW P.S.T - - low 00 / 0 Overload status OVL-OUT P.S.T / 0 Cooling fan FAN-STP P.S.T - - stopped 00 / 0 Main circuit PWR-LOW P.S.T. - - voltage low 00 / 0 FWD inhibit FIB-OUT P.S.T - - input effective 00 / 0 0 REV inhibit input RIB-OUT P.S.T - - effective 00 / 0 Warning WARNING P.S.T Normally open The cooling fan stop output function is available only for HA-00A-. The DB status output function is available only for HA-00A-//. -

147 - Details of output signals - Details of output signals The following explains the output signals assigned to outputs to (pins to of CN). * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value Signal name (Abbreviation) Operation preparation complete (READY) Servo ON input enable (S-READY) Alarm (ALARM) In-position complete (IN-POS) Attained speed (HI-SPD) Attained torque (HI-TRQ) Speed limiting (SLMT-OUT) Torque limiting (TLMT-OUT) Zero speed (ZERO-SPD) Control modes (CNT-MOD) Dynamic brake actuated (DB-OUT) Alarm code (ALM-COD) Alarm code (ALM-COD) Alarm code (ALM-COD) Function This is an operation preparation complete signal output of the driver. When the driver's servo-on signal input is enabled without any causes of alarm, the operation preparation complete signal is also enabled. If the servo-on signal is disabled, this signal is also disabled. When an alarm generates, this is disabled and the servo becomes free. This signal indicates that the driver is free from alarms and the servo-on signal can be input. This signal is disabled when an alarm is present. This signal is output in an alarm condition where the driver has detected an error. The servo becomes free. This signal indicates that the deviation counter value is inside the values set in [AJ0: In-position range] (+set value to - set value). The driver only monitors the status of deviation counter and this signal does not affect the servo control directly. This signal indicates that the motor rpm has reached or exceeded the value set in [AJ0: Attained speed judgment value]. The driver only monitors the status of attained speed and this signal does not affect the servo control directly. This signal indicates that the actuator's output torque has reached or exceeded the value set in [AJ0: Attained torque judgment value]. The driver only monitors the attained torque status and this signal does not affect the servo control directly. This signal indicates that the motor speed is limited to the speed limit selected by [SP, SP: Internal speed limits and inputs]. This signal indicates that the actuator's torque is limited by an internal torque limit input or external torque limit input. This signal indicates that the motor rpm has dropped to or below the speed set in [AJ0: Zero speed judgment value]. Control mode change from position control to other control, or from other control mode to position control, is prohibited unless the zero speed output is enabled. The signal that has been input as the control mode input signal is output. When [SP: Dynamic brake enable/disable] is set to 0: Enable, this signal indicates that the dynamic brake is operating. This is actuated when the power is cut OFF, the servo is turned OFF, or an alarm or warning [UA: Main circuit voltage low] is generated. In the HA-00A-, this function is disabled (output indeterminate). When a driver alarm or warning is present, whether it is an alarm or warning is output using a -bit code. Alarm code output outputs the LSB of this -bit code. For details on alarm codes, refer to [Alarm List] (P-) and [Warning List] (P-). Applicable control mode P.S.T P.S.T P.S.T P P.S.T P.S.T P P.S P.S.T P.S.T P.S.T P.S.T I/O signals 0 Appe -

148 - Details of output signals Set value Signal name (Abbreviation) Battery voltage low (BAT-LOW) Function When an absolute encoder is combined, this signal indicates that the multi revolution data backup voltage is low. For details, refer to the table below. Applicable control mode P.S.T I/O signals Encoder -bit absolute encoder -bit absolute encoder Voltage low detection condition The backup battery voltage is.v or less. SHA series (excluding SHA0) and HMA series (excluding HMAC0): The voltage of the encoder s multi revolution data backup circuit is.v or less SHA0, FHA-Cmini series and HMAC0: The voltage of the backup battery is.v or less. Recovery condition The backup battery voltage has become.00v or more. SHA series (excluding SHA0) and HMA series (excluding HMAC0): When the voltage of the encoder's multi revolution data backup circuit was.v or more, alarms are cleared and the encoder power supply has been reconnected. SHA0, FHA-Cmini series and HMAC0: The voltage of the backup battery is.v or more. 0 Appe 0 Overload status (OVL-OUT) Cooling fan stopped (FAN-STP) Main circuit voltage low (PWR-LOW) FWD inhibit input in effect (FIB-OUT) REV inhibit input in effect (RIB-OUT) Warning (WARNING) This signal indicates that the actuator is operating in an overload status and that if the operation is continued in this condition, an overload alarm may generate. The overload status output indicates that the overload rate is 0% or more where 00% indicates a condition where an overload alarm is present. The alarm will be reset automatically when the overload rate drops to 0% or below. This signal indicates that the cooling fan is stopped for some reason. If operation is continued with the cooling fan stopped, the HA-00 driver temperature may rise and the product life will decrease or an unexpected accident may occur. Remove the cause of stopping as soon as possible. This function is available only for HA-00-. This signal indicates that the main circuit voltage has dropped to the level specified below: Input voltage specification = 00V: DC0V or below (DC0V or less for Ver..0 or older) Input voltage specification = 00V: DC0V or below (DC00V or less for Ver..0 or older) This signal indicates that the FWD inhibit input is enabled and FWD rotation is inhibited. The FWD inhibit input in effect output will be disabled once the cause that enabled the FWD inhibit input is removed. This signal indicates that the REV inhibit input is enabled and REV rotation is inhibited. The REV inhibit input in effect output will be disabled once the cause that enabled the REV inhibit input is removed. It is output in warning status. The warning output will be disabled once the cause of the warning status is removed. P.S.T P.S.T P.S.T P.S.T P.S.T P.S.T Phase Z (OC) (Z) The encoder's phase Z pulse signal is output in via an open collector. This signal is output only by pulse per motor revolution. The signal may be used with the origin sensor signal of an automatic mechanism to recognize the accurate origin position, etc. P.S.T -

149 - Monitor output - Monitor output The following explains how to output the encoder signal monitor output and current value data output signals from the CN connector and to output the speed, current analog monitor and status digital monitor signals from the CN connector. Encoder output The encoder's phase A, B, and Z signals are output via a line driver (LS). Receive the signals by a line receiver (AMLS or equivalent). For details on signals, refer to the following according to the actuator model you use. Encoder type Actuator model Driver model Details SHA series -bit absolute encoder FHA-Cmini series (-bit encoder incremental model) HMA series HA-00A-*D/E-00/00 P- -bit absolute encoder FHA-C series HA-00A-*A-00/00 P- -wire wire-saving incremental encoder FHA-C series HA-00A-*C-00/00 -wire wire-saving incremental encoder FHA-Cmini series HA-00A-*C-00/00 P- -wire incremental encoder RSF/RKF series HA-00A-*B-00/00 Current value data output This is used to acquire the current value data when the servo is ON in order to manage the absolute position with the absolute encoder. The current value is sent divided into times and output with the line collector (LS), so receive using a line receiver (AMLS or equivalent). For details, refer to [Outputting the current value data from the pins CN-0 and ] (P-). Output format Communication speed Stop bit Data length Parity bit Format Encoder phase A+ signal output Encoder phase A- signal output Encoder phase B+ signal output Encoder phase B- signal output Encoder phase Z+ signal output Encoder phase Z- signal output Monitor ground Start-stop,00 bps bit bits Even parity LSB first CN /0 LS Current value data output+ Current value data output- Monitor ground CN 0 LS I/O signals 0 Appe -

150 - Monitor output Analog waveform monitoring Monitored analog speed/current waveforms can be output from the CN connector. An optional monitor cable is available for observing waveforms using an oscilloscope. Model code: EWA-MON0-JST Speed monitor: SPD-MON The port outputs a voltage signal proportional to the motor rotation speed (speed input factor per 0V). The relationship of output voltage and rotation speed is determined by the value set in [SP: Speed input factor] (For details, refer to P-). Take note that the output remains unstable after the power is input until the [Servo-ON input enable: S-READY] signal is output. (A maximum of approx. ±V may be output.) Motor rotation speed (r/min) = Speed monitor output voltage Speed input factor 0.0V I/O signals Specifications Output voltage range: -0 to +0V Output impedance: kω CN SPD-MON Ω GND 0 Connection method Plug the connector for the optional monitor cable (EWA-MON0-JST) into CN and check the waveform between [CN- speed monitor: SPD-MON] and [CN- monitor ground: GND] using an oscilloscope. Current monitor: CUR-MON The motor current is output as voltage. The voltage is output based on the maximum motor current being +0V. Take note that the output remains unstable after the power is input until the [Servo-ON input enable: S-READY] signal is output. (A maximum of approx. ±V may be output.) Current monitor output voltage (V) = Actuator current 0.0V Max. current Appe Specifications Output voltage range: -0 to +0V Output impedance: kω CN CUR-MON Ω GND How to connect Plug the supplied connector into CN and check the waveform between [CN- current monitor: CUR-MON] and [CN- monitor ground: GND] using an oscilloscope. -

151 - Monitor output Digital signal monitor The signal waveform set in [SP0: CP output signal setting] (For details, refer to P-) is output. The output voltage is 0V for Low and.v for High. Take note that the output remains unstable after the power is input until the [Servo-ON input enable: S-READY] signal is output. Signal monitor: SIG-MON Specifications Output voltage range: 0 or.v Output impedance: kω SIG-MON CN- CN- How to connect Plug the supplied connector into CN and check the waveform between [CN- signal monitor: SIG-MON] and [CN- monitor ground: GND] using an oscilloscope. Ω GND I/O signals 0 Appe -0

152 - Connection example in control mode I/O signals 0 - Connection example in control mode Connection example with default settings HA-00A Terminal voltage (Vin): Set to.v or more. AmLS (EIAA) or equivalent CN.k.k FWD+ FWD command pulse FWD- Vin 0 signal input TB REV+ REV command pulse r REV- Vin 0 0 signal input s IN-COM / External DCV.k power supply 0V Servo-ON S-ON.k RESET Reset.k Clear CLEAR.k FWD inhibit FWD-IH.k REV inhibit REV-IH.k FWD enable FWD-EN.k REV enable REV-EN.k Control modes MOD-SEL 0 Operation preparation complete READY Servo-ON input enable S-READY R S T TB R R R U V W Magnetic switch Red White Black Green/ Yellow Shield Noise filter AC Servo Actuator FHA-**C M N/F Circuit breaker Power input AC00V (0/0Hz) or AC00V (0/0Hz) Appe Alarm output In-position complete Torque limiting output Zero speed output ALARM IN-POS TLMT-OUT ZERO-SPD 0 CN Be sure to ground each point. Note: The encoder wiring varies depending on the actuator model. Refer to [Chapter Encoder system]. Warning output WARNING Z (OC) output Z (OC) Output signal common OUT-COM / +V Red Black 0V SD Yellow Incremental encoder SD Blue E - Current value data output+ Current value data output- Encoder phase A+ signal output Encoder phase A- signal output Encoder phase B+ signal output Encoder phase B- signal output Encoder phase Z+ signal output Encoder phase Z- signal output Shield 0 /0 LS Connector shell Shield Use a twisted pair shield cable. Securely connect the shield to the cable-clamp with grand-brain of the connector.

153 - Connection example in control mode Connection example in position control mode The line driver command pattern in the position control mode is shown in the connection example for -pulse train. HA-00A Terminal voltage (Vin): Set to.v or more. CN.k AmLS (EIAA) or equivalent.k FWD+ FWD command pulse signal input FWD- REV+ Vin 0 REV command pulse signal input External power supply DCV 0V REV- Vin 0 0 IN-COM /.k TB r s R Noise filter S-ON S N/F Servo-ON.k T Reset RESET.k Magnetic switch Circuit breaker Clear CLEAR.k TB R FWD inhibit FWD-IH.k R REV-IH AC Servo Actuator REV inhibit.k R FHA-**C Red FWD enable FWD-EN U.k White V M REV-EN REV enable.k Black W MOD-SEL Control modes 0 Green/ Yellow Operation preparation READY complete Shield Power input AC00V (0/0Hz) or AC00V (0/0Hz) I/O signals Servo-ON input enable Alarm output S-READY ALARM Be sure to ground each point. 0 In-position complete Torque limiting output Zero speed output Warning output Z (OC) output Output signal common IN-POS TLMT-OUT ZERO-SPD WARNING Z (OC) OUT-COM 0 / CN Note: The encoder wiring varies depending on the actuator model. Refer to[chapter Encoder system]. +V Red 0V SD SD Black Yellow Blue E Incremental encoder Appe Current value data output+ Current value data output- Encoder phase A+ signal output Encoder phase A- signal output Encoder phase B+ signal output Encoder phase B- signal output Encoder phase Z+ signal output Encoder phase Z- signal output Shield /0 0 LS Connector shell Shield Use a twisted pair shield cable. Securely connect the shield to the cable-clamp with grand-brain of the connector. -

154 - Connection example in control mode I/O signals 0 Appe Connection example in speed control mode A connection example in the speed control mode is shown. HA-00A CN Speed command signal input Speed command signal input ground External power supply DCV 0V Servo-ON Reset Clear FWD inhibit REV inhibit FWD enable REV enable Control modes Operation preparation complete Servo-ON input enable Alarm output In-position complete Torque limiting output Zero speed output Warning output Z (OC) output Output signal common SPD-CMD SPD-GND IN-COM S-ON RESET CLEAR FWD-IH REV-IH FWD-EN REV-EN MOD-SEL READY S-READY ALARM IN-POS TLMT-OUT ZERO-SPD WARNING Z (OC) OUT-COM / k.k.k.k.k TB T.k Magnetic switch.k TB.k R R.k R 0 U Red V White W Black Green/ Yellow Shield r s R S AC Servo Actuator FHA-**C Be sure to ground each point. 0 / Current value data output+ 0 Current value data output- Encoder phase A+ signal output Encoder phase A- signal output Encoder phase B+ signal output Encoder phase B- signal output Encoder phase Z+ signal output Encoder phase Z- signal output Shield /0 LS CN +V 0V SD SD Connector shell Noise filter N/F M Note: The encoder wiring varies depending on the actuator model. Refer to [Chapter Encoder system]. Shield Red Black Yellow Blue E Circuit breaker Incremental encoder Use a twisted pair shield cable. Securely connect the shield to the cable-clamp with grand-brain of the connector. Power input AC00V (0/0Hz) or AC00V (0/0Hz) -

155 - Connection example in control mode Connection example in torque control mode Torque command signal input Torque command signal input ground A connection example in the torque control mode is shown. External power DCV supply 0V Servo-ON Reset Clear FWD inhibit REV inhibit FWD selection REV selection Control modes Operation preparation complete Servo-ON input enable Alarm output In-position complete Torque limiting output Zero speed output Warning output Z (OC) output Output signal common TRQ-CMD TRQ-GND IN-COM S-ON RESET CLEAR FWD-IH REV-IH FWD-SEL REV-SEL MOD-SEL CN / k HA-00A.k.k.k.k.k.k.k TB R R R.k U 0 V White W Black Green/ Yellow AC Servo Actuator FHA-**C Red Shield Be sure to ground each point. 0 / Current value data output+ 0 Current value data output- Encoder phase A+ signal output Encoder phase A- signal output Encoder phase B+ signal output READY S-READY ALARM IN-POS TLMT-OUT ZERO-SPD WARNING Z (OC) OUT-COM Encoder phase B- signal output Encoder phase Z+ signal output Encoder phase Z- signal output Shield /0 LS TB r s R S T CN +V 0V SD SD Connector shell Magnetic switch M Note: The encoder wiring varies depending on the actuator model. Refer to [Chapter Encoder system]. Shield Red Black Yellow Blue Noise filter N/F E Circuit breaker Incremental encoder Use a twisted pair shield cable. Securely connect the shield to the cable-clamp with grand-brain of the connector. Power input AC00V (0/0Hz) or AC00V (0/0Hz) I/O signals 0 Appe -

156 - Connection example in control mode I/O signals 0 Appe -

157 - Chapter Panel display and operation How to operate the display, operation buttons on the driver's front panel and overview of operation in each mode is explained in this chapter. - Operating display panel -

158 - Operating display panel 0 Panel display and operation - Operating display panel The front display panel has a -digit LED display and operation keys. You can perform all display, tuning, setting and other operations on this display panel. Overview of modes The display panel is operated in the modes specified below. Status display mode (d00 to d) Position/speed commands to the driver, current position information from the motor encoder, condition of cumulative pulses in the deviation counter and code number of the actuator to be combined are shown. For details, refer to [Status display mode] (P-). Alarm mode (AL, A to A, AHcLr) Present alarms and up to most recent alarm histories are shown. Also, the alarm history can be deleted in the alarm mode. We recommend to clear the alarm history after the system is complete. When an alarm occurs, the display panel switches to the alarm mode, regardless of the present mode, and shows the present alarm code. Various parameters can be displayed or changed even when an alarm is present. For details, refer to [Alarm mode] (P-). Tune mode (AJ00 to AJ) You can display or change the parameters for servo gains, internal speed commands, etc. Tune mode parameters can be changed even when the actuator is operating. Changes are reflected in real time. For details, refer to [Chapter Tune mode]. System parameters Input signals (SP00 to SP) These parameters set the functions associated with the driver's input signals and their assignments to CN. The set values will become effective when the driver power supply is reconnected. For details, refer to [Input signals: System parameter SP00 to SP] (P-). - Output signals (SP0 to SP) These parameters set the functions associated with the driver's output signals and their assignments to CN. The set values will become effective when the driver power supply is reconnected. For details, refer to [Output signals: System parameter SP0 to SP] (P-). Function extension signals (SP0 to SP) These parameters set switching in the control mode, electronic gear, extension of functions, etc. The set values will become effective when the HA-00A driver power supply is reconnected. For details, refer to [Function extension parameter] (P-). Test modes (T00 to T) In the test mode, you can monitor I/O signals, operate output signals, initialize parameters, and perform multi revolution clear and auto-tuning. You can also check the connection with the host controller and operating status without having to drive the actuator. For details, refer to [Chapter Test mode].

159 - Operating display panel Initial panel display The following explains the panel display shown when the driver is started normally and while an alarm is present. Display upon control power supply ON MODE UP DOWN S E T When the driver's control power supply is turned ON, the driver model HA-00 is shown at the far right of the panel display. 0 The display software version is shown for approx. second. MODE UP MODE UP Normal DOWN S E T DOWN S E T Alarm The control software version is shown for approx. second. Panel display and operation MODE UP DOWN S E T The status data set by [SP: Status display setting] is shown. MODE UP DOWN S E T The driver starts in the alarm mode and shows the present alarm. If multiple alarms or warnings are present, they are shown one by one at an interval of approx. 00 ms. The decimal point in the fifth digit indicates the servo-on Lit: Servo-ON Unlit: Servo-OFF MODE UP DOWN S E T -

160 - Operating display panel 0 Panel display hierarchy The display hierarchy of the display panel is shown below. When an alarm occurs, the display panel switches to the alarm mode, regardless of the present mode, and shows the present alarm code. Even when an alarm is present, you can still switch to other mode and check or change parameters. Status display mode Details of each mode UP or DOWN Panel display and operation MODE MODE UP DOWN S E T MODE Alarm mode MODE UP DOWN S E T MODE Tune mode MODE Tune mode MODE Tune mode MODE UP or DOWN MODE UP or DOWN MODE System parameter mode (Input signals) MODE UP or DOWN MODE UP or DOWN MODE System parameter mode (Output signals) Note: Do not change the tune mode parameters. UP or DOWN MODE UP or DOWN Details of each mode UP or DOWN Details of each Details of each Details of each Details of each MODE MODE System parameter mode (Function extension signals) MODE UP or DOWN MODE System parameter mode (Function extension signals) UP or DOWN Details of each Details of each MODE MODE Test mode Details of each mode UP or DOWN UP or DOWN MODE UP DOWN S E T MODE MODE -

161 - Operating display panel Operation outline of status display mode An overview of operations in the status display mode is shown below. To prevent malfunction, a button is recognized as enabled when it has been pressed for at least 0. second and second or less. * For details on data displayed, refer to Chapter. Status display mode Alarm mode Tune mode MODE 0 MODE UP DOWN S E T MODE MODE MODE UP DOWN S E T MODE UP DOWN UP DOWN UP MODE UP DOWN S E T UP DOWN MODE UP DOWN S E T UP DOWN MODE UP DOWN S E T SET Status data is shown. MODE UP DOWN S E T UP DOWN Panel display and operation UP DOWN MODE UP DOWN S E T UP -

162 - Operating display panel 0 Operation outline of alarm mode An overview of operations in the alarm mode is shown below. To prevent malfunction, a button is recognized as enabled when it has been pressed for at least 0. second and second or less. * For the overview on alarms, refer to P-. * For details on alarms, refer to [Chapter Troubleshooting]. Status display mode Alarm mode Tune mode MODE MODE MODE MODE E UP DOWN S E T MODE UP DOWN S E T UP DOWN MODE UP DOWN UP Panel display and operation MODE UP DOWN S E T UP DOWN Alarm history (most recent) SET MODE UP DOWN S E T Alarm code No. UP DOWN Total operating MODE UP DOWN S E T UP DOWN Alarm history (second most recent) MODE UP DOWN S E T UP DOWN MODE UP DOWN S E T The alarm history can be cleared. For details, refer to [Alarm history clear] (P-). UP -

163 - Operating display panel Operation outline of tune mode An overview of operations in the tune mode is shown below. To prevent malfunction, a button is recognized as enabled when it has been pressed for at least 0. second and second or less. * For details on the tune mode, refer to [Tune mode] (P-). Tune mode Tune mode Tune mode MODE UP DOWN SET DOWN UP AJ00 to MODE MODE MODE MODE UP DOWN SET UP MODE UP DOWN SET UP AJ0 to AJ0 to 0 MODE UP DOWN SET UP UP DOWN DOWN SET Set value MODE UP DOWN SET MODE UP DOWN SET MODE UP DOWN SET UP DOWN Refer to the next page for the setting method. Panel display and operation UP DOWN MODE UP DOWN SET UP -

164 - Operating display panel 0 How to change set value Parameter set value Press the SET button and release it before the flickering stops (within approx. second), and the change will be cancelled. UP SET or DOWN MODE UP DOWN S E T MODE UP DOWN S E T MODE UP DOWN S E T Panel display and operation MODE UP DOWN S E T Press the SET button when the set value of the parameter is shown, and the set value will flicker. Press the UP or DOWN button to change the set value. (Press and hold each button to change the value faster.) Press the SET button and release it while the button is flickering ( second or more) to make the set value effective. SET -

165 - Operating display panel Operation outline of system parameter mode An overview of operations in the system parameter mode is shown below. To prevent malfunction, a button is recognized as enabled when it has been pressed for at least 0. second and second or less. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. System parameter MODE UP DOWN S E T UP MODE System parameter UP MODE System parameter MODE MODE UP DOWN S E T MODE UP DOWN S E T MODE UP UP MODE System parameter DOWN S E T UP 0 Input signals SP00 to Output signals SP0 to Function extension signals SP0 to Function extension signals SP0 to DOWN MODE UP DOWN SET UP DOWN MODE UP DOWN SET SET Set value MODE UP DOWN SET Refer to the next page for the setting method. Panel display and operation UP DOWN UP DOWN MODE UP DOWN SET UP DOWN MODE UP DOWN SET UP -

166 - Operating display panel 0 How to set input signals (SP00 to ) * For details on input signals, refer to P-. Example) Setting [SP0: Reset input setting] Change the input signal from IN to and logical set value from 00 to 0. MODE UP DOWN S E T Logical set value 00: Normally open 0: Normally closed Assign to one of IN to IN of CN. MODE SET UP DOWN SET Press the SET button and release it before the flickering stops (within approx. second), and the change will be cancelled. SET DOWN Panel display and operation MODE UP DOWN S E T MODE UP DOWN S E T MODE UP DOWN S E T Press the SET button when the set value of the parameter is shown, and the fourth and fifth digits of the set value will flicker. (The values set in the fourth and fifth digits can now be changed.) MODE UP DOWN S E T The fourth and fifth digits can be changed. Pressing the UP button changes the set value. (Press and hold each button to change the value faster.) Example) Changing the assignment from IN to IN SET The second and third digits can be changed. Pressing the UP button changes the set value. (Press and hold each button to change the value faster.) Example) Changing the logical set value from 00 to 0 SET Press the SET button and release it after the flickering has stopped (approx. second) to make the set value effective. -

167 - Operating display panel How to set output signals (SP0 to ) * For details on output signals, refer to P-. Example) Assigning [0: Alarm output] to pin of CN Logic circuit setting 0 00 Set value of output signal 0 0 MODE UP DOWN S E T 0 Logical set value 00: Normally open 0: Normally closed Set value of output signal Assign one of 00 to. MODE UP SET DOWN SET Press the SET button and release it before the flickering stops (within approx. second), and the change will be cancelled. SET DOWN MODE UP DOWN S E T MODE UP DOWN S E T MODE UP DOWN S E T Press the SET button when the set value of the parameter is shown, and the fourth and fifth digits of the set value will flicker. (The values set in the fourth and fifth digits can now be changed.) The fourth and fifth digits can be changed. Pressing the UP button changes the set value. (Press and hold each button to change the value faster.) Example) Changing the set value from to SET The second and third digits can be changed. Pressing the UP button changes the set value. (Press and hold each button to change the value faster.) Example) Changing the logical set value from 0 to 00 SET Panel display and operation MODE UP DOWN S E T Press the SET button and release it after the flickering has stopped (approx. second) to make the set value effective. -0

168 - Operating display panel How to set function extension signals (SP**) Example) Changing [SP0: CN-CP output signal setting] to 0 MODE UP DOWN S E T MODE UP DOWN SET SET Press the SET button and release it before the flickering stops (within approx. second), and the change will be cancelled. Set value Panel display and operation UP SET or DOWN MODE UP DOWN S E T MODE UP DOWN S E T MODE UP DOWN S E T MODE UP DOWN S E T Press the SET button when the set value of the parameter is shown, and the set value will flicker. Press the UP or DOWN button to change the set value. (Press and hold each button to change the value faster.) Press the SET button and release it after the flickering has stopped (approx. second) to make the set value effective. SET -

169 - Operating display panel Operation outline of test mode An overview of operations in the test mode is shown below. To prevent malfunction, a button is recognized as enabled when it has been pressed for at least 0. second and second or less. * For details on test mode, refer to [Chapter Test mode]. System parameter Test mode Status display mode MODE MODE MODE 0 MODE UP DOWN S E T MODE UP DOWN S E T UP DOWN MODE UP DOWN SET MODE UP UP MODE UP UP DOWN S E T DOWN DOWN S E T DOWN SET Set value MODE UP DOWN SET UP DOWN Panel display and operation MODE UP DOWN S E T UP DOWN MODE UP DOWN S E T UP -

170 - Operating display panel 0 Panel display and operation -

171 - Chapter Status display mode/alarm mode/tune mode This chapter explains information displayed in the status display mode and alarm mode. Operations and details of servo loop gains, various judgment criteria and acceleration/deceleration time setting during speed control performed in the tune mode are explained. - Status display mode - - Details of status display mode - - Alarm mode - - Alarm list -0 - Tune mode - - Details of tune mode -

172 - Status display mode Status display mode/alarm mode/tune mode 0 ppe - Status display mode In the status display mode, position/speed commands to the driver, current position information from the motor/encoder, condition of cumulative pulses in the deviation counter, I/O signal statuses, load condition and code number of the actuator to be combined are shown, among others. These items help diagnose errors and troubles. Status display mode list If the driver is normal when the power supply is turned ON, [d00: Motor rotation speed indication] is shown.(default setting) To change the displayed items, set desired items by referring to [SP: Status display setting] (P-0). Mode No. Name Description Default Unit Details The current rotation speed of the motor shaft is shown. The rotation speed of the actuator's output shaft is obtained by d00 Rotation direction signal None: FWD - : REV Motor rotation speed dividing the displayed value by the indication reduction ratio of the actuator. -- r/min -- d0 d0 d0 d0 d0 d0 d0 d0 Error pulse count display (Low) Error pulse count display (High) Output torque monitor Overload rate display Feedback pulse display (Low) Feedback pulse display (High) Command pulse display (Low) Command pulse display (High) Command pulse The number of error pulses in position control is shown. Deviation direction symbol None: Deviation in REV rotation - : Deviation in FWD rotation The value of the output torque currently generated by the actuator is shown. 00% indicates the specified maximum output torque of the actuator. Torque direction symbol None: FWD torque - : REV torque Current overload status of the actuator is shown. The encoder feedback pulses are shown. Absolute encoder: The current encoder value is shown. Incremental encoder: Cumulative feedback pulses since the power ON, multiplied by Command pulses to the driver are shown. Absolute encoder: Current encoder value upon power ON, plus command pulses: Incremental encoder Cumulative command pulses since the power ON corresponding to 0 pulses -- pulse P- -- % % -- pulse P- -- pulse P- d0 The command pulse frequency input to frequency display the command pulse input port is shown. -- khz -- d0 Main circuit power The rectified main circuit power voltage is voltage shown. -- V -- d Speed command voltage The speed command input voltage currently input to the driver is shown. -- V P- d Torque command The torque command input voltage voltage currently input to the driver is shown. -- V P- d Applicable actuator code The actuator code number is shown P- -

173 - Status display mode Mode No. Name Description Default Unit Details The current control mode is shown. : Position control d d d Control mode Discharge time Regenerative power (HA-00- only) : Speed control : Torque control An approximate total power ON time is shown. 0 to, -- h -- It indicates absorbed power of regenerative resistor as percentage. -- % P- Status display mode/alarm mode/tune mode 0 Appe -

174 - Details of status display mode Status display mode/alarm mode/tune mode 0 ppe - Details of status display mode The following explains details of the status display mode. Detailed explanations for simple items are omitted. Refer to the [Status display mode list] (P-). d0, 0: Error pulse count display The deviation between command pulses and feedback pulses during position control is shown.d0 indicates the lower digits, while d0 indicates the upper digits. The driver continues to output a rotation command until there is no longer difference (error pulse) between the feedback pulses fed back from the encoder and command pulses output to the actuator. Command pulse+ Driver d0 indicates the lower digits, while d0 indicates the upper digits. Display example) Relational items - d0 (Low) MODE UP Error pulse DOWN S E T Feedback pulse The lower digits of the error pulse (multiplied by ) are shown. Unit: Pulse (Example) = -0 pulses d0, d0, d0, d0 -

175 - Details of status display mode d0: Overload rate display The current overload status of the actuator (unit: %) is shown. If the value reaches 00, the overload protective function shuts off the motor current and simultaneously [AL0: Overload] is displayed. When you want to set a higher servo gain to shorten the positioning period, the higher servo gain is permitted if the overload rate remains 0 after the actual operation. In addition, a system with a greater inertia can also be used as long as the overload rate remains 0. If the overload rate gradually increases, on the other hand, the servo gain must be decreased or other measures are required. The driver always monitors the actuator current for the detection of overload rate, and if the current and its discharge time exceed the curve shown below, an overload alarm generates. Example) Current at least. times the allowable continuous current of the actuator has been supplied for an extended period of time. Current at least times the allowable continuous current of the actuator has been supplied for approx. seconds. Operation time (s), times allowable continuous current Overload range Allowable continuous current (Max. current) Actuator current Status display mode/alarm mode/tune mode 0 Appe -

176 - Details of status display mode d0, 0: Feedback pulse display Feedback pulses from the encoder are shown. Absolute encoder: The current encoder value is shown. Incremental encoder: Cumulative feedback pulses since the power ON, multiplied by d0 indicates the lower digits, while d0 indicates the upper digits. Display example) d0 (High) d0 (Low) Status display mode/alarm mode/tune mode 0 ppe Display range: 0 to ± When the feedback pulses increase to a -digit figure, the highest digit is ignored and only the lower digits are shown. d0, 0: Command pulse display The command pulse value input to the driver is shown. Absolute encoder: Current encoder value at the power ON, plus command pulses Incremental encoder: 0 at the power ON, plus command pulses d0 indicates the lower digits, while d0 indicates the upper digits. Display example) d0 (High) MODE UP DOWN S E T MODE UP MODE UP DOWN S E T Feedback pulse: [0] is shown. d0 (Low) MODE UP DOWN S E T Command pulse: [] is shown. DOWN S E T Display range: 0 to ± When the command pulses increase to a -digit figure, the highest digit is ignored and only the lower digits are shown. Relational items d0, d0, d0, d0 -

177 - Details of status display mode d: Speed command voltage The speed command input voltage (unit: V) currently input to the driver is shown. The speed command input voltage and motor rotation speed are associated by the parameter [SP: Speed input factor]. The actuator's output shaft rotation speed is obtained by dividing motor rotation speed by the reduction ratio of the actuator. In other words, the actuator's output shaft rotation speed is obtained by the following formula: Speed input factor Output shaft revolution = Reduction ratio In actual operation, the actuator may move slightly even when the speed command voltage is 0, instead of remaining standstill, depending on the offset voltage. In this condition, adjust [AJ: Speed command offset] in the tune mode or [T0: Speed command auto-offset] in the test mode. Relational items SP, AJ, T0 d: Torque command voltage The torque command input voltage (unit: V) currently input to the driver is shown. The torque command input voltage and actuator output torque are associated according to the value set in [SP: Torque input factor] parameter. Output torque = Torque command input factor In actual operation, the actuator may generate a slight torque even when the torque command voltage is 0, depending on the offset voltage. In this condition, adjust [AJ: Torque command offset] in the tune mode or [T0: Torque command auto-offset] in the test mode. Relational items Speed command input voltage 0 Torque command input voltage 0 SP, AJ, T0 Status display mode/alarm mode/tune mode 0 Appe -

178 - Details of status display mode Status display mode/alarm mode/tune mode 0 ppe d: Applicable actuator code The actuator applicable to this driver is indicated by a code number. The relationship of code numbers and actuators is as follows: Codes of SHA series actuators Encoder Absolute Voltage specification Reduction ratio / / / /0 / / SHA0AxxxSG - SHAAxxxSG/HP V SHAAxxxSG/HP SHA0AxxxSG - SHAAxxxSG - - SHAAxxxSG V SHAAxxxSG - Encoder Absolute Voltage specification Reduction ratio /0 /0 /00 /0 /0 SHA0AxxxCG 00 V SHAAxxxCG SHAAxxxCG SHA0AxxxCG 00V SHAAxxxCG Encoder Output shaft single revolution absolute model Voltage specification Reduction ratio /0 /0 /00 /0 /0 SHAAxxxCG-S V SHAAxxxCG-S SHA0AxxxCG-S 00V SHAAxxxCG-S Codes of FHA-C and FHA-Cmini series actuators Encoder Incremental Absolute Voltage specification Reduction ratio /0 /0 /00 /0 /0 /00 /0 FHA-C FHA-C FHA-C V FHA-C - FHA-C - FHA-C - FHA-0C - 00V FHA-C FHA-C FHA-C FHA-C - FHA-C - FHA-C - -

179 - Details of status display mode Codes of RSF series actuators Encoder Incremental Voltage specification Reduction ratio /0 /00 RSF-A 00V RSF-0A RSF-A RSF-A Codes of HMA series actuators Encoder Absolute Voltage specification Brake No brake A With brake B HMAC0x HMAB0x V HMABx HMABx HMAAAx V HMAB0x d: Regenerative power (HA-00- only) It indicates absorbed power of regenerative resistor as percentage (unit: %). The value can be converted to absorbed power of resistor using the following formula. Motor display value [%] Regenerative resistor absorption power [W] = 000[W] 00[%] * The regenerative power varies depending on input voltage, load conditions, and operation pattern. Take sufficient margin in evaluation tests of your systems. * This status display function is available only for HA-00A-. With the HA-00A-, and, the power absorbed by regenerative resistor is unrelated. Status display mode/alarm mode/tune mode 0 Appe -

180 - Alarm mode Status display mode/alarm mode/tune mode 0 ppe - Alarm mode In the alarm mode, present alarms and warnings as well as up to most recent alarm histories and total operating hours when each alarm occurred are shown. The alarm history can also be cleared in this mode. The following items are shown in the alarm mode. Note, however, that warnings are not stored in the alarm history. Alarm display The following items are shown in the alarm mode: Mode No. Name Description Details AL Present alarm/warning display The present alarm/warning is shown. P-0 Alarm history and time of Alarm history is shown by a code number. When the A occurrence SET button on the panel is pressed while the history is Alarm history and time of displayed, the total operating hours (unit: h) of the A occurrence driver when the applicable alarm occurred is shown. Alarm history and time of Note that the total operating hours is approximate. A occurrence -- Alarm history and time of A occurrence Alarm history and time of A occurrence Alarm history and time of A occurrence AHcLr Alarm history clear The history of up to most recent alarms is cleared. P- A Alarm history and time of occurrence A Alarm history and time of occurrence -

181 - Alarm list - Alarm list A list of alarms and warnings is shown. AL: Present alarm/warning display The driver shows the code number of the present alarm/warning. If multiple alarms (warnings) are output, all alarm (warning) codes are shown one by one at an interval of approx. 00 ms. If no alarm (warning) is present, [--] is shown. Even when an alarm (warning) is output, you can still switch to a mode other than the alarm mode and display various parameters and status data. Display when no alarm is present Display when an alarm is present The relationship of displayed code numbers and alarms/warnings is shown below. For details, refer to [Chapter Troubleshooting]. Alarms Code No. MODE UP DOWN S E T Alarms Code No. Alarms Code No. Alarms 0 Emergency stop Overheated dynamic brake * Memory failure (EEPROM) 0 Overspeed Damaged power circuit FPGA configuration error 0 Overload 0 Encoder disconnection FPGA setting error 0 IPM error (overcurrent) Encoder receiving error *, * Processor error 0 Overvoltage UVW error * System failure * Regenerative resistor System failure * Single rotation data overheat error * Overregeneration * Multi revolution overflow * Multi revolution data error * Missing phase * Multi revolution data error * BUSY error * Control power supply low * 0 Error counter overflow Overheat error * Main circuit voltage low * 0 Memory failure (RAM) Communication error * *: Displayed only when an incremental encoder is used. *: Displayed only when a -bit absolute encoder is used. *: Displayed only when a -bit absolute encoder is used (including -bit encoder incremental model) *: Displayed HA-00A- only. MODE UP DOWN S E T Example) An error counter overflow alarm is present. Status display mode/alarm mode/tune mode 0 Appe Warning Code Code Code Alarms Alarms No. No. No. Alarms 0 Overload status Main circuit voltage low Wrong actuator Battery voltage low FWD inhibit input effective Cooling fan stopped REV inhibit input effective -0

182 - Alarm list AHcLr: Alarm history clear The history of up to most recent alarms stored in the driver is cleared. Press the SET button when [AHcLr] is displayed. [AHcLr] flickers. Press the SET button again. The alarm history is cleared and flickering of [AHcLr] stops and becomes lit. To not clear the alarm history, pressing the UP or DOWN button cancels the alarm history clear, after which the content of A or AL is displayed. Status display mode/alarm mode/tune mode 0 ppe -

183 - Tune mode - Tune mode You can read and change parameters relating to actuator operations. The following items can be changed. Mode Code Parameters Default Details Tune mode Tune mode Tune mode AJ00 Position loop gain * P- AJ0 Speed loop gain * P- AJ0 Speed loop integral compensation * P- AJ0 Feed-forward gain 0 P- AJ0 In-position range * P- AJ0 Attained speed judgment value 000 P- AJ0 Attained torque judgment value 0 P- AJ0 Zero speed judgment value 0 P- AJ0 Internal speed command 00 P- AJ0 Internal speed command 000 P- AJ0 Internal speed command 00 P- AJ Torque limit 00 P- AJ Acceleration time constant P- AJ Deceleration time constant P- AJ External speed command offset 0 P- AJ External torque command offset 0 P- AJ Speed monitor offset * P- AJ Current monitor offset * P- AJ System reservation * AJ System reservation * AJ0 Feed-forward filter P- AJ Load inertia moment ratio 00 P- AJ Torque constant compensation factor 00 P- AJ Spring constant compensation factor 00 P-0 AJ Positioning Automatic Gain 0 P-0 AJ to System reservation * AJ0 to System reservation * Status display mode/alarm mode/tune mode 0 Appe *: It varies depending on the applicable actuator. Refer to the values of applicable actuator that are the targets of Appendix [Default settings]. *: It varies depending on the driver. *: Do not change the parameters that are in the system reserved areas. The default setting of the system reservation may vary depending on the model/version. If the set values change when the parameters are transferred between different models, it does not affect the product functions. To perform the data comparison with the backed up parameter files or writing the backed up parameter files to the driver using PSF-00 communication software, refer to [0-. Saving and reading set values]. -

184 - Details of tune mode Status display mode/alarm mode/tune mode 0 ppe - Details of tune mode The following explains the details of settings in the tune mode. AJ00: Position loop gain Adjust the proportional gain of the position feedback loop. The relation between the set value and actuator operation is as follows: Increasing the set value: The position deviation decreases and following accuracy relative to the command increases, but setting too high a value makes the servo system unstable and prone to vibration (hunting). Decreasing the set value: Setting too low a value results in poor following accuracy relative to the command. Set the highest gain within the limits of no vibration (hunting) and minimum overshoot. Perform a trial operation with a higher servo gain to shorten the positioning period. If the value of [d0: Overload rate display] remains 0 in the status display mode after the actual operation, the higher servo gain can be used. Set value Function Unit Default 0 to Set the proportional gain of the * - position feedback loop. Relational items AJ0, AJ0, AJ0, d0 *: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-) in the appendix. AJ0: Speed loop gain Adjust the proportional gain of the speed feedback loop. The relation between the set value and actuator operation is as follows: Increasing the set value: Servo rigidity increases along with response, but setting too high a value makes the servo system unstable and prone to vibration (hunting) and overshoot. Decreasing the set value: Setting too low a value leads to poor response and following accuracy. Speed Overshoot Best Time Set value Function Unit Default HA-00-: 0. to. Except HA-00-: to Set the proportional gain of the speed feedback loop. - * Relational items AJ00, AJ0, AJ0 *: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-) in the appendix. -

185 - Details of tune mode AJ0: Speed loop integral compensation Set this parameter to reduce the speed fluctuation due to load fluctuation. The relation between the set value and actuator operation is as follows: Increasing the set value: Vibration (hunting) is eliminated and response becomes slower upon load fluctuation. Decreasing the set value: Response upon load fluctuation increases, but setting too low a value causes vibration (hunting). Set value Function Unit Default to Set the speed loop integral * - compensation value. Relational items AJ00, AJ0, AJ0 *: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-) in the appendix. AJ0: Feed-forward gain Set this parameter to perform feed-forward control associated to reduce the delay relative to the command. Set 0, if feed-forward control is not performed. The relation between the set value and actuator operation is as follows: Increasing the set value: Tendency of mechanical shock and vibration (hunting) increases. Set value Function Unit Default 0 to 00 Set the feed-forward gain. - 0 Relational items AJ0, AJ, AJ, AJ, SP When using the feed-forward control function, be sure to reference [Applied servo gain adjustment function] (P-) and understand the notices. AJ0: In-position range Set the pulse condition for outputting an in-position output signal during position-controlled operation. An in-position complete signal is output when the error pulse count (command pulses - feedback pulses) is inside the range of +in-position range to -in-position range. Output signals are assigned by SP0 to.(p-0) * The setting value of AJ0 is the encoder pulse units. Set value Function Unit Default 0 to Set the range in which to output an in-position output signal. Pulse * Relational items SP0 to *: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-) in the appendix. Status display mode/alarm mode/tune mode 0 Appe -

186 - Details of tune mode Status display mode/alarm mode/tune mode 0 ppe AJ0: Attained speed judgment value Set the speed condition for outputting an attained speed output signal. An attained speed judgment signal is output when the actuator's motor shaft rotation speed rises to the attained speed judgment value or above. Output signals are assigned by SP0 to.(p-0) Set value Function Unit Default to Set the condition for outputting an attained speed output signal. r/min 000 Relational items SP0 to AJ0: Attained torque judgment value Set the torque condition for outputting an attained torque output signal. An attained torque judgment signal is output when the actuator's output torque rises to the attained torque judgment value or above. Output signals are assigned by SP0 to.(p-0) Set value Function Unit Default to 00 Set the condition for outputting an attained torque output signal. % 0 Relational items SP0 to AJ0: Zero speed judgment value A zero speed output signal is output when the actuator's motor shaft rotation speed drops to the zero speed judgment value or below. Output signals are assigned by SP0 to.(p-0) Set value Function Unit Default 0 to 00 Set the zero speed judgment value. r/min 0 Relational items SP0 to Switching from the position control mode to other control mode, or from other control mode to the position control mode, is prohibited unless a zero speed output signal is output. -

187 - Details of tune mode AJ0 to 0: Internal speed command to Set the speed command for speed control without using any external speed command (analog voltage speed command). This function is useful when performing a trial run or diagnosing the system using the actuator alone. Set SP0 and SP0 to operate the actuator accordingly.(p-) During position control, the value set here functions as the speed limit. During position control, the speed can be limited by the internal speed command input or. Set SP and SP to execute the limit functions.(p-) Set value Function Unit Default to maximum rotational speed of applicable actuator x Reduction ratio * Set the internal speed command. r/min 00/000/00 Relational items SP0, SP0,SP,SP, SP0 to *: No negative values are allowed. AJ: Torque limit During position control, speed control, or torque control, the torque is limited to the set "torque limit" when the internal torque limit input is enabled. Set SP for internal torque limit input (P-). Set value Function Unit Default to 00 Set the torque limit. % 00 Relational items SP, SP0 to If torque is limited during position control, depending on the set torque limit the error pulses may increase and the actuator behavior may become unstable the moment the torque limit input is cancelled. Carefully set the torque limit to be applied during position control. Status display mode/alarm mode/tune mode 0 Appe -

188 - Details of tune mode Status display mode/alarm mode/tune mode 0 ppe AJ: Acceleration time constant Set the time over which the actuator will accelerate from the standstill state to the value set in function extension mode parameter [SP: Speed input factor] during speed control. Set value Function Unit Default to Set the time over which to accelerate from the standstill state to [SP: Speed input factor]. ms [AJ: Acceleration time constant] and [AJ: Deceleration time constant] are used during speed control. See below for details: When the speed command changes, the speed command in the driver will change based on this set value. Refer to the following for the conditions in which the acceleration time constant AJ and deceleration time constant AJ are applied. External (Analog voltage) speed command change: [AJ: Acceleration time constant] Internal speed command change (Switch): [AJ: Acceleration time constant] Switching between external speed command and internal speed command: [AJ: Acceleration time constant] Speed command change when FWD enable SP0 or REV enable SP0 is enabled (Speed change from zero to FWD/REV rotation): [AJ: Acceleration time constant] Speed command change when FWD enable SP0 or REV enable SP0 is disabled (Speed change from FWD/REV rotation to zero speed): [AJ: Deceleration time constant] Operation example () Input a FWD enable signal after a positive speed command has been input The actuator operates according to the acceleration time constant. () Input a negative speed command in the condition in () The actuator operates according to the acceleration time constant. () Change the speed command to 0V in the condition in () The actuator operates according to the acceleration time constant. () Also input a REV enable signal in the condition in () The actuator operates according to the deceleration time constant. () Turn the FWD enable signal OFF in the condition in () The actuator operates according to the deceleration time constant. AJ: Deceleration time constant Set the time over which the motor rpm will decelerate from the value set in system parameter [SP: Speed input factor] to [0 r/min].for details, refer to [AJ: Acceleration time constant]. Set value Function Unit Default to Set the time over which to decelerate to 0 r/min. ms -

189 - Details of tune mode AJ: External speed command offset During speed control, the motor may rotate slightly even when the input command voltage is set to 0V. This problem may occur when the external command input voltage has an offset of a few mv. External speed command offset is a function that absorbs this error to prevent slight rotation of the motor. Set the input command voltage to 0V and change the offset value to find a value at which the motor stops. Use [T0: Automatic adjustment of speed command offset] to adjust automatically. For details, refer to [T0: Speed command offset automatic adjustment] (P-). Set value Function Unit Default - to Set the offset value for input command voltage. mv 0 AJ: External torque command offset During torque control, the motor may rotate slightly even when the input command voltage is set to 0V. This problem may occur when the external command input voltage has an offset of a few mv. External torque command offset is a function that absorbs this error to prevent slight rotation of the motor. Set the input command voltage to 0V and change the offset value to find a value at which the motor stops. Use [T0: Automatic adjustment of torque command offset] to adjust automatically. For details, refer to [T0: Torque command offset automatic adjustment] (P-). Set value Function Unit Default - to Set the offset value for input command voltage. mv 0 AJ: Speed monitor offset Adjust the speed monitor output offset currently output to CN.Though the speed monitor offset has been adjusted at the factory, readjust it if necessary. The adjustment range of -0 to 0 corresponds to -0 to +0V. This offset value is not initialized with parameter initialization and the value is retained. Set value Function Unit Default Set the offset value for speed monitor * -0 to 0 - output. *: The default value varies depending on the driver. AJ: Current monitor offset Adjust the current monitor output offset currently output to CN. Though the current monitor offset has been adjusted at the factory, readjust it if necessary. The adjustment range of -0 to 0 corresponds to -0 to +0V. This offset value is not initialized with parameter initialization and the value is retained. Status display mode/alarm mode/tune mode 0 Appe Set value Function Unit Default Set the offset value for current monitor * -0 to 0 - output. *: The default value varies depending on the driver. -

190 - Details of tune mode Status display mode/alarm mode/tune mode 0 ppe AJ0: Feed-forward filter Set the filter frequency to be used in feed-forward control. Setting a higher value increases the response, but mechanical shock or vibration (hunting) will occur more easily if the value is too high. (Refer to [Applied servo gain adjustment function] (P-).) Set value Function Unit Default to 000 Set the filter frequency. Hz Relational items AJ0, AJ, AJ, AJ, SP When using the feed-forward control function, be sure to reference [Applied servo gain adjustment function] (P-) and understand the notices. AJ: Load inertia moment ratio Set the load inertia moment ratio relative to self-inertia moment to be used in feed-forward control. Feed-forward control is performed based on the value set here. (Refer to [Applied servo gain adjustment function] (P-).) Set value Function Unit Default to 000 Sets the load inertia moment ratio. % 00 Relational items AJ0, AJ0, AJ, AJ, SP When using the feed-forward control function, be sure to reference [Applied servo gain adjustment function] (P-) and understand the notices. AJ: Torque constant compensation factor Variation in the actuator torque constant used in feed-forward control is compensated for. Feed-forward control is performed based on the value set here. (Refer to [Applied servo gain adjustment function] (P-).) Set value Function Unit Default to 00 Set the torque constant compensation factor for the actuator. % 00 Relational items AJ0, AJ0, AJ, AJ, SP When using the feed-forward control function, be sure to reference [Applied servo gain adjustment function] (P-) and understand the notices. -

191 - Details of tune mode AJ: Spring constant compensation factor Variation in the actuator spring constant used in feed-forward control is compensated for. Feed-forward control is performed based on the value set here. (Refer to [Applied servo gain adjustment function] (P-).) Set value Function Unit Default to 00 Set the spring constant compensation factor for the actuator. % 00 Relational items AJ0, AJ0, AJ, AJ, SP When using the feed-forward control function, be sure to reference [Applied servo gain adjustment function] (P-) and understand the notices. AJ: Positioning Automatic Gain Can adjust set gain when "SP0: Positioning Automatic Gain Setting Enabled/Disabled" is enabled. * Can be used with HA-00 software version.0 or later. Set value Function Unit Default -0 to 00 Allows setting of positioning automatic gain increase/decrease. % 0 Relational item SP0 Status display mode/alarm mode/tune mode 0 Appe -0

192 - Details of tune mode Status display mode/alarm mode/tune mode 0 ppe -

193 - Chapter System parameter mode Details of how to assign I/O signals and set their logics, as well as extended functions such as control mode selection, pulse input system selection and electronic gear setting, etc., are explained in this chapter. - System parameter mode - - Function extension parameter -

194 - System parameter mode System parameter mode 0 ppe - System parameter mode The following explains the parameters that can be operated/displayed in each operation mode. The settable parameters are explained below. Detailed explanation on function extension parameters SP0 onward are explained in this chapter. For details on other system parameters, refer to [Chapter I/O signals]. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Mode Code Parameters Mode Code Parameters System parameter (Input signals) System parameter (Output signals) SP00 Emergency stop input setting SP0 CP output signal setting SP0 Reset input setting SP Control mode switching setting SP0 Clear input setting SP Command pulse input pattern SP0 FWD inhibit input setting SP Multiplication of -phase input SP0 REV inhibit input setting SP Electronic gear numerator SP0 FWD enable input setting SP Electronic gear denominator SP0 REV enable input setting SP Electronic gear numerator SP0 FWD selection input setting SP Electronic gear denominator SP0 REV selection input setting SP Deviation clear upon servo-on SP0 SP0 SP Internal speed command input setting Internal speed command input setting Internal speed limit input setting System parameter (Function extension signals) SP SP0 SP Allowable position deviation Command polarity Speed input factor SP Internal speed limit input setting SP Zero clamp SP Internal torque limit input setting SP Torque input factor SP Electronic gear selection input setting SP Status display setting SP Control mode selection input SP DB enable/disable setting SP INHIBIT input setting SP External speed limit enable/disable SP System reservation SP External torque limit enable/disable SP System reservation SP System reservation SP System reservation SP Angle compensation enable/disable setting SP0 SP SP SP SP SP SP CN-pin : Signal assignment and Automatic positioning gain setting SP0 function setting enable/disable setting CN-pin : Signal assignment and function setting SP Encoder monitor output pulses System parameter (Function extension signals) CN-pin : Signal assignment and function setting SP System reservation CN-pin : Signal assignment and function setting SP System reservation CN-pin 0: Signal assignment and Regenerative resistor selection SP function setting (HA-00- only) CN-pin : Signal assignment and function setting SP FWD/REV inhibit operation CN-pin : Signal assignment and function setting SP Absolute encoder function setting -

195 - System parameter mode Mode Code Parameters Mode Code Parameters SP to SP System reservation SP SP SP Output shaft divide function setting System reservation Feed-forward control function setting SP0 to System reservation SP Do not change the parameters that are in the system reserved areas. The default setting of the system reservation may vary depending on the model/version. If the set values change when the parameters are transferred between different models, it does not affect the product functions. To perform the data comparison with the backed up parameter files or writing the backed up parameter files to the driver using PSF-00 communication software, refer to [0-. Saving and reading set values]. System parameter mode 0 Appe -

196 - Function extension parameter System parameter mode 0 ppe - Function extension parameter The function extension parameters SP0 onward are explained below. For details on other system parameters, refer to [Chapter I/O signals]. Parameters No Name Default SP0 CP-CP output signal setting 00 SP Control mode switching setting 0 SP Command pulse input pattern setting 0 SP Multiplication of -phase input SP Electronic gear numerator SP Electronic gear denominator SP Electronic gear numerator SP Electronic gear denominator SP Deviation clear upon servo-on SP Allowable position deviation * SP0 Command polarity 0 SP Speed input factor * SP Zero clamp 0 SP Torque input factor 00 SP Status display setting d00 SP DB enable/disable setting SP External speed limit enable/disable 0 SP External torque limit enable/disable 0 SP System reservation * - SP Angle compensation enable/disable setting 0 SP0 Automatic positioning gain setting enable/disable setting * SP Encoder monitor output pulses * SP SP System reservation * - SP Regenerative resistor selection (HA-00- only) 0 SP FWD/REV inhibit operation 0 SP Absolute encoder function setting * SP Output shaft divide function setting 0 SP System reservation * - SP Feed-forward control function setting * SP0 to SP System reservation * - *: It varies depending on the applicable actuator. Refer to the values of applicable actuator that are the targets of Appendix [Default settings]. *: The system parameters (SP00 to ) are enabled by reconnecting the control power supply after changing the setting. *: Do not change the parameters that are in the system reserved areas. The default setting of the system reservation may vary depending on the model/version. If the set values change when the parameters are transferred between different models, it does not affect the product functions. To perform the data comparison with the backed up parameter files or writing the backed up parameter files to the driver using PSF-00 communication software, refer to [0-. Saving and reading set values]. *: HA-00A-*D: SP=0, HA-00A-*E: SP= -

197 - Function extension parameter SP0: CN-CP output signal setting Set the monitor output signal to pin of CN. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value Description Default 0 Operation preparation complete 0 Alarm output 0 In-position output 0 Attained speed output 0 Attained torque output 0 Zero speed output 0 Control mode output SP: Control mode switching setting 00 You can switch between control modes among position control, speed control and torque control. The control mode to switch to is determined according to the input signal for control mode selection CON-SEL. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Input signals Set value Status of control mode selection input setting SP Enable Disable 0 Speed control Position control Torque control Position control Torque control Speed control Default Switching from the position control mode to another mode or from another control mode to the position control mode is prohibited unless the motor rpm is equal to or below the value set in [AJ0 zero speed judgment value]. The zero speed judgment function can be assigned to an output signal of CN via a system parameter. 0 System parameter mode 0 Appe -

198 - Function extension parameter SP: Command pulse input pattern setting Set the command pulse input method to be used during position control. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value FWD REV Input pattern FWD command FWD (Forward command pulse signal) CN-, REV (Reverse command pulse signal) CN-, 0 0 Forward Reverse FWD REV FWD REV Pulse input Polarity REV command FWD REV REV command FWD command Default 0 System parameter mode 0 ppe FWD REV 0 Phase A Phase B REV command FWD REV FWD command 0 SP: Multiplication of -phase input setting When the set value in [SP: Command pulse input pattern setting] is [: -phase pulse input], the input signals can be multiplied to double or quadruple the movement pulses for each original input signal pulse. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value Function Default Movement pulses are the same as input pulses. Movement pulses are doubled. Movement pulses are quadrupled. Movement pulses are quadrupled. -

199 - Function extension parameter SP to : Electronic gear setting This can be set to make the displacement of the driven actuator mechanism per input pulse an integer. Use [SP: Electronic gear selection input] to select electronic gear or. With the SHA-CG series, electronic gear selection is enabled when [SP: Output shaft divide function setting] is 0 (default value).for details, refer to [SP: Output shaft divide function setting] (P-). Rotary operation Electronic gear numerator (SP) Electronic gear denominator (SP) Linear operation Electronic gear numerator (SP) Electronic gear denominator (SP) = = Travel angle per input pulse Reduction ratio of load mechanism Travel distance per input pulse Feed pitch of load mechanism Actuator resolution Actuator resolution Set integers for both the denominator and numerator based on this formula: Electronic gear numerator (SP)/electronic gear denominator (SP) shall also conform to the above formula. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Parameter No. Name Set value Default Electronic gear numerator Electronic gear denominator Electronic gear numerator to Electronic gear denominator The electronic gear is a function that sets and changes the amount the actuator rotates for operation command pulse from the host device. In the factory status, the actuator output shaft rotates through single revolution when the number of pulses for the output shaft resolution (depends on the actuator) is input. Ex)To set FHA-C-00-E0 (output shaft resolution: pls/r) to 0,000 pls/r (0.00 deg/pulse) (actuator resolution) = 0000 (resolution) If [SP: Electronic gear numerator] is set to [] and [SP: Electronic gear denominator] is set to [], the FHA-C-00-E0 resolution can be used treated as [0,000 pls/r]. 0 System parameter mode 0 Appe Also, set the output shaft rotation speed referencing command pulse frequency [Hz] = output shaft rotation speed [r/min]/0 x number of output shaft divisions. The permitted command pulse input frequency on the HA-00A is MHz (for the line collector type; 00 khz for the open collector type), so the max. motor rpm is restricted to max. motor rpm [r/min] = x 0 / encoder resolution x 0 x electronic gear ratio. -

200 - Function extension parameter System parameter mode 0 ppe SP: Deviation clear upon servo-on setting The deviation can be reset to 0 when the servo-on signal is input. However, the position deviation data stored when the servo-on input was OFF may be lost and the actuator may not return to its original position. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value Function Default 0 When the servo is turned ON while there is a deviation, the actuator will move by the deviation. Clear the deviation to zero before turning ON the servo. CAUTION When 0 is set and the control circuit power remains input even while the servo ON input is OFF, position error pulses will generate if the stopped position of the load mechanism moves due to gravity, human force, etc. If the servo-on input is turned ON in this condition, the actuator will move at the maximum current to make this error pulse count to 0. Accordingly, the facility may be damaged. SP: Allowable position deviation Set the allowable value of position deviation. If a deviation exceeding this value is generated, [AL0: Excessive deviation] is generated and the servo will be turned OFF. * The setting value of SP is the encoder pulse units. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value Description Unit Default to Allowable value of position deviation x,000 pulses * *: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-) in the appendix. SP0: Command polarity This sets the actuator rotation direction when an operation command (pulse command, speed command, torque command) is given. This parameter affects the commands and monitoring that use pulse commands and analog voltage commands. It does not affect test operation and other operations performed from the PSF-00 or HA-00A panel. It is also possible to reverse not only the rotation directions, but also the system coordinate directions, including forward/reverse inhibit signals, monitoring polarities, etc. * Coordinate direction reversing (SP0=) is available for HA-00 software version.x or later. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. -

201 - Function extension parameter Set value Function Default 0 Do not reverse the rotation direction. Rotates forward (clockwise rotation) with forward (FWD) command Reverse the rotation direction. Rotates in reverse (counter-clockwise rotation) with forward (FWD) command. 0 * Reverse the coordinate direction. Rotates in reverse (counter-clockwise rotation) with forward (FWD) command. *: The rotation directions above indicate the rotation directions viewed from the output shaft. *: With the SHA-SG/HP series and HMA series, rotation is in the opposite directions from those above. The following shows the range affected by command polarity. : Affected by SP0 setting x: Not affected by SP0 setting Input signals Display panel PSF-00 SP0 SP0 SP0 SP0: FWD inhibit T0: JOG operation JOG operation SP0: REV inhibit T0: Auto-tuning Program operation SP0: FWD enable d00: Motor rpm Auto-tuning SP0: REV enable d0,0: Error pulse Status display Motor rotation speed SP0: FWD Status display d0: Output torque selection Torque SP0: REV Status display d0,0: Feedback pulse selection Feedback pulse Pulse command Status display d0,0: Command pulse pulse Command pulse Speed command d: Speed command Status display input Torque command input Output signals voltage d: Torque command voltage Error pulse Waveform monitoring Feedback speed Waveform monitoring Command speed Waveform monitoring Error pulse SP0 FWD inhibit input in effect REV inhibit input in effect Current value data output * Encoder monitor * bitabs Current value data output * Analog speed monitor Analog current monitor *: Refer to [Outputting the current value data from the pins CN-0 and ] (P-). *: Refer to [Encoder phase A, B and Z signal outputs] (P-) (P-) (P-). *: For details, refer to [Outputting the current value data from the pins CN- to (HA- driver mode)] (P-). System parameter mode 0 Appe -

202 - Function extension parameter System parameter mode 0 ppe SP: Speed input factor setting Set the motor rotation speed to be applied during speed control when the input voltage set in [CN- speed command input] is 0V.The relationship of input voltage and motor rotation speed is determined by the following formula based on this factor: Motor rotation speed r/min = Input command voltage V Speed input factor 0.0V The voltage obtained by the following formula is output for [CN- speed monitor output]: Speed monitor 0.0V output voltage V = Rotation speed r/min Speed input factor * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value Function Unit Default to maximum motor rotation speed Set the speed input factor. r/min * *: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-) in the appendix. SP: Zero clamp This function forcibly stops the actuator rotation by switching to the position control mode when the FWD enable and REV enable signals are both ON or both OFF during speed control. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set Function value 0 Disable Enable Default 0 SP: Torque input factor setting Set the motor output torque to be applied during torque control when the input voltage set by the torque command input (CN-) is 0V.The relationship of input voltage and motor output torque is determined by the following formula based on this factor: Motor output torque % =Input command voltage V Torque input factor 0.0V 00% = maximum current. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value Function Unit Default to 00 Set the torque input factor. % 00 -

203 - Function extension parameter SP: Status display setting Set what will be displayed in the status display mode after the control power supply is turned ON. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value Function Default d00 to d d00 Status display mode number to be displayed (0 to ) (0) The set values in the parenthesis are for when using PSF-00. SP: DB enable/disable setting Set whether to enable or disable the dynamic brake. Use this parameter for HA-00A-,, and. In HA-00A-, the dynamic brake operation is interlinked with the main circuit DC voltage. It is not possible to change the operation by the SP setting. Use HA-00A- by setting SP =. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set Function value 0 Disable Enable Default SP: External speed limit enable/disable When the actuator is operating in the position control mode, set this parameter to limit the speed according to the command voltage currently input to the external speed command input (pin of CN). The relationship of voltage and speed conforms to the value set in [SP: Speed input factor]. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set Function value 0 Disable Enable Default 0 SP: External torque limit enable/disable Set this parameter to limit torque according to the command voltage set by the external torque command input (pin of CN) during position control or speed control. The relationship between the command voltage and torque is set with [SP: Torque input factor]. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. System parameter mode 0 Appe Set Function value 0 Disable Enable Default 0-0

204 - Function extension parameter System parameter mode 0 ppe SP: Angle compensation enable/disable setting Set the angle compensation to be applied when a FHA mini series (FHA-C/C/C) driver is combined with the actuator. This function analyzes the angle transmission error beforehand and compensates for this erroneous difference to improve uni-directional positional accuracy. The function improves the uni-directional positioning accuracy by approx. 0% than the value without compensation. (0% is not a guaranteed value. The actual improvement rate is different depending on the actuator.) * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value Function Default 0 Do not compensate 0 Compensate SP0: Automatic positioning gain setting enable/disable setting The automatic gain setting function can be used during positioning when a FHA mini series (FHA-C/C/C) driver is combined. This function automatically increases the speed loop gain when the error pulse count is small, to shorten the positioning period. The speed command value of position loop is proportional to the error pulse and thus the positioning speed drops when the error pulse is small. In the case, response can be improved by raising the speed loop gain and increasing the current command value. If the speed loop gain set in [AJ0: Speed loop gain] is greater than the automatically set value, the value set in AJ0 becomes effective. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value Function Unit Default 0 Do not set - * Set *: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-) in the appendix. SP: Encoder monitor output pulses Set the number of pulses to be output to the encoder monitor output terminal (CN- to ) per motor revolution when a -bit absolute encoder is combined. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value Function Unit Default Number of pulses output to the encoder monitor to output terminal Pulse * *: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-) in the appendix. -

205 - Function extension parameter SP: Regenerative resistor selection (HA-00- only) Set this parameter on HA-00A- according to the connected regenerative resistor. At our factory default, the wiring is set such that set value [0: Use a built-in regenerative resistor] as well as built-in regenerative resistors are used. * Make sure to set the value to [0] if you use built-in regenerative resistors. * Set the value to [], if you use an external regenerative resistor because the circuit power is large. * Do not use the set value []. (This setting is for maintenance purpose.) * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set Function Unit Default value 0 Use built-in regenerative resistor Use external regenerative resistor - 0 Setting prohibited SP: FWD/REV inhibit operation Set the operation for when FWD/REV inhibit is input during the position control and speed control. * This is available for HA-00 software version.0 or later. * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Set value Function Unit Default 0 Does not generate the torque in the inhibited direction. - 0 Stopped by locking the servo. SP: Absolute encoder function setting A -bit absolute encoder can be used as an incremental encoder. When using as an incremental encoder, the backup battery is not required. For the actuator for the -bit encoder incremental model (combined with driver: HA-00A-*E), connect the backup battery and if SP=0 is set, the encoder can be used as a -bit absolute encoder. * This is available for HA-00 software version.x or later. * Changes to system parameter settings (SP00 to ) are put into effect by changing the setting, then turning control power supply OFF, then ON again. System parameter mode 0 Appe Set value Function Unit Default 0 Use as an absolute encoder. - * Use as an incremental encoder. *: HA-00A-*D;SP=0, HA-00A-*E;SP= -

206 - Function extension parameter System parameter mode 0 ppe SP: Output shaft divide function setting When using for position control combined with an SHA-CG series unit, you can set the actuator resolution. The corresponding electronic gear value is set automatically from the output shaft divide function setting and the applicable actuator. For the operation commands and monitor signals affected by the output shaft divide function setting, see the table on the next page. The electronic gear (selected with SP/SP, SP/SP, SP) and the output shaft divide function cannot be combined. The electronic gear setting is only in effect when SP=0. Also, if you change the setting, the origin needs to be set again. Be sure to change the value before setting the origin. For details on the origin setting, refer to [Origin setting] (P-). When the output shaft divide function is set, set the output shaft speed referencing command pulse frequency [Hz] = Output shaft speed [r/min]/0 x number of output shaft divisions. Ex) With the SHAA0CG (reduction ratio 0), to set SP= and set the output shaft speed to 0 [r/min] Command pulse frequency = 0 [r/min]/0 x 0000 = 00 [khz] * This is available for HA-00 software version.x or later. * Changes to system parameter settings (SP00 to ) are put into effect by changing the setting, then turning control power supply OFF, then ON again. Set value Function Unit Default According to electronic gear settings (SP, 0 SP/SP, SP/SP) Division of single output shaft rotation into,000 parts (equivalent to 0.0 degree resolution) - 0 Division of single output shaft rotation into 0,000 parts (equivalent to 0.00 degree resolution) Division of single output shaft rotation into,00,000 parts (equivalent to degree resolution) -

207 - Function extension parameter [SP: Output shaft divide function setting] is the function that sets the operation command resolution. It does not guarantee the precision of positioning on the output shaft. For details on the output shaft positioning precision, refer to [AC Servo Actuator SHA Series Manual]. After setting the operation sequence on the host device, when [SP-: Electronic gear numerator/denominator] or [SP: Output shaft divide function setting] is changed, the displacement, speed, and acceleration/deceleration time change a great deal from operations before the change, so always check and revise the operating data setting before operating. The output shaft divide function setting is achieved using the electronic gear function, so the speed setting and acceleration/deceleration and acceleration/deceleration time settings operate with multiples of the automatically set electronic gears. (For their values, refer to the table below. When,00,000 division (SP=) is used, the permitted command pulse input frequency on the HA-00A is MHz (line collector type), so the max. motor rpm is restricted to max. motor rpm [r/min] = x 0 / encoder resolution x 0 x electronic gear ratio. For the max. rotational speed for each speed reduction ratio, refer to the table below. Reduction ratio Output shaft max. rotational speed [r/min] SP= Max. motor rpm [r/min] System parameter mode 0 Appe -

208 - Function extension parameter System parameter mode 0 ppe : Affected by SP setting x: Not affected by SP setting Input signals Display panel PSF-00 SP0: FWD inhibit T0: JOG operation JOG operation SP0: REV inhibit T0: Auto-tuning Program operation SP0: FWD enable d00: Motor rpm Auto-tuning SP0: REV enable d0,0: Error pulse Status display Motor rotation speed SP0: FWD selection d0: Output torque Status display Torque SP0: REV selection d0,0: Feedback Status display pulse Feedback pulse Pulse command pulse d0,0: Command Status display pulse Command pulse Speed command input d: Speed command Status display Torque command input Output signals voltage d: Torque command voltage Error pulse Waveform monitoring Feedback speed Waveform monitoring Command speed Waveform monitoring Error pulse FWD inhibit input in effect REV inhibit input in effect Current value data output * Encoder monitor * bitabs Current value data output * Analog speed monitor Analog current monitor *: Refer to [Outputting the current value data from the pins CN-0 and ] (P-). *: Refer to [Encoder phase A, B and Z signal outputs] (P-) (P-) (P-) *: For details, refer to [Outputting the current value data from the pins CN- to (HA- driver mode)] (P-). Electronic gear values for when output shaft divide function set SP=,000 divisions SP= 0,000 divisions SP=,00,000 divisions Reduction ratio Numerator Denominator Numerator/d enominator Numerator Denominator Numerator/d enominator Numerator Denominator Numerator/de nominator

209 - Function extension parameter SP: Feed-forward control function setting This configures the feed-forward control function for position control. For details, refer to [Applied servo gain adjustment function] (P-). * This is available for HA-00 software version.x or later. * Changes to system parameter settings (SP00 to ) are put into effect by changing the setting, then turning control power supply OFF, then ON again. Set value Function Unit Default 0 Feed-forward control (previous compatible function) Feed-forward control Feed-forward control simple adjustment version (stable operation mode) Feed-forward control simple adjustment version (normal operation mode) - * Feed-forward control simple adjustment version (high-speed operation mode) Feed-forward control simple adjustment version (manual tune mode) *: The default varies depending on the applicable actuator.refer to [Default settings] (Apx-) in the appendix. When using the feed-forward control function, be sure to reference [Applied servo gain adjustment function] (P-) and understand the notices. System parameter mode 0 Appe -

210 - Function extension parameter System parameter mode 0 ppe -

211 - Chapter Test mode Details of how to check the system operation by auto-tuning via jogging, monitoring of I/O signals and simulated operation of output signals are explained in this chapter. - Test mode - - Details of test mode -

212 - Test mode - Test mode In the test mode, you can monitor I/O signals and perform JOG operation, auto-tuning, etc. You can also check the connection with the host controller and operating status without having to drive the actuator. Mode Code Description Details Test mode T00 I/O signal monitor P- T0 Output signal operation P- T0 JOG speed setting P- T0 JOG acceleration/deceleration time constant setting P- T0 JOG operation P- T0 Parameter initialization P- T0 T0 Automatic adjustment of speed command offset Automatic adjustment of torque command offset P- P- T0 Multi revolution clear P-0 T0 Auto-tuning P- T0 Auto-tuning displacement P- T Auto-tuning level selection P- Test mode -

213 - Details of test mode - Details of test mode The following explains the details of the test mode. T00: I/O signal monitor The I/O statuses of assigned pins are reflected and displayed in real time. The functions of displayed pins are enabled. Press the SET button. Output signal operation is now permitted. The display will not switch if the button is pressed for second or longer. MODE UP DOWN S E T The third digit indicates the output status, while the fifth digit indicates the input status. Lit: ON Unlit: OFF MODE UP SET DOWN S E T Output Input UP or DOWN 0 ppe Output Output Output Input Input Output Input Output MODE UP DOWN S E T Output Input Pressing the UP or DOWN button returns the screen to the number display in the test mode. Input Input Input Test mode Output Input If FWD inhibit (FWD-IH) or REV inhibit (REV-IH) is assigned to an input pin, the screen will switch to the alarm display when a signal (assigned by the NO logic) is input to the assigned input pin. Monitor I/Os after inputting the FWD or REV inhibit signal. -

214 - Details of test mode T0: Output signal operation Output signals can be turned ON/OFF as desired. Take note that, in this operation, the actual output signals are output and the device may be activated by the operation. Also, the operation can be done even when HA-00A is being automatically operated by the command from the host controller. Please keep this in mind during the actual operation. This operation cannot be executed at the same time as the output signal operation from PSF-00. Press the SET button. Output signal operation is now permitted. The display will not switch if the button is pressed for second or longer. MODE UP DOWN S E T SET Use the UP button to select the signal to be operated. MODE UP DOWN S E T Test mode Use the DOWN button to switch the ON/OFF status. The output signal shown in the second digit will turn ON/OFF every time the DOWN button is pressed. OFF DOWN ON MODE UP DOWN S E T MODE UP UP DOWN S E T First digit: Nothing is shown. Second digit: The number assigned to the output signal to be operated is shown. A number between [] and [] is shown, where,,..., indicate output,,..., can be operated, respectively. Third digit: [-] is shown. Fourth, fifth digits: The status of the output selected in the second digit is shown. on: The signal is ON (output transistor is ON) of: The signal is OFF (output transistor is OFF) First digit MODE UP DOWN S E T Fifth digit Press the SET button, and the display will return to [T0]. -

215 - Details of test mode T0: JOG speed setting Set the speed of JOG operation. Although the unit is r/min, this value indicates the actuator's motor rotation speed. The output shaft rotation speed is obtained by dividing the set value by the gear ratio. Setting range: 0 to 000 Unit: r/min Press the SET button. The set value of JOG speed is shown. (Unit: r/min) The display will not switch if the button is pressed for second or longer. MODE UP DOWN S E T SET To change the set value, press the SET button and release it within second. The set value flickers to indicate that it can now be changed. MODE UP DOWN S E T SET Change the set value. Pressing the DOWN button decreases the value, while pressing the UP button increases the value. (Press and hold each button to change the value faster.) MODE UP DOWN S E T UP or DOWN 0 To confirm the set value, press and hold the SET button until the set value stops flickering. To restore the original set value, release the SET button before the set value stops flickering (within approx. second). MODE UP DOWN S E T Test mode ppe The value set here is not stored. When the HA-00A driver power is reconnected, it will return to the default value 00. Set the speed as low as possible to enable checking. Avoid unexpected accidents resulting from high speed. -

216 - Details of test mode T0: JOG acceleration/deceleration time constant setting Set the acceleration/deceleration time constant to be applied during JOG operation. The value set here corresponds to the time over which the actuator accelerates from the standstill state to [SP: Speed input factor] or decelerates from the speed set by the speed input factor to the standstill state. Setting range: to Unit: ms Press the SET button. MODE UP DOWN S E T To change the set value, press the SET button and release it within second. The set value flickers to indicate that it can now be changed. MODE UP SET DOWN S E T SET Change the set value. Pressing the DOWN button decreases the value, while pressing the UP button increases the value. (Press and hold each button to change the value faster.) MODE UP DOWN S E T Test mode To confirm the set value, press and hold the SET button until the set value stops flickering. To restore the original set value, release the SET button before the set value stops flickering (within approx. second). MODE UP or DOWN UP DOWN S E T The value set here is not stored. When the HA-00A driver power is reconnected, it will return to the default value. -

217 - Details of test mode T0: JOG operation The actuator can be operated regardless of the input signals from the host. Any input signal operation performed during JOG operation is ignored. The data set in [T0: JOG speed] and [T0: JOG acceleration/deceleration time] is used to perform JOG operation of the actuator. WARNING Any input other than emergency stop during a JOG operation is ignored. Accordingly, the actuator operates ignoring even the FWD/REV inhibit input signals; operate carefully paying attention to the surrounding conditions. Do not perform a test run using the communication software PSF-00 simultaneously. The operation becomes unstable. The speed limit function and torque limit function are disabled during the JOG operation. 0 ppe A "JOG operation" cannot be started if the actuator servo is ON with a CN- servo-on input. Turn OFF the CN- servo-on input. Regardless of the setting of [SP0: Command polarity], the rotation is clockwise for the forward command [UP] and counter-clockwise for the reverse command [DOWN]. With the SHA-SG/HP series and HMA series, rotation is in the opposite directions. Note that after jog operation, the current value on the host device and the actual machine position differ. Press the SET button when the actuator servo is OFF. The actuator servo turns ON and JOG operation direction is displayed. The display will not switch if the button is pressed for second or longer. Press the UP or DOWN button to rotate the actuator. The actuator rotates in the CW (clockwise) direction while the UP button is pressed. (The rotation direction is different depending on the actuator.) Release the UP button, and the actuator will stop. The actuator rotates in the CCW (counterclockwise) direction while the DOWN button is pressed. (The rotation direction is different depending on the actuator.) Release the DOWN button, and the actuator will stop. Press the UP button, and the actuator will rotate in the CW direction. MODE MODE UP UP DOWN S E T SET DOWN S E T Test mode Press the DOWN button, and the actuator will rotate in the CCW direction. To end the operation, press the SET button. The actuator servo turns OFF and the screen returns to the test mode number display. The display will not switch if the button is pressed for second or longer. Here, the actuator servo is OFF. To turn ON the servo, turn ON [CN-: Servo-ON input]. (The servo turns OFF even when the servo-on input is ON. Turn OFF the input and then turn it ON again.) -

218 - Details of test mode T0: Parameter initialization The tune mode parameters (excluding AJ and AJ) and system parameters are reset to their default settings. Perform this operation while the servo is OFF. After the initialization, be sure to reconnect the HA-00A driver power. All parameters are initialized (excluding AJ and AJ). Since the I/O signal assignments and control mode settings are also initialized, it is recommended that you write down the necessary parameters or save them using PSF-00 before the initialization. Press the SET button. The HA-00A driver displays the motor code of the applicable actuator currently set. The display will not switch if the button is pressed for second or longer. MODE UP DOWN S E T SET Press the SET button. The displayed motor code flickers. To cancel the parameter initialization, press the UP or DOWN button. The screen returns to the test mode number display. MODE UP DOWN S E T SET Test mode Press and hold the SET button until the display stops flickering and becomes lit, and then release the button. (Approx. second or more) The motor code is initialized and the screen returns to the test mode number display. If the SET button is released before the display stops flickering and becomes lit, the motor code is not initialized and remains displayed. MODE UP DOWN S E T MODE UP DOWN S E T MODE UP DOWN S E T If the button is released before the flickering stops and becomes lit, the motor code remains displayed and parameters are not initialized. When the button is released after the flickering has stopped and become lit, the screen changes to the test mode number display, at which point the parameter initialization is already complete. -

219 - Details of test mode T0: Automatic adjustment of speed command offset The offset for speed command input circuit is adjusted automatically. Press the SET button. The HA-00A driver displays the speed command offset currently set. The display will not switch if the button is pressed for second or longer. Press the SET button. MODE UP DOWN S E T SET The displayed speed command offset flickers. If you don't want to perform automatic adjustment, press the UP or DOWN button to return to the test mode number display. Press and hold the SET button until the flickering stops and becomes lit to perform automatic adjustment. If the SET button is released before the flickering stops and becomes lit (within approx. second), the speed command offset is not adjusted automatically. MODE MODE UP DOWN S E T SET UP DOWN S E T 0 MODE UP DOWN S E T If the button is released before the flickering stops and becomes lit, automatic offset adjustment is not performed. MODE UP DOWN S E T Automatic offset adjustment for speed command is performed after the SET button has been held until the flickering stops and it becomes lit. Test mode ppe -

220 - Details of test mode T0: Automatic adjustment of torque command offset The offset for torque command input circuit is adjusted automatically. Press the SET button. The HA-00A driver displays the torque command offset currently set. The display will not switch if the button is pressed for second or longer. Press the SET button. MODE UP DOWN S E T SET The displayed torque command offset flickers. If you don't want to perform automatic adjustment, press the UP or DOWN button to return to the test mode number display. MODE UP DOWN S E T SET Press and hold the SET button until the flickering stops and becomes lit to perform automatic adjustment. If the SET button is released before the flickering stops and becomes lit (within approx. second), the torque command offset is not adjusted automatically. MODE UP DOWN S E T Test mode MODE UP DOWN S E T If the button is released before the flickering stops and becomes lit, automatic offset adjustment is not performed. MODE UP DOWN S E T Automatic offset adjustment for torque command is performed after the SET button has been held until the flickering stops and it becomes lit. -

221 - Details of test mode T0: Multi revolution clear Encoder multi revolution data can be cleared when an actuator equipped with a -bit absolute encoder or -bit absolute encoder is combined. This parameter is also used when setting the origin. With a SHA series, FHA-C absolute system, FHA-Cmini absolute system and HMA series, the multi revolution counter value must be set to zero at the origin. A multi revolution clear command cannot be executed while the actuator servo is ON. After the multi revolution clear command, reconnect the HA-00A driver power. If the power is not reconnected, the servo cannot be turned ON and thus commands cannot be accepted. Move the actuator to its origin via manual JOG operation. (Only when setting the origin) Display [T0: Multi revolution clear] in the test mode. MODE UP DOWN S E T Press and hold the SET button for at least 0. second. SET [clr] is shown. MODE UP DOWN S E T 0 ppe Press the SET button. Displayed [clr] flickers. If you don't want to clear the multi revolution data, press the UP or DOWN button. The screen returns to the test mode number display. MODE UP SET DOWN S E T SET Test mode Continue to hold the SET button until the flickering stops and becomes lit. (Approx. seconds or more) The multi revolution clear command is executed and the screen changes to the test mode number display. If the SET button is press and hold, and released before the flickering stops and becomes lit (within approx. seconds), the multi revolution clear command is not executed and [clr] remains displayed. MODE UP DOWN S E T -0

222 - Details of test mode T0: Auto-tuning The load is estimated and auto-tuning is performed to set an optimal servo gain. WARNING Since the actuator moves to estimate the load, perform auto-tuning after thoroughly confirming safety. By default, the motor shaft moves,000 degrees in the clockwise direction as seen from the output shaft, then,000 degrees in the counter-clockwise direction. The corresponding rotation angle of the actuator output shaft is obtained by /reduction ratio. In certain situations such as when the displacement of the system is limited, change the displacement by [T0: Auto-tuning displacement]. Note that during operation for an operation command (pulse command, speed command, torque command), if auto-tuning is executed, the auto-tuning has priority. Auto-tuning is not performed until a signal is input to the CN- pin and the actuator servo is turned ON. (A signal must be input to the CN- pin.) Perform auto-tuning after canceling FWD inhibit or REV inhibit. (Cancel FWD/REV inhibit by inputting a signal to the CN or setting SP0/SP0.) Note that the rotation directions depend on the [SP0: Command polarity] setting. Do not execute the PSF-00 waveform monitoring during auto-tuning. Note that after auto-tuning, the current value on the host device and the actual machine position differ. Input the servo-on signal via CN. Test mode This turns ON the servo. While [T0] is displayed, press the SET button. [-A.c.] is shown. The display will not switch if the button is pressed for second or longer. MODE UP DOWN S E T SET Press the SET button. Displayed [-A.c.] flickers. MODE UP DOWN S E T SET Press and hold the SET button for at least 0. second. [-A.c.] changes to [run.], after which it moves in the clockwise direction by the travel angle set in [T0: Auto-tuning angle setting].after that, the actuator moves in the counter-clockwise direction by the displacement set in [T0: Auto-tuning travel angle setting]. If the main circuit power has not been turned ON or actuator does not move (= a servo alarm is output), [-A.c.] does not change to [run.]. To cancel the auto-tuning, press the UP or DOWN button. The screen returns to the test mode number display. - MODE MODE UP DOWN S E T UP DOWN S E T

223 - Details of test mode The actuator moves in forward/reverse directions for a while to estimate the load. When the load has been estimated, [run.] changes to [FInSH] to indicate that the auto-tuning is complete. Pressing the UP or DOWN button on this display returns the screen to the test mode number display. MODE UP DOWN S E T If the load varies greatly with the rotation position or if the speed limit and torque limit functions are enabled, it is not possible to estimate the load properly, so auto-tuning is impossible. Adjust manually. 0 Test mode ppe -

224 - Details of test mode T0: Auto-tuning displacement Set the displacement of the motor during auto-tuning. Setting range: 00 to 000 Unit angle ( ) While [T0] is displayed, press the SET button. The auto-tuning displacement is displayed. The display will not switch if the button is pressed for second or longer. MODE UP DOWN S E T SET Press the SET button. The auto-tuning displacement flickers. MODE UP DOWN S E T SET Press the UP or DOWN button to change the auto-tuning displacement. Test mode The value is set in angle ( ) and the setting range is 00 to 000 (motor shaft). The load estimated by auto-tuning is subject to a maximum erroneous difference of approx. ±%. To minimize the erroneous difference, set the auto-tuning displacement as long as possible. Hold the SET button until the auto-tuning displacement stops flickering and becomes lit. The set value becomes effective. If you don't want to apply the set value, release the SET button before the flickering stops and becomes lit. MODE MODE UP DOWN S E T UP or DOWN UP DOWN S E T MODE UP DOWN S E T MODE UP DOWN S E T Hold the SET button until the flickering stops and becomes lit and then release the button to make the set value effective. If the SET button is released before the flickering stops and becomes lit, the set value is not applied. The set value of auto-tuning displacement is not saved. When the HA-00A driver is restarted, the set value returns to the default (000 ). -

225 - Details of test mode T: Auto-tuning level selection Select the level of auto-tuning. Increasing the value set here improves the response, but vibration may also increase depending on the system. While [T] is displayed, press the SET button. The auto-tuning level selection is displayed. The display will not switch if the button is pressed for second or longer. MODE UP DOWN S E T SET Press the SET button. The auto-tuning level selection flickers. MODE UP DOWN S E T SET Press the UP or DOWN button to change the auto-tuning level. The setting range is to. MODE UP DOWN S E T 0 Hold the SET button until the auto-tuning level selection stops flickering and becomes lit. The set value becomes effective. If you don't want to apply the set value, release the SET button before the flickering stops and becomes lit. The set value of auto-tuning level selection is not saved. MODE UP or DOWN UP DOWN S E T Test mode ppe MODE UP DOWN S E T MODE UP DOWN S E T Hold the SET button until the flickering stops and becomes lit and then release the button to make the set value effective. If the SET button is released before the flickering stops and becomes lit, the set value is not applied. The set value of auto-tuning level is not saved. When the HA-00A driver is restarted, the set value returns to the default (). -

226 - Details of test mode Test mode -

227 - Chapter 0 Communication software How you can use the dedicated personal computer software to check I/O signal statuses, rotation speeds and other servo statuses, perform auto-tuning, set parameters, assign I/O signals and monitor servo operation waveforms are explained in this chapter. 0- Overview 0-0- Auto-tuning 0-0- Parameter setting 0-0- Assigning I/O signals 0-0- Saving and reading set values 0-0- Test operation 0-0- Output signal operation 0-0- IO monitor 0-0- Waveform monitoring Alarms 0-

228 0- Overview 0 Communication software Appe 0- Overview PSF-00 is a communication software program that lets you change driver parameters and monitor operation waveforms, etc., from a personal computer. Operating environment PSF-00 needs the following environment to operate correctly. Be sure to use PSF-00 in the following environment to prevent malfunction. Item Environment Computer Personal computer running Windows ME, Windows NT, Windows 000, Windows Xp, Windows Vista *, or Windows *, having a built-in RS-C communication port or USB port OS Windows ME, Windows NT, Windows 000, Windows Xp, Windows Vista *, Windows * Memory Memory size required by each OS or more Hard disk Free disk space of MB or more (Additional free disk space is needed if created data will be saved.) Display colors or more Others Microsoft Mouse, Microsoft IntelliMouse or other compatible pointing device Printer operating on the specified OS, if created data will be printed *: Successful operation has been verified on Windows Vista, and Windows, but it is not guaranteed. * Microsoft Windows and IntelliMouse are registered trademarks and trademarks of Microsoft Corporation in the United States for use in the United States, Japan and other countries. * Microsoft Windows Operating System is the full name of Windows. Setup Download the latest version of PSF-00 from our web site. Download PSF-00. Download the software from our website ( Install PSF-00. Extract the files from the downloaded folder and run SETUP.EXE to set up the software according to the on-screen instructions. Using a USB port If a USB port is used, you need an adapter to convert the USB port to a RS-C port. (USB-RSAQ IO Data, etc.) The built-in RS-C port of the personal computer is normally assigned to COM. However, this assignment changes if a USB conversion adapter is used. Perform the following setting procedure: () Go to "Control Panel", open "System", and display "Device Manger". 0-

229 0- Overview () Check the port assignments (COM and LPT). (In the following example, COM is assigned.) () Choose System (S) from the menu, and then scroll down to Select COM port to open the Select COM port window. Set the verified port number from (), and then click the "OK" button. Next, start the PSF-00 to make the COM port number set earlier effective. () A VB runtime library is needed to run PSF-00. If this VB runtime library is not yet installed, the following message is shown on the personal computer. Take note that the files you have downloaded from our website do not include the VB runtime library. If the VB runtime library is not yet installed, you can download it from the following URL: Confirm the installation. When the installation is complete, use a dedicated communication cable* to connect the personal computer and HA-00.Start and then shut down PSF-00 to confirm that the software has been installed correctly. Start PSF-00 after turning on the control circuit power of the HA-00. If the connection is unstable, use toroidal core for the communication cable. 0 Communication software Appe *: Dedicated communication cable RS-C communication cable: EWA-RS0 0-

230 0- Overview Uninstalling the software To uninstall PSF-00 from the hard disk, follow the procedure below. Once uninstalled, PSF-00 can no longer be started on that personal computer. To use PSF-00 again, reinstall it according to the installation procedure. Open "Control Panel". Click "Add/Remove Programs". 0 Communication software Appe Select and remove the PSF-00 program. Select PSF-00 and then click the "Change/Remove" button, and PSF-00 will be uninstalled from the hard disk. 0-

231 0- Overview Initial screen The initial screen of PSF-00 is shown below. Menu Servo-ON display Connected model name VerNo display Motor code display Operation control mode display Running status display Alarm display "Status Display" window "Auto-tuning" window 0 "Parameter Setting" window "Alarm Display" window "Test Operation" window "I/O Monitor" window "Operation Waveform Monitor" window "Output Signal Operation" window Communication software Appe 0-

232 0- Overview Menu "File" "Open" Read parameter set value, test operation patterns or waveform monitoring data from files by setting parameters, performing test operations or operating the waveform monitoring function. "Save As" Save parameter set value, test operation patterns or waveform monitoring data to files after setting parameters, performing test operations or operating the waveform monitoring function. "Exit" Exit the program. "Axis" PSF-00 can be connected to and operate up to HA-00A units (only one unit can be connected/operated in the case of HA-00B and HA-00C). If multiple axes are connected, go to the Axis menu to set the axis number of each unit to communicate with. Connection example of PSF-00 and HA-00A DIP switch and rotary switch settings Terminating resistance (DIP switch) Driver shaft number (Rotary switch) Unit All OFF 0 Unit All OFF Unit n All OFF n- Last Only is ON Total number of connections - * Rotary switch settings after 0 are as follows: A (0), B (), C (), D (), E (), F () 0 Communication software Appe Master (PC) RS-C RS- RS- RS- Between PC and driver Dedicated communication cable Model No.: EWA-RS0 (option) Between drivers Modular -division connector RJ-, RJ- (-polar -core) Model No.: -0 (RS Components) Modular cable RJ- (-polar -core) straight Model No.: TEL-FC- (Sanwa Supply) * Provided by the customer. "Window" Although the status display screen opens when the software is started, you can change the initial screen in the Window menu. 0-

233 0- Overview Detailed display area Axis number display If connected to PSF-00, up to HA-00A units can be operated from the software. The axis number display shows the axis number of the unit currently operated. Running status display A steady green light comes on when the HA-00 is connected to PSF-00 and its power supply is turned ON. HA-00 power supply ON (Green) Alarm display A red light flickers when the HA-00 is generating an alarm. (Red) Alarm is generating. The HA-00 power supply is OFF or PSF-00 is offline. No alarm (Unlit) (Unlit) Excited status display A steady red light comes on when the actuator servo is ON. Servo ON (Red) Servo OFF (Unlit) Connected model name display The model name of the connected HA-00 is shown. (Example: General-purpose (position command, speed command, torque command) specification) HA-00B: MECHATROLINK communication specification HA-00C: CC-Link specification Version number display The software version of the connected HA-00 is shown. Motor code display The code number of the applicable actuator set in the HA-00 is shown. 0 Communication software Appe Operation control mode display The operation mode of the HA-00 is shown. The steady green light indicates the mode in which the HA-00 is currently operating. Example: The HA-00 is operating in the position control mode (Green) (Unlit) (Unlit) 0-

234 0- Overview Status display In the "Status Display" window, you can monitor the operating status and values. 0 Communication software Appe Operating status display Name S-ON IN-POS Hi-SPD Low-SPD Hi-TRQ FWD-LMT REV-LMT SPD-LMT TRQ-LMT Value monitor Name Motor rpm Torque Peak torque Feedback pulses Command pulses Error pulses Explanation ON is shown if the actuator servo is ON. ON is shown during position control if the deviation counter value is within the in-position range set by an adjustment parameter. ON is shown if the motor speed drops to or above the attained speed judgment set by an adjustment parameter. ON is shown if the motor speed drops to or below the zero speed judgment value set by an adjustment parameter. ON is shown during torque control if the motor's output torque rises to or above the attained torque judgment value set by an adjustment parameter. ON is shown if the FWD inhibit signal is enabled. ON is shown if the REV inhibit signal is enabled. ON is shown if the motor rotation speed is limited. If the driver's output torque is set to torque limiting, ON is shown. Explanation The rotation speed [r/min] of the motor is shown. It displays the current torque value %, setting the maximum output torque of the actuator to be 00%. It displays the output torque peak value %, by setting the maximum output torque of the actuator as 00%. Clicking the "Clear Peak Torque" button clears this field. The value of the encoder feedback pulse counter is shown. The value of the driver command pulse counter is shown. The value calculated by subtracting the feedback pulse counter value from the command pulse counter value (deviation) is shown. The overload rate is shown. If this value is not 0, the actuator is overloaded. The rectified AC voltage [V] of the main circuit is shown. Overload rate Main circuit power voltage Regenerative power It indicates absorbed power of regenerative resistor as percentage (unit: 0.0%). The value can be converted to absorbed power of resistor using the following formula. Regenerative resistor absorption = 000 (W) Ex) When display value = 0, resistor absorption power = W Display value [0.0%] 0000 [0.0%] *This value monitor is available only for HA-00A-. With the HA-00A-, and, the power absorbed by regenerative resistor is unrelated. 0-

235 0- Overview Name Command pulse frequency Speed command voltage Torque command voltage Explanation The command pulse frequency [khz] input to the command pulse input port is shown. The speed command input voltage [0.V] currently input to the driver is shown. Example) When display value = 0, speed command input voltage =.0 V The torque command input voltage [0.V] currently input to the driver is shown. 0 Communication software Appe 0-

236 0- Auto-tuning 0- Auto-tuning Auto-tuning is a function that allows the driver to estimate the load and automatically adjust the servo gain to an appropriate value. The auto-tuning method is explained below. WARNING Since the actuator moves to estimate the load, perform auto-tuning after thoroughly confirming safety. By default, the motor shaft moves,000 degrees in the clockwise direction, then,000 degrees in the counter-clockwise direction. The corresponding rotation angle of the actuator output shaft is obtained by /reduction ratio. In certain situations such as when the displacement of the system is limited, change the displacement. Note that during operation for an operation command (pulse command, speed command, torque command), if auto-tuning is executed, the auto-tuning has priority. 0 Communication software Appe Auto-tuning is not performed until a signal is input to the CN- pin and the actuator servo is turned ON. (A signal must be input to the CN- pin.) Perform auto-tuning after canceling FWD inhibit or REV inhibit. (Cancel FWD/REV inhibit by inputting a signal to the CN or setting SP0/SP0.). Note that the rotation directions depend on the [SP0: Command polarity] setting. Do not execute the PSF-00 waveform monitoring during auto-tuning. Note that after auto-tuning, the current value on the host device and the actual machine position differ. Input the servo-on signal via CN. This turns ON the servo. Set the auto-tuning displacement and level in the "Auto-tuning" window. Set value Auto-tuning displacement Level selection Explanation Set the travel angle by which the motor shaft turns when estimating the load. The displacement of the actuator's output shaft is calculated by /reduction ratio. A desired value of,00 to,000 degrees can be set. Set as large a value as possible to improve the accuracy of load estimation. Select the level of auto-tuning. A desired value between and can be set. The higher the level, the higher the servo rigidity becomes after tuning. 0-

237 0- Auto-tuning Click the "Execute" button. When an alert message is displayed, click the "OK" button if no problem is found. Auto-tuning is performed and the motor rotates. A progress screen is displayed during auto-tuning. Perform auto-tuning after thoroughly checking the condition of equipment and surrounding areas. When the auto-tuning is completed, the servo gain is displayed. After the auto-tuning, the [position loop gain], [speed loop gain], [speed loop integral compensation] and [load inertia moment ratio] are changed to values appropriate for the estimated load. If the load varies greatly with the rotation position, if the speed limit and torque limit functions are enabled, it is not possible to estimate the load properly, so auto-tuning is impossible. Adjust manually. 0 Communication software Appe 0-0

238 0- Parameter setting 0 Communication software Appe 0- Parameter setting In the "Parameter Setting" window, you can check and change the values set in tune mode parameters and system parameters Editing and initializing internal parameters of the driver The following explains how to edit the set values for internal parameters of the driver during communication. Open the "Parameter Setting" window. In the "Parameter Setting" window, click the "Load from Servo" button. The currently set values are loaded from the driver and displayed in the [Servo Value] and [Current Value]. Click the "Current Value" field of the parameter you want to change, and enter the desired value. The parameter you have changed illuminates in red. Select the Write driver-specific parameters check box if you want to write the driver-specific parameters (AJ: Speed monitor offset, AJ: Speed monitor offset). Click the "Write to Servo" button. The new value (the contents of the [Current Value]) is transferred to the driver. When the Write driver-specific parameters check box is selected, a verification screen appears. Click the OK button to write the parameters. Click the Cancel button if you don t want to write the parameters. Adjustment : The set values for adjustment mode parameters AJ00 to AJ can be checked and changed. Adjustment : The set values for adjustment mode parameters AJ0 to AJ can be checked and changed. Adjustment : This is reserved for the system. System : The set values for system parameters SP00 to SP can be checked and changed. System : The set values for system parameters SP0 to SP can be checked and changed. System : The set values for system parameters SP0 to SP can be checked and changed. System : The set values for system parameters SP0 to SP can be checked and changed. 0-

239 0- Parameter setting *The [Servo Value] display will not be updated after [Write to Servo] is executed. Executing [Load from Servo] updates the [Servo Value] and the latest set values after the writing for internal parameters of the driver are displayed. If the writing cannot be executed correctly due to the communication errors etc., a warning message is displayed. Execute [Write to Servo] again. Procedure to reset parameters to their defaults (factory-set values) Perform this operation while the servo is OFF. After the initialization, be sure to reconnect the HA-00A driver power. All parameters are initialized (excluding AJ and AJ). Since the I/O signal assignments and control mode settings are also initialized, it is recommended that you write down the necessary parameters or SAVE them before the initialization. The parameters can be saved or read for the set values on a PC in accordance with [0- Saving the set values]. Click the Default Settings button. Verification screen is shown. Click the "OK" button to initialize. Click the "Cancel" button to stop initialization. 0 A progress screen is displayed. Wait for a while, and the values will return to their defaults. Communication software Appe 0-

240 0- Assigning I/O signals 0- Assigning I/O signals The following explains how to assign I/O signals to/from the host device. For the I/O signals, refer to [Chapter I/O signals]. Assigning input signals In the "Input Signals" tab of the "I/O Setting" window, you can set how various input settings are assigned to input pins, along with the applicable logics. You can select desired input pins from among the input pins IN to IN of the CN connector (pins to, and 0 of CN). Multiple input settings can be assigned to one input pin. It is also possible not to assign any input pin to a given input setting. Multiple input signals can be assigned to one pin. Unnecessary signals should be deleted from the pin assignments. If unnecessary signals are assigned, the system will not operate as expected. With signals that are not assigned to pins, their functions are enabled. For example, setting the normally closed (contact B) logic without assigning the emergency stop signal to a pin will cause the system to remain in an emergency stop state. The functions of all other input signals are also enabled. So, exercise caution that setting the normally closed (contact B) logic will enable the functions of these other signals at all times. In the "Parameter Setting" window, click the "I/O Setting" button. Click the "Load from Servo" button to activate. 0 Communication software Appe 0-

241 0- Assigning I/O signals Click the "Input Signals" tab and select the input pins to which to set various input signals. Set the assignment and logic for each input signal. (Example) Assign the control mode selection input to input (pin 0 of CN) with the normally open logic (enabled when the opt-isolator is ON). When all settings are completed, click the "OK" button. Click the "Write to Servo" button. The set values are written to the servo. * Changes to system parameter settings (SP00 to ) are put into effect by changing the setting, then turning control power supply OFF, then ON again. 0 Communication software Appe 0-

242 0- Assigning I/O signals Assigning output signals In the "Output Signals" tab of the "I/O Setting" window, you can assign output signals to respective output pins, along with the applicable logics. Multiple output signals cannot be assigned to one pin. In the "Parameter Setting" window, click the "I/O Setting" button. Click the "Load from Servo" button to activate. Click the "Output Signals" tab and select the output signal for each output pin. 0 Communication software Appe Assign the signal to the output port. (Example) Assign the torque limiting signal to [SP: Pin 0 of CN] based on the normally open logic (enabled when the opt-isolator is ON). When all settings are completed, click the "OK" button. Click the "Write to Servo" button. The set values are written to the servo. * Changes to system parameter settings (SP00 to ) are put into effect by changing the setting, then turning control power supply OFF, then ON again. 0-

243 0- Saving and reading set values 0- Saving and reading set values The following explains how to back up the set values to a personal computer. Save parameter set value, test operation patterns, and waveform monitor data in files from the parameter setting, test operation, and waveform monitoring windows, respectively. Execute saving and reading set values for each window with the each window open. The following explains procedures within the parameter window Saving set parameter values The following explains how to back up the set values for internal parameters of the driver to a personal computer. Saving procedure Open the "Parameter Setting" window. (Same as step in 0--) In the "Parameter Setting" window, click the "Load from Servo" button. The currently set values are loaded from the driver and displayed in the [Servo Value] and [Current Value]. Select "Save As" from the "File" menu. Set a desired folder and file name, and click the "Save" button. 0 Communication software Appe Be sure to perform "Load from Servo" before performing "Save As". The parameters saved by this operation are [Adjustment ], [Adjustment ], [Adjustment ], [System ], [System ], [System ], [System ]. 0-

244 0- Saving and reading set values 0--. Reading saved set value files The following explains how to read set values backed up on a personal computer. The set values can be compared or copied while connected to the driver, or saved set values can be checked offline while disconnected from the driver. Loading procedure Open the "Parameter Setting" window. Select "Open" from the "File" menu. Set a desired file name, and click the "Open" button. The set values for the saved settings file are loaded and displayed in the [Current Value]. 0 Communication software Appe 0-

245 0- Saving and reading set values 0--. Comparing a saved settings file with internal set values of the driver The following explains how to compare the set values backed up on a personal computer with internal parameters of the driver during communication. *Comparison is a function that can be used with the parameter window only. Comparison procedures Read the internal parameters of the driver during communication. (Same as step in 0--) Open the "Parameter Setting" window. In the "Parameter Setting" window, click the "Load from Servo" button. The currently set values are loaded from the driver (internal parameters of the driver during communication) and displayed in the [Servo Value] and [Current Value]. Read the saved settings file. (Same as steps to in 0--) Select "Open" from the "File" menu. Set a desired file name, and click the "Open" button. The set values for the saved settings file are loaded and displayed in the [Current Value]. The differences between the set values for the saved settings file and the set values for the internal parameters of the driver during communication are displayed in red. Adjustment (AJ00 to AJ) Red: Differences Current value: Parameter set values for saved settings file Servo value: Set values for internal parameters of the driver during communication 0 Communication software Appe 0-

246 0- Saving and reading set values Switch the tabs to check all the comparison results. Switch the tabs to check the comparison results for all the following parameters: [Adjustment ], [Adjustment ], [Adjustment ], [System ], [System ], [System ], [System ]. Switch the tabs Red: Differences 0 The default setting of the system reservation may vary depending on the model/version. Therefore, the differences in the system reservation can be seen in the comparison results, but this is not a problem (It does not affect the product functions). Communication software Appe 0-

247 0- Saving and reading set values 0--. Writing a saved settings file to the driver The following explains how to write (copy) the set values backed up on a personal computer to the internal parameters of the driver during communication. Comparison procedures Read the internal parameters of the driver during communication. (Same as step in 0--) Open the "Parameter Setting" window. In the "Parameter Setting" window, click the "Load from Servo" button. The currently set values are loaded from the driver (internal parameters of the driver during communication) and displayed in the [Servo Value] and [Current Value]. Read the saved settings file. (Same as steps to in 0--) Select "Open" from the "File" menu. Set a desired file name, and click the "Open" button. The set values for the saved settings file are loaded and displayed in the [Current Value]. The differences between the set values for the saved settings file and the set values for the internal parameters of the driver during communication are displayed in red. Set values loaded from the file (parameter set values for saved settings file) The current values of the driver before writing (set values for internal parameters of the driver during communication) 0 Red: Differences Select the Write driver-specific parameters check box if you want to write the driver-specific parameters (AJ: Speed monitor offset, AJ: Speed monitor offset). (Same as step in 0--) Communication software Appe 0-0

248 0- Saving and reading set values Click the "Write to Servo" button. (Same as step in 0--) The set values for the saved settings file displayed in the [Set Value] is written to the driver during communication. When the Write driver-specific parameters check box is selected, a verification screen appears. Click the OK button to write the parameters. Click the Cancel button if you don t want to write the parameters. *The [Servo Value] display will not be updated after [Write to Servo] is executed. Executing [Load from Servo] updates the [Servo Value] and the latest set values after the writing for internal parameters of the driver are displayed. If the writing cannot be executed correctly due to the communication errors etc., a warning message is displayed. Execute [Write to Servo] again. If the warning message is displayed repeatedly, perform the parameter comparison and identify the parameters that cannot be copied. As a result of comparison, if the parameter displayed as different (the parameter that cannot be written (copied)) is the system reservation only, it does not affect the product functions. 0 The parameters written (copied) by this operation are [Adjustment ], [Adjustment ], [Adjustment ], [System ], [System ], [System ], [System ]. Communication software Appe 0-

249 0- Test operation 0- Test operation You can specify a speed to perform simple JOG operation, or perform JOG operation by specifying a displacement. WARNING Any input other than emergency stop during a JOG operation is ignored. Accordingly, the actuator operates ignoring even the FWD/REV inhibit input signals; operate carefully paying attention to the surrounding conditions. Do not perform T0 JOG operation by pressing the driver push-button simultaneously. The operation becomes unstable. The speed limit function and torque limit function are disabled during the JOG operation. A "JOG operation" cannot be started if the actuator servo is ON with a CN- servo-on input. Turn OFF the CN- servo-on input. In test operation, as seen from the output shaft side and regardless of [SP0: Command polarity] During jog operation: When forward, displacement set: Rotates in the clockwise direction for positive travel distance setting During jog operation: When reverse, displacement set: Rotates in the counter-clockwise direction for negative travel distance setting With the SHA-SG/HP series and HMA series, rotation is in the opposite directions. Note that after test operation, the current value on the host device and the actual machine position differ. 0 JOG operation by specifying speed and acceleration/deceleration JOG operation by specifying displacement, Communication software Appe JOG operation (executing jog operations with speed and acceleration/deceleration specified) Set the JOG speed (r/min) and JOG acceleration/deceleration time (ms)*. 0-

250 0- Test operation Click the "Servo-ON" button to activate the servo-on of the actuator. The button text changes to "Servo OFF". Bring the mouse cursor to the "FWD" button. The actuator moves in the forward direction while the "FWD" button is held down with the mouse. To move the actuator in the reverse direction, click the "REV" button. Program operation (JOG operation by specifying displacement) Set the travel distance (pulses), rotation speed (r/min), acceleration/deceleration time (ms)* and travel distance mode (relative value/absolute value). The electronic gear settings (including SP: Output shaft divide function settings) do not function in jog operations. Set the desired travel distance (pulses) based on the output shaft resolution. Click the "Servo-ON" button to activate the servo-on of the actuator. The button text changes to "Servo OFF". Click the desired number ( to ), then click the "Execute" button to start program operation. The actuator will stop after moving the specified travel distance. *: Set the acceleration/deceleration time for the time the actuator reaches its max. rotational speed from standstill. 0 Communication software Appe 0-

251 0- Output signal operation 0- Output signal operation The signals corresponding to outputs to can be turned ON/OFF as desired. Click the "Execute" button. Select the signal you want to output., The selected signal turns ON. This can be used to check/verify with your host devices. If you click "Execute" button again, the output signal operation is ended and the operated output signal return to the original status. This cannot be used at the same time as the [T0: Output signal operation] performed by operating the driver panel. Take note that, in this operation, the actual output signals are output and the device may be activated by the operation. Also, the operation can be done even when HA-00A is being automatically operated by the command from the host controller. Please keep this in mind during the actual operation. This operation cannot be executed at the same time as the output signal operation from test mode. 0 Communication software Appe 0-

252 0- IO monitor 0- IO monitor The statuses of pins to which input signals and output signals are assigned can be monitored. The statuses of input and output signal pins are displayed. The following statuses are available: Input signals ON: Input received OFF: No input Output signals ON: Outputting OFF: Output OFF 0 Communication software Appe 0-

253 0- Waveform monitoring 0- Waveform monitoring In addition to speed and torque, waveforms of various status signals can be displayed. Waveform display area Waveform display selection How to obtain waveform Select the desired waveform using the waveform display selection. Trigger condition setting Tracing time setting Start tracing Waveform display mode Waveform measurement Time axis setting Different speeds and torques can be selected for Ch and Ch.After selecting the torque and speed, also set the division display. Set the trigger condition. Set the tracing time. If "000ms" is selected, you can set a desired value between and 00 ms/div as the time axis range to be displayed. If "0s" is selected, a desired value between 00 and,000 ms/div can be selected. Select the time axis setting from the pull-down menu. 0 Communication software Appe 0-

254 0- Waveform monitoring Click the "Run" button. If the "Run" button shows "Stop", the trigger is waited. The system waits for a trigger and when the set trigger level is reached, it acquires waveform and displays it in the waveform display area. It takes some time to acquire waveforms. You can select an appropriate waveform display mode to display the current waveform together with the last waveform or waveform acquired before the last. In the waveform measurement area, you can perform time axis measurement and speed/torque measurement. It takes some time to acquire waveforms. You can also use the waveform display selection to change the waveform displayed after acquiring the waveform. 0 Communication software Appe Time axis measurement (measurement of rise time) Speed/torque measurement 0-

255 0- Waveform monitoring You can select "Save As" from the "File" menu to save the waveform data. You can assign the CSV format and wv format of the waveform data. If saving waveform data in the CSV format, you can read it using Excel. However, with the PSF-00, it is not possible to show the waveform data by opening it from the File menu. If saving waveform data in the wv format, you cannot read it using Excel, etc. However, you can display the waveform data with the PSF-00 by selecting Open in the File menu. CSV format wv format フィードバック速度指令速度 Excel display available. Able to read the waveform on the PSF-00 again. 0 Communication software Appe 0-

256 0-0 Alarms 0-0 Alarms If the HA-00A driver is generating an alarm or warning, you can check the content of the alarm/warning. A present alarm or warning is shown in the red border, as illustrated below. You can also display and check the history of up to most recent alarms. 0 Communication software Appe Alarm reset A resettable alarm whose status has been removed can be reset using the "Alarm Reset" button. Clear history You can clear the history of up to most recent alarms using the "Clear History" button. 0-

257 - Chapter Troubleshooting Details of how driver alarms and warnings generate are explained in this chapter. - Alarms and remedial actions - - Warnings and remedial actions -

258 - Alarms and remedial actions 0 Troubleshooting Appe - Alarms and remedial actions The driver has built-in functions to display alarms and warnings that generate during actuator operation and protect against abnormal events. Alarm: If the actuator or driver enters an abnormal state, the driver generates an alarm and outputs an alarm signal, while turning OFF the servo loop at the same time. Warning: A warning is displayed before the actuator or driver generates an alarm. The servo loop remains ON. Remove the cause of the warning as soon as possible. If the actuator or driver's protective function is actuated, the actuator stops moving (servo-off of the motor) and the applicable -digit alarm code appears on the display. At the same time, the -bit code is output to the host device. In addition, up to most recent alarms and total operating hours (unit: h) of the driver when each alarm occurred are also displayed. For the alarm history, refer to [Alarm mode] (P-). Alarm list The following alarms are displayed. Alarm code * Alarm -bit Alarm Alarm name ALM-CO ALM-CO ALM-CO code code clear D D D AL0 Emergency stop Possible * AL0 Overspeed 0 0 Impossible AL0 Overload Possible * AL0 IPM error (overcurrent) 0 0 Impossible AL0 Overvoltage 0 0 Impossible AL Regenerative resistor overheat 0 0 Impossible AL Overregeneration * 0 0 Impossible AL Missing phase * 0 0 Impossible AL Control power voltage low ** 0 0 Impossible AL Main circuit voltage low * 0 0 Impossible AL Overheated dynamic brake * 0 0 Impossible AL Damaged power circuit 0 0 Impossible AL0 Encoder disconnection Impossible AL Encoder receiving error *, * Impossible AL UVW error * Impossible AL System failure * Impossible AL Multi revolution overflow * Impossible AL Multi revolution data error * Impossible AL0 Excessive deviation Possible * AL0 Memory failure (RAM) 0 0 Impossible AL Memory failure (EEPROM) 0 0 Impossible AL FPGA configuration error Impossible AL FPGA setting error Impossible AL Processor error ** Impossible AL0 MEMORY error * Impossible AL System failure * Impossible AL Single rotation data error * Impossible AL Multi revolution data error * Impossible AL BUSY error * Impossible AL Overheat error * Impossible AL Communication error * Impossible *: If an alarm code output is assigned to an output signal (one of pins to of CN) and the signal function is set to 0 (values set in the second and third digits), read as 0, and 0 as. For the assignment of output signals and setting of their functions, refer to [Chapter I/O signals]. *: These alarms may generate when an incremental encoder is combined. *: These alarms may generate when a -bit absolute encoder is combined. *: These alarms may be generated when combining with a -bit absolute encoder (including the -bit encoder -

259 - Alarms and remedial actions incremental model). *: Once alarms are reset using the alarm clear input, the servo will not turn ON even if [CN-: S-ON input] is ON. After the reset, turn OFF [CN-: S-ON] and then turn it ON again. During position-controlled operation, alarms can be reset using the alarm reset signal, but the deviation will not be cleared. If an alarm generates, clear the deviation using the clear signal and then reset the alarm using the alarm reset signal. (If [SP: Deviation clear upon servo-on] is set to, deviation is automatically cleared to 0 when the servo turns ON.) *: This alarm may generate in HA-00A-. *: This alarm is not stored in the alarm history. *: The alarm code (-bit code) may become indeterminable depending on the occurrence condition of alarm. Remedial action for alarm Remedial actions are explained for respective alarms. Alarm code AL0 Alarm name Emergency stop Description An emergency stop signal was input. AL0 Overspeed The motor rotation speed exceeded the maximum rotation speed of the motor. Condition at occurrence The alarm occurs when the control circuit power is turned ON: The alarm occurs during operation: The alarm occurs when the control circuit power is turned ON: The alarm occurs due to high-speed actuator rotation when a rotation command is input: Action The emergency stop input is assigned to CN: Check wiring and connector of emergency stop input signal. Check the logic and status of the emergency stop signal. The emergency stop input is not assigned to CN: Set the signal logic to normally open. Cancel the emergency stop signal and reconnect the control power supply or input a reset signal. Wrong emergency stop signal wiring Check wiring and connector of emergency stop input signal. Malfunction due to noise Check the noise environment. Control circuit error Contact our sales office. Control circuit error Contact our sales office. Overshoot due to inappropriate gain adjustment Adjust [AJ00: Position loop gain], [AJ0: Speed loop gain] and [AJ0: Speed loop integral compensation] to match the load condition. Excessive command pulse frequency Lower the command output pulse frequency on the host device. Set a frequency not exceeding the maximum rotation speed of the actuator (r/min). 0 Troubleshooting Appe Inappropriate electronic gear setting The command frequency is too large for [SP,,, : Electronic gear setting] or [SP: Output shaft divide function setting]. Set appropriate electronic gear. Alternatively, modify the command frequency. -

260 - Alarms and remedial actions Alarm code Alarm name Description AL0 Overspeed The motor rotation speed exceeded the maximum rotation speed of the motor. Condition at occurrence The alarm occurs due to high-speed actuator rotation when a rotation command is input: Action Wrong speed input factor setting Set the correct speed input factor in [SP: Speed input factor]. Excessive torque command input voltage Lower the torque command output voltage on the host device. 0 AL0 Overload The allowable continuous current was exceeded. The alarm also occurs when only the actuator is operated (no load): The alarm occurs when the control circuit power is turned ON: The alarm occurs during operation: The alarm occurs after the actuator exhibits hunting: Wrong torque input factor setting Set the correct torque input factor in [SP: Torque input factor]. Wrong motor or encoder connection Connect the motor/encoder correctly by referring to [Chapter Installation/wiring]. Large friction torque Confirm that holding brake is released. Control circuit error Contact our sales office. Current. times the allowable continuous current or more was supplied for an extended period of time. Current times the allowable continuous current was supplied for approx. seconds. Review the effective load rate of the actuator, and then reconnect the power supply to resume the operation. Large friction torque and load torque Confirm that holding brake is released. Confirm that the actuator output torque is sufficient to handle load torque. Hunting due to inappropriate gain adjustment Adjust [AJ00: Position loop gain], [AJ0: Speed loop gain] and [AJ0: Speed loop integral compensation] in the tune mode to match the load condition. Troubleshooting Appe -

261 - Alarms and remedial actions Alarm code AL0 Alarm name IPM error (overcurr ent) Description The servo current control element detected an overcurrent. Condition at occurrence The alarm occurs when the control circuit power is turned ON: The alarm occurs when [CN-: Servo-ON] is input (ON): The alarm occurs when [CN-: Servo-ON] is input (ON), but a normal condition is restored once the motor cable (U, V, W) is disconnected: The alarm occurs during acceleration or deceleration: Action Control circuit error Contact our sales office. Control circuit error Contact our sales office. Short-circuit the motor cable Inspect/reconnect or replace/repair the connection points of the motor cable. Short-circuit the motor coil Contact our sales office. (Replace the actuator.) The load inertia moment (inertia) is excessive or acceleration/deceleration time is too short. Lower the load inertia moment. Increase the time set in [AJ: Acceleration time constant] or [AJ: Deceleration time constant] in the tune mode. The gain is too high or too low. Adjust [AJ00: Position loop gain], [AJ0: Speed loop gain] and [AJ0: Speed loop integral compensation] in the tune mode to match the load condition. The alarm occurs during operation (operation can be resumed after to minutes): The alarm occurs when cutting the main circuit power OFF: Faulty wiring of regenerative resistor (HA-00A-) Resistance of an external regenerative resistor is low. Or it is short-circuited. It is connected in parallel with a built-in regenerative resistor. Overload Review the effective load rate of the actuator and lower the load rate. The ambient temperature of the driver is 0 or above. Review the installation location and cooling system of the driver. Faulty wiring of regenerative resistor (HA-00A-) Resistance of an external regenerative resistor is low. Or it is short-circuited. It is connected in parallel with a built-in regenerative resistor. 0 Troubleshooting Appe -

262 - Alarms and remedial actions Alarm code Alarm name Description AL0 Overvoltage The main circuit voltage exceeded approx. 00 VDC. AL Regenerative resistor overheat The thermal switch installed on the regenerative resistor actuated. Condition at occurrence The alarm occurs during operation: The alarm occurs during deceleration: Action Excessive load inertia moment The built-in regenerative resistor does not function. Connect short bar to R and R terminals. Connect a regenerative resistor to the R and R terminals. Increase the deceleration time. Lower the maximum speed. Lower the load inertia moment. Overvoltage detection circuit error Contact our sales office. Insufficient regenerative resistor capacity Install an external regenerative resistor to raise the regenerative absorption capacity. When using an external regenerative resistor in HA-00A-, set [SP: Regenerative resistor selection] to [: Use external regenerative resistor]. 0 Troubleshooting Appe AL Overregenerati on (HA-00A-) A regenerative resistor absorbed significantly excessive regenerative energy. The alarm occurs after turning the main circuit power ON (HA-00A-): When an external regenerative resistor is used (HA-00A-): The alarm occurs during deceleration: The alarm occurs after turning the main circuit power ON: Regenerative energy processing circuit error Contact our sales office. The regenerative resistor is not properly wired or not connected. Connect the regenerative resistor correctly. The regenerative resistor is not properly wired or not connected. Connect the regenerative resistor correctly. The parameter setting of regenerative resistor selection (SP) is wrong. Change the setting of system parameter SP and select an external regenerative resistor. Insufficient regenerative resistor capacity Install an external regenerative resistor to raise the regenerative absorption capacity and change the setting of system parameter SP. Regenerative energy processing circuit error Contact our sales office. (Replace the HA-00A driver.) Load inertia exceeds the adaptive range. Review the configuration and use the resistor with load inertia within the adaptive range. Suppress the rotation low to reduce regenerative energy. The regenerative resistor is not properly wired or not connected. Connect the regenerative resistor correctly. Connect a short bar correctly when using a built-in regenerative resistor. -

263 - Alarms and remedial actions Alarm code AL AL AL AL Alarm name Overregenerati on (HA-00A-) Missing phase (HA-00A-) Control power voltage low (HA-00A-) Main circuit voltage low (HA-00A-) Description A regenerative resistor absorbed significantly excessive regenerative energy. Single-phase power supply was supplied to the main circuit power input (R, S, T) areas. The voltage of the control power supply input (r, s) areas dropped. Although the main circuit power (R, S, T) is supplied, the main circuit DC voltage dropped. Condition at occurrence When an external regenerative resistor is used: The alarm occurs after turning the main circuit power ON: The alarm occurs during operation: The alarm occurs when the main circuit power is turned ON: Action The regenerative resistor is not properly wired or not connected. Connect the regenerative resistor correctly. The parameter setting of regenerative resistor selection (SP) is wrong. Change the setting of system parameter SP and select an external regenerative resistor. Wrong wiring One phase of -phase power supply is not correctly connected. Low input voltage Correct input voltage to a value within the specification range. Disconnection of main circuit fuse built into the driver One of the built-in fuses for -phase power supply is disconnected. Ground-fault or faulty wiring of motor output, ground-fault or faulty wiring of regenerative connection terminal Check the wiring conditions and replace the driver. (The alarm may occur again if you replace the driver without removing the cause.) If the protective fuse gets disconnected, it must be repaired. Low input voltage Correct input voltage to a value within the specification range. Momentary power failure occurred. Review the wiring and power supply environment to prevent power failure. It occurs in case of faulty wiring (not wired) of short bar, faulty wiring of DC reactor, and/or open-circuit between DL and DL. Connect a short bar or DC reactor correctly between driver terminal blocks DL and DL. The alarm occurs when a protective fuse built into the driver ( built-in fuses for -phase power supply) is disconnected due to driver damage, faulty wiring, etc. Check the wiring conditions and replace the driver. (The alarm occurs again if you replace the driver without removing the cause.) If the protective fuse gets disconnected, it must be repaired. 0 Troubleshooting Appe -

264 - Alarms and remedial actions 0 Troubleshooting Appe Alarm code AL A AL0 AL Alarm name Overheated dynamic brake (HA-00A-) Damaged power circuit Encoder disconnection Encoder receiving error * Description The dynamic brake circuit generated abnormal heat: The alarm occurs due to errors in the driver power circuit. It cannot be reset. Encoder signals have been cut off. Encoder serial data cannot be received accurately. Condition at occurrence The alarm occurs after stopping the dynamic brake: The alarm occurs when the control power supply is turned ON: The alarm occurs when the control power supply is turned ON: The alarm occurs when the servo is ON: The alarm occurs when the control circuit power is turned ON: The alarm occurs during operation (a normal condition is restored when the actuator cools down): The alarm occurs when the control circuit power is turned ON: The alarm sometimes occurs during operation: Action The dynamic brake stopped under the conditions where load inertia is excessive or an excessive negative load is connected. Review the load. Driver damage. The driver was damaged when the dynamic brake stopped previously. Review the load. If the protective fuse gets disconnected, it must be repaired. HA-00A driver power circuit error Contact our sales office. (Replace the HA-00A driver.) Non-connection or poor connection of the encoder connector (CN) or broken encoder wire Securely connect the encoder connector again. Or, replace the cable. Control circuit diagram error Internal encoder damage Contact our sales office. Encoder malfunction due to rise in actuator temperature Review the installation location and cooling system of the actuator. Non-connection or poor connection of the encoder connector (CN) or broken encoder wire Securely connect the encoder connector again. Or, replace the cable. Control circuit diagram error Internal encoder damage Contact our sales office. Malfunction due to external noise Suppress noise according to [Suppressing noise] (P-). -

265 - Alarms and remedial actions Alarm code Alarm name Description AL UVW error Encoder phase UVW signal error AL AL System failure * Multi revolution overflow * Encoder multi revolution data has been lost. The multi revolution counter value of the absolute encoder exceeded a range of +,0 to -,0 revolutions (motor shaft). Condition at occurrence The alarm occurs when the control circuit power is turned ON: The alarm sometimes occurs during operation: The alarm occurs when the power supply is turned ON for the first time after the purchase: The control power supply is cut off while the buttery voltage low warning is occurring: The power supply was turned ON after the encoder and driver had been left disconnected for an extended period of time: The alarm occurs when the control circuit power is turned ON: The alarm occurs during operation: Action Non-connection or poor connection of the encoder connector (CN) or broken encoder wire Securely connect the encoder connector again. Or, replace the cable. Control circuit diagram error Internal encoder damage Contact our sales office. Malfunction due to external noise Suppress noise according to [Suppressing noise] (P-). The encoder holds no multi revolution data. Clear the multi revolution data using [T0: Multi revolution clear] in the test mode. Replace the battery. Clear the multi revolution data using [T0: Multi revolution clear] in the test mode. Reconnect the power and perform originating. Non-connection or poor connection of the encoder connector (CN) Non-connection or poor connection of the battery connector Connect the encoder connector and battery connector properly. Driver control circuit error Internal encoder damage Contact our sales office. Driver control circuit error Internal encoder damage Contact our sales office. The actuator turned in one direction and the multi revolution counter value exceeded a range of +,0 to -,0 revolutions (motor shaft). Clear the multi revolution data using [T0: Multi revolution clear] in the test mode. 0 Troubleshooting Appe -

266 - Alarms and remedial actions 0 Alarm code AL AL0 Alarm name Multi revolution data error * Excessive deviation Description The rotation angular acceleration and rotation speed of the motor exceeded the allowable response range. (The actuator moved at a speed exceeding the encoder's allowable range while the driver power supply is turned OFF.) The deviation counter value exceeded the pulse count set in [SP: Allowable position deviation]. Condition at occurrence The alarm occurs when the control circuit power is turned ON: The alarm occurs while the control power supply is being turned ON: The alarm occurs during acceleration or deceleration: Action The actuator's output shaft moved when the driver power was not supplied. Clear the multi revolution data using [T0: Multi revolution clear] in the test mode. Driver control circuit error Internal encoder damage Contact our sales office. The actuator moved due to external force and resulted in excessive deviation. Stop the actuator and reconnect the power supply. Stop the actuator and clear the deviation, and then reconnect the power supply. Driver control circuit error Contact our sales office. Low gain Adjust [AJ00: Position loop gain], [AJ0: Speed loop gain] and [AJ0: Speed loop integral compensation] in the tune mode to match the load condition. Inappropriate electronic gear setting The command frequency is too large for [SP,,, : Electronic gear setting] or [SP: Output shaft divide function setting].set appropriate electronic gear. Alternatively, modify the command frequency. Troubleshooting Appe -

267 - Alarms and remedial actions Alarm code AL0 Alarm name Excessive deviation Description The deviation counter value exceeded the pulse count set in [SP: Allowable position deviation]. Condition at occurrence The alarm occurs during acceleration or deceleration: The speed does not rise with the command, and the alarm occurs sometime after that: Action Excessive command pulse frequency Lower the command output pulse frequency on the host device. The frequency should not exceed the actuator s rated rotation speed (r/min) multiplied by 0. Excessive load inertia moment Lower the load inertia moment. Slowly increase/decrease the command pulse frequency on the host device. Cause: The input signal FWD inhibit or REV inhibit is enabled. The signal logic is set to normally closed for [SP0: FWD inhibit input setting] and [SP0: REV inhibit input setting], but the signals are not assigned to CN. Assign the signals to CN and wire them according to the normally closed logic. The actuator does not rotate and the alarm occurs: The respective signals are assigned to CN and their logic is set to normally closed for [SP0: FWD inhibit input setting] and [SP0: REV inhibit input setting], but the assigned pins are open. Wire the signals according to the normally closed logic. The respective signals are assigned to CN and their logic is set to normally open for [SP0: FWD inhibit input setting] and [SP0: REV inhibit input setting], but the assigned pins are closed. Wire the signals according to the normally open logic. Large friction torque and load torque Confirm that holding brake is released. Confirm that the actuator output torque is sufficient to handle load torque. Poor motor cable connection or wrong phase order Connect the motor cable wires and terminals securely. Connect the motor wires and terminals in the correct phase order. Poor connection of the encoder connector (CN) Securely connect the encoder connector again. 0 Troubleshooting Appe Large friction torque and load torque Confirm that holding brake is released. Confirm that the actuator output torque is sufficient to handle load torque. -0

268 - Alarms and remedial actions 0 Troubleshooting Appe Alarm code AL0 AL AL AL AL AL0 AL Alarm name Memory failure (RAM) Memory failure (EEPROM) FPGA Configuration error FPGA setting error Processor error MEMORY error * System failure * Description An error occurred in the driver's RAM memory. An error occurred in the driver's EEPROM memory. The FPGA initialization was not successful when the driver was started. The FPGA did not start properly when the driver was started. Reconnect the driver s control power supply. An EEPROM memory failure occurred in the -bit absolute encoder. SHA series (excluding SHA0) and HMA series (excluding HMAC0): The voltage of the backup power supply in the absolute encoder or external battery voltage, whichever was higher, dropped to.v or below. SHA0, FHA-Cmini series and HMAC0: The voltage of the backup battery dropped to.v or below. Stored multi revolution data is lost. Condition at occurrence The alarm occurs when the control circuit power is turned ON: The alarm occurs during operation: The alarm occurs when the control circuit power is turned ON: The alarm occurs during operation: The alarm occurs when the control circuit power is turned ON: The alarm occurs when the control circuit power is turned ON: - The alarm occurs when the control circuit power is turned ON: - Action Driver control circuit error Contact our sales office. Driver control circuit error Contact our sales office. Driver control circuit error Contact our sales office. Driver control circuit error Contact our sales office. If the processor error is not restored even after the control power supply is reconnected, contact our sales office. Driver control circuit error or encoder error Contact our sales office. This alarm can be reset by executing [T0: Multi revolution data clear] in the test mode, or by assigning the reset input to CN using [SP0: Reset input setting] and then activating the reset signal and reconnecting the power. Low backup battery voltage Replace the battery by referring to [Normal operation] (P-). -bit absolute encoder error Contact our sales office. (Replace the actuator.) This alarm may occur if CN is pulled off while the driver control power supply is active. -

269 - Alarms and remedial actions Alarm code AL AL Alarm name Single revolution data error * Multi revolution data error * Description Inconsistency occurred between the single revolution data managed by the -bit absolute encoder at locations. Inconsistency occurred between the multi revolution data managed by the -bit absolute encoder at locations. AL BUSY error * The position could not be specified when the -bit absolute encoder was started because the actuator was operating at a constant speed or above. AL Overheat error * The board temperature in the -bit absolute encoder reached or exceeded. Condition at occurrence The alarm occurs after actuator operation: The alarm occurs during operation: - - Action Execute [T0: Multi revolution data clear] in the test mode, then reconnect the power. -bit absolute encoder error Contact our sales office. (Replace the actuator.) Malfunction due to external noise Suppress noise according to [Suppressing noise] (P-). The actuator is operating at a constant speed or above when the encoder is started. Start the encoder when the actuator is operating at a constant speed or below (ideally the actuator should be stopped). SHA series (excluding SHA0) and HMA series (excluding HMAC0): 00 r/rpm or less SHA0, FHA-Cmini series and HMAC0: 0 r/rpm or less -bit absolute encoder error Contact our sales office. (Replace the actuator.) The board temperature in the -bit absolute encoder reached or exceeded. Remove possible causes of actuator overheat, such as eliminating sudden starts and improving the heat radiation condition. 0 The driver's heat sink temperature reached or exceeded bit absolute encoder error Contact our sales office. (Replace the actuator.) The driver's heat sink temperature reached or exceeded 0. Remove possible causes of actuator overheat, such as eliminating sudden starts and improving the heat radiation condition. Troubleshooting Appe -

270 - Alarms and remedial actions Alarm code AL Not lit Alarm name Communicati on error * Description Data could not be received in the driver at least consecutive times. LED display is not turned ON even when the control power supply is turned ON. Condition at occurrence - The alarm occurs when the control circuit power is turned on: Action Defective encoder connector (CN) Confirm that the encoder connector is inserted securely. Confirm that the encoder lead lines are soldered properly. Check the encoder extension connector for poor contact. Malfunction due to noise, etc. Confirm that the ground wire is connected properly. Confirm that the encoder cable is shielded properly. Confirm that the encoder and motor wires are not bundled together. The overload protective function in the driver internal power supply circuit was activated due to a short period of power failure, etc. Cut off the control power supply, wait for about one minute, and reconnect the power. Fuse disconnection in the driver Contact our sales office. *: This alarm does not occur when an actuator equipped with a -bit absolute encoder is combined. *: AL0 to AL: These alarms may occur when an actuator equipped with a -bit absolute encoder is combined. With the -bit encoder incremental model, if AL0-AL is generated, then after the power is turned OFF then ON again, if AL0-AL is generated again, an abnormality in the -bit encoder is conceivable. Contact our sales office. 0 Troubleshooting Appe -

271 - Warnings and remedial actions - Warnings and remedial actions This driver has warning functions to output various conditions before the corresponding protective functions are actuated. If a warning generates, the warning number appears on the display. If a warning output is assigned to an output signal via a system parameter, the signal is output to the I/O signal connector (CN). Although the actuator can be controlled while warnings are present, remove the cause of each warning as soon as possible. (If [UA: Main circuit voltage low] or [UA: Wrong actuator] occurs, the actuator cannot be controlled.) Warning list A list of alarms that may be displayed is shown below. Warning -bit Alarm code Warning name code code ALM-COD ALM-COD ALM-COD 0 Overload status Battery voltage low Cooling fan stopped Main circuit voltage low FWD inhibit input effective REV inhibit input effective Wrong actuator Troubleshooting Appe -

272 - Warnings and remedial actions 0 Troubleshooting Appe Remedial action for warning Details of each warning are explained. Warning code UA 0 UA UA UA Warning name Overload status Battery voltage low Cooling fan stopped (HA-00A- only) Main circuit voltage low Description The driver is overloaded. If the warning is ignored and actuator operation is continued, an overload error (AL0) will occur. Take an appropriate action by referring to the section of overload alarm. The data backup battery voltage of the absolute encoder dropped to the voltage specified below. Although the actuator operates, leaving the problem uncertified will cause the battery voltage to drop further, resulting in encoder data to be unable to be retained. Replace the battery with a new one as soon as possible. For the SHA series, if the backup capacitor in the encoder is fully charged when power is being supplied to the driver, the backup battery does not detect a drop in voltage. The backup capacitor in the encoder is discharged when the driver s power is turned OFF, and the backup battery does not detect a drop in voltage until the voltage is low. -bit absolute encoder DC.V or below (The warning will be reset automatically when the battery is replaced with a new one.) -bit absolute encoder (SHA0, FHA-Cmini series and HMAC0) DC.V or less (The warning will be reset automatically when the battery is replaced with a new one.) * In Version.x and earlier, after the battery is replaced, turning the power back ON releases UA. -bit absolute encoder (SHA series (excludng SHA0) and HMA series (excluding HMAC0)) DC.V or less (Replace with a new battery and execute an alarm reset, and then reconnect the power supply.) () Replace with a new battery. () Input driver alarm reset. () The warning is canceled after reconnecting the power supply. The cooling fan installed in the driver stopped operating for some reason. If the actuator is operated at the rated torque, internal elements of the driver may heat to the junction temperature. Remove the cause of the problem as soon as possible. It is also recommended that the cooling fan be replaced after approx. years of continuous operation. The DC voltage of the main circuit power dropped to the voltage specified below: AC00V actuator DC0V or below (DC0V or less for Ver..0 or older) AC00V actuator DC0V or below (DC00V or less for Ver..0 or older) The wiring may be wrong. Refer to [Connecting power cables] (P-) and wire appropriately. The input voltage may not be within the specification range. Confirm the main circuit power voltage from the d0 main circuit power voltage status display or the PSF-00 status display, and correct the input voltage to a value within the specification range. If this warning generates, the servo turns OFF. Although the warning will be reset automatically when the main circuit voltage recovers, the [Cn-: S-ON] signal must be turned OFF and then turned ON again to turn ON the servo. -

273 - Warnings and remedial actions Warning code UA UA Warning name FWD inhibit input effective REV inhibit input effective Description This warning generates when the FWD inhibit input that has been assigned to CN is enabled. Once the input is disabled, the warning will be reset. Even when the FWD inhibit input is not assigned, this warning still generates when the main circuit power is turned ON if the logic is set to normally closed. If this input is not assigned, set the logic to normally open. This warning generates when the REV inhibit input that has been assigned to CN is enabled. Once the input is disabled, the warning will be reset. Even when the REV inhibit input is not assigned, this warning still generates when the main circuit power is turned ON if the logic is set to normally closed. If this input is not assigned, set the logic to normally open. UA Wrong actuator The connected actuator is different from the applicable actuator set for the driver. Connect the correct actuator and then reconnect the power. The function is available for the following actuators: -bit absolute encoder (SHA series, FHA-Cmini series and HMA series) and -wire incremental encoder (FHA-Cmini series). 0 Troubleshooting Appe -

274 - Warnings and remedial actions 0 Troubleshooting Appe -

275 - Chapter Option Options you can purchase as necessary are explained. - Option -

276 - Option Option - Option Options you can purchase as necessary are explained. Extension cables HA-00A drivers are available in various models having different rated output current and supporting different types of encoders. Combinations of drivers, actuators and extension cables (option) are shown below. Actuator series SHA series FHA-Cmini series FHA-C series RSF series RSF/RKF series Model No. Input voltage (V) Encoder type Combined driver HA-00A- HA-00A- HA-00A- Extension cables (option) HA-00A-D/E HA-00A-D/E bit - - HA-00A-D/E -00 Absolute HA-00A-D/E HA-00A-D/E HA-00A-C wires, HA-00A-C wire-saving HA-00A-C type HA-00A-C Incremental HA-00A-C HA-00A-C HA-00A-D/E HA-00A-D/E bit HA-00A-D/E Absolute HA-00A-D/E HA-00A-D/E HA-00A-D/E wires, - HA-00A-C wire-saving - HA-00A-C type - - HA-00A-C Incremental - - HA-00A-C HA-00A-A bit - HA-00A-A Absolute - - HA-00A-A HA-00A-A wires, - HA-00A-C-00 - Motor wire 00 wire-saving - - HA-00A-C type Incremental - - HA-00A-C HA-00A-A-00 - Motor wire 00 -bit - - HA-00A-A-00 Absolute HA-00A-A HA-00A-B wires - HA-00A-B Incremental - HA-00A-B HA-00A-B-00 Motor wire EWD-MB**-A0-TN Encoder wire EWD-S**-A0-M Motor wire EWC-M**-A0-TN Encoder wire EWC-E**-M0-M Motor wire EWC-M**-A0-TN Encoder wire EWD-S**-A0-M Motor wire EWC-MB**-M0-TN Encoder wire EWC-E**-B0-M Motor wire EWC-MB**-M0-TN Encoder wire EWC-S**-B0-M EWC-MB**-M0-TN Encoder wire EWC-E**-B0-M EWC-MB**-M0-TN Encoder wire EWC-S**-B0-M Motor wire EWA-M**-A0-TN Encoder wire EWA-E**-A-M -

277 - Option Actuator series SHA series Actuator series HMA series Model No. Model No. 0 Encoder type Combined driver HA-00A- HA-00A-D/E Extension cables (option) Motor wire EWD-MB**-A0-TMC Encoder wire EWD-S**-A0-M -bit Absolute HA-00A-D/E Motor wire EWD-MB**-D0-TMC HA-00A-D/E Input voltage (V) Encoder type Combined driver 0 00 HA-00A-D/E HA-00A-D/E HA-00A-D/E bit Absolute HA-00A-D/E HA-00A-D/E-00 A 00 HA-00A-D/E-00 ** in the extension cable model indicates the cable length. Select a desired length from the following types: 0: m, 0: m, 0: 0m Dedicated communication cable Encoder wire EWD-S**-D0-M Extension cables (option) Motor wire EWD-MB**-A0-TN Encoder wire EWD-S**-A0-M Motor wire Model No.:EWD-MB**-A0-TMC Model No.A:EWD-MB**-D0-TMC Encoder wire Model No.:EWD-S**-A0-M Model No.A:EWD-S**-D0-M Use a dedicated communication cable to connect this driver to a personal computer. Dedicated communication cable Model Specifications Connectors EWA-RS0 D-sub pin (female).m The CN, CN, motor-wire and power-supply connectors of this driver are shown below. Connector model CNK-HA0A-S : CN type/cn type/motor-wire type/power-supply type --- types CNK-HA0A-S : CN type/power-supply type --- types CNK-HA0A-S-A: CN/CN type --- types CNK-HA0A-S-A: CN type --- type CN type CN type Motor-wire type Power-supply type Manufacturer M M Phoenix Contact Phoenix Contact Connector: Connector: Model 0-000PE PE Cover: Cover: FKIC,/-ST-.0 FKC,/-ST-.0 0-F F Option -

278 - Option Servo parameter setting software This software lets you set various servo parameters of your HA-00A driver from a personal computer. Use an EIA-C cable to connect the CN connector on the HA-00A driver to a personal computer in which the servo parameter setting software PSF-00 is installed, and you can change various servo parameters in the driver. You can download this servo parameter setting software from our website ( Model PSF-00 Supported operating systems Windows ME, Windows NT, Windows 000, Windows Xp, Windows Vista *, Windows * What you need Dedicated communication cable (EWA-RS0) *: Successful operation has been verified on Windows Vista, and Windows, but it is not guaranteed. *Microsoft Windows and IntelliMouse are registered trademarks and trademarks of Microsoft Corporation in the United States for use in the United States, Japan and other countries. * Microsoft Windows Operating System is the full name of Windows. EWA-RS0 PSF-00 setting software CN Option -

279 - Option Backup battery This battery is used to retain multi revolution data of the absolute encoder in the event that the power supply is cut off. All drivers of absolute encoder model are shipped with this battery pre-assembled. Model code: HAB-ER/- Battery type Lithium battery Manufacturer Manufacturer model Data retention time Data retention time Conditions Hitachi Maxell, Ltd. ER/ (.V,00 mah) Approx. year after the power is cut off Not used, ambient temperature:, axis stopped, continuous use (The actual life varies depending on the condition of use.) A battery purchased separately from the battery manufacturer does not come with connector wires or removal tape. Prepare them on your own and attach them to the battery before use. Monitor cable Use this signal cable to measure speed, torque and other signals using an oscilloscope. Model EWA-MON0-JST 0 Line Color : Red : White : Black : Green Option -

280 - Option Option -

281 - Chapter Appendix The list of default parameters and regenerative resistors are explained. A- Default settings A- A- Regenerative resistor A- A- List of data retained in the driver A- A- Driver replacement procedures A- A- Notices for using SHA-CG(-S) A- A- Control block diagram A-

282 A- Default settings A- Default settings The standards parameter values set as a default for each applicable actuator are shown below. SHA series (voltage: 00V) d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Actuator model No. SHA0-SG SHA-SG/HP Actuator reduction ratio 0 0 Combined driver HA-00A-D/E-00 HA-00A-D/E-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting Actuator model No. SHA-SG/HP Actuator reduction ratio 0 Combined driver Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting HA-00A-D/E Apx Appendix d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Actuator model No. SHA0-SG SHA0-SG Actuator reduction ratio 0 0 Combined driver HA-00A-D/E-00 HA-00A-D/E-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting A-

283 A- Default settings d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Actuator model No. SHA-SG SHA-SG Actuator reduction ratio 0 0 Combined driver HA-00A-D/E-00 HA-00A-D/E-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Actuator model No. SHA0-CG SHA-CG(-S) SHA-CG(-S) Actuator reduction ratio Combined driver HA-00A-D/E-00 HA-00A-D/E-00 HA-00A-D/E-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting 0 (0) 0 (0) 0 (0) 0 (0) 0 (0) () () () () () d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Actuator model No. SHA0-CG(-S) SHA0-CG(-S) Actuator reduction ratio Combined driver HA-00A-D/E-00 HA-00A-D/E-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting () () () () () () () () () () Apx Appendix A-

284 A- Default settings SHA series (voltage: 00V) Actuator model No. SHA-SG SHA-CG(-S) Actuator reduction ratio d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Combined driver HA-00A-D/E-00 HA-00A-D/E-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting () () () () () FHA-C -wire, wire-saving incremental series (voltage: 00V) Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Combined driver HA-00A-C-00 HA-00A-C-00 HA-00A-C-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting Apx Appendix A-

285 A- Default settings FHA-C -wire, wire-saving incremental series (voltage: 00V) d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio Combined driver HA-00A-C-00 HA-00A-C-00 HA-00A-C-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting FHA-Cmini absolute series (voltage: 00V) d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio Combined driver HA-00A-D-00 HA-00A-D-00 HA-00A-D-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting FHA-Cmini absolute series (voltage: 00V) Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Combined driver HA-00A-D-00 HA-00A-D-00 HA-00A-D-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting Apx Appendix A-

286 A- Default settings FHA-C -wire, wire-saving incremental series (voltage: 00V) d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Actuator model No. FHA-C FHA-C FHA-C FHA-0C Actuator reduction ratio Combined driver HA-00A-C-00 HA-00A-C-00 HA-00A-C-00 HA-00A-C-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting FHA-C -wire, wire-saving incremental series (voltage: 00V) d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio Combined driver HA-00A-C-00 HA-00A-C-00 HA-00A-C-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting FHA-C absolute series (voltage: 00V) Actuator model No. FHA-C FHA-C FHA-C FHA-0C Actuator reduction ratio Apx Appendix d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Combined driver HA-00A-A-00 HA-00A-A-00 HA-00A-A-00 HA-00A-A-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting A-

287 A- Default settings FHA-C absolute series (voltage: 00V) Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Combined driver HA-00A-A-00 HA-00A-A-00 HA-00A-A-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting RSF -wire, wire-saving incremental series (voltage: 00V) Actuator model No. RSF-A RSF-0A RSF-A RSF-A Actuator reduction ratio d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Combined driver HA-00A-B-00 HA-00A-B-00 HA-00A-B-00 HA-00A-B-00 Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting HMA series (voltage: 00V/00V) d AJ00 AJ0 AJ0 AJ0 SP SP SP0 SP SP Motor model No. HMAC0x HMAB0x HMABx HMAB HMAAA HMAB0x Combined driver Applicable actuator Code Position loop gain (default) Speed loop gain (default) Speed loop integral compensation (default) In-position range (default) Allowable position deviation (default) Speed input factor (default) Automatic gain (default) Encoder monitor Output pulses (default) Feed-forward control function setting HA-00A-D/E HA-00A-D/E HA-00A-D/E HA-00A-D/E Apx Appendix A-

288 A- Regenerative resistor A- Regenerative resistor The following explains the built-in regenerative resistor and external regenerative resistance of the driver. Built-in driver regenerative resistor and regenerative power Putting a brake on the machine's movement causes the rotational energy of the machine (including the actuator) to be returned to the driver. This electric energy is called regeneration capacity. The energy returned is called regenerative energy and regenerative energy per unit time is called regenerative power. Regenerative energy is absorbed as electric energy by the power smoothing capacitor in the driver. If the regenerative energy produced by braking increases and exceeds the energy absorbable to the capacitor, the excess regenerative energy is absorbed (consumed) by a regenerative resistor. Different HA-00 drivers come with or without a built-in regenerative resistor, as shown in the table below. Different HA-00 drivers come with or without a built-in regenerative resistor, as shown in the table below. You can connect an external regenerative resistor to handle the excess regenerative power or regenerative energy that cannot be absorbed (consumed) by the regenerative resistor in the driver. Apx Appendix 00V Input voltage 00V specification/00v specification specification Model HA-00A- HA-00A- HA-00A- HA-00A- Driver s rated current. A.0 A A A Regenerative processing Power absorbed by built-in regenerative resistor Allowable absorption energy per regenerative operation (holding) when a built-in regenerative resistor is used (repeat cycle) Allowable absorption energy per regenerative operation (holding) when a built-in regenerative resistor is used (non-repeat cycle) Explanation Terminal for mounting external regenerative resistance provided Regenerative resistor contained Terminal for mounting external regenerative resistance provided - W max. W max. 0W max. 0J (00V specification) J (00V specification) * * There is no built-in regenerative resistor. Normally you don't need any external regenerative resistor. Connect an external regenerative resistor if the smoothing capacitor in the driver cannot absorb the regenerative energy fully. 0J (00V specification) 0J (00V specification) * 0J (00V specification) 0J (00V specification) * 00J * 0J 0J 00J Connect an external regenerative resistor if the regenerative power is greater than the power absorbed by the built-in regenerative resistor. *: Standard value of power absorbed by an electrode capacitor *: 00V specification is the standard value for when the input voltage is AC00V. 00V specification is the standard value for when the input voltage is AC00V. A-

289 A- Regenerative resistor Examination of regenerative energy Examine installing a regenerative resistor in the following conditions: Drive with high inertia moment and load. The system is stopped frequently. Continuous regeneration occurs such as when the load moves up and down In these cases, calculate the regenerative energy and check the power that can be absorbed by the built-in regenerative resistor of the driver. If the regenerative energy is greater, install an external regenerative resistor. Apx Appendix A-

290 A- Regenerative resistor Calculation of regenerative energy Calculate the regenerative energy by assuming that the machine operates as shown below. Actuator Load arm Negative torque Tn (Up) (Down) Actuator rotation speed t a ( cycle) N C Up Down t t t t t t t t Time (+) () (Power running) () Torque () () () () () (Regeneration) () (-) Tn: Negative torque of load Tf: Friction torque of drive-train Ja: Inertia moment of actuator Jm: Inertia moment of load Nc: Max. rotation speed during actuator operation (r/min) Apx Appendix Step Actuator torque Energy () T = (Ja + Jm) {(π Nc) / 0} ( E = / {(π Nc) / 0} Nc T t / t) + Tn + Tf () T = Tn + Tf E = (π Nc) / 0} Nc T t () T = - (Ja + Jm) {(π Nc) / 0} E = / {(π Nc) / 0} Nc T t ( / t) + Tn + Tf (),() T = Tn 0 (Regenerative energy is 0, because the actuator is stopped.) () T = (Ja + Jm) {(π Nc) / 0} ( E = / {(π Nc) / 0} Nc T t / t) - Tn + Tf () T = -Tn + Tf E = (π Nc) / 0} Nc T t () T = - (Ja + Jm) {(π Nc) / 0} E = / {(π Nc) / 0} Nc T t ( / t) - Tn + Tf Of energies E to E, negative energies are added up and the absolute value of this total sum gives the regenerative energy <Es>. If E, E and E are negative in the above example, the total regenerative energy is calculated as follows: Es = E + E + E A-

291 A- Regenerative resistor Energy absorbed by external regenerative resistor The table below lists the regenerative energies that can be absorbed by the power smoothing capacitor of the HA-00 driver and capacities of the driver's built-in regenerative resistor R. Driver model Energy absorbed by built-in capacitor Ec (J) * Built-in regenerative resistor specification Absorption capacity Wi (W) * Resistance (Ω) Min. allowable external resistance (Ω) HA-00A Ω - % HA-00A- 0 W max. 0Ω ± % Ω - % HA-00A- W max. Ω ± % Ω - % HA-00A- 0W max. 0Ω± % 0Ω - % *: The value of capacitor-absorbed energy Ec represents the standard absorption level of the capacitor at the driver's main service input voltage AC00V. Energy absorbed by built-in capacitor significantly varies depending on input voltage and drive pattern. It also varies over time. Derate the rated capacity to 0% of the standard absorption level as a guideline and perform the calculation. *: Absorption capacity of the built-in regenerative resistor [Wi] refers to the size of regenerative power that can be absorbed by the resistor when its rated capacity is derated. Calculate the regenerative energy that must be absorbed by the regenerative resistor using each of the values above. Divide the regenerative energy by the operation cycle time to calculate the regenerative power that needs to be absorbed by the regenerative resistor <We>. We [W] = (Es - Ec) / ta If <We> is less than the power absorbed by a built-in regenerative resistor <Wi>, no external regenerative resistor is required. If <We> exceeds <Wi>, select an appropriate external regenerative resistor according to the capacity of <We>. Select a resistance equal to or greater than the applicable minimum allowable resistance shown in the table. When you use an external regenerative resistor, remove the short bar to separate the built-in regenerative resistor from the circuit. The built-in regenerative resistor stops absorbing regenerative energy and thus stops generating heat. This allows connecting a large external regenerative resistor. * HA-00A- allows monitoring regenerative power. Apx Appendix A-0

292 A- Regenerative resistor External regenerative resistor An external regenerative resistor must be provided by the customer. Select an appropriate regenerative resistor by referring to the example below. Examples of recommended products Driver model Resistor Remarks HA-00A- HA-00A- HA-00A- HA-00A- RH0BΩJ Iwaki Musen Kenkyusho Co., Ltd. RH00 0ΩJ (Parallel connection of resistors) Iwaki Musen Kenkyusho Co., Ltd. RH00 0ΩJ (Parallel connection in series of resistors) Iwaki Musen Kenkyusho Co., Ltd. Allowable absorption power: Approximately 0 to 0W (depends on the cooling conditions) Allowable absorption energy per regenerative operation:,00j Allowable absorption power: Approximately 0W (depends on the cooling conditions) Allowable absorption energy per regenerative operation:,000j Connect resistors in parallel. (Refer to the connection example below.) Allowable absorption power: Approximately 00W (Varies depending on the cooling conditions) Allowable absorption energy per regenerative operation:,000j Connect four resistors in series and parallel. (Refer to the connection example below.) Derating the external regenerative resistor Rise in regenerative resistor temperature Power resistors used as regenerative resistors consume a large amount of power and become very hot. Accordingly, be sure to derate the rated capacity of your resistor. Without proper derating, the resistor may present problems such as becoming heated to several hundred degrees or failing prematurely. Derating Check the load characteristics of your resistor with its manufacturer. Basically the derating ratio should be 0% or less if the driver is used in a condition of natural convection cooling. Follow the internal standard of your company. Apx Appendix Layout and wiring of external regenerative resistor, and parameter setting Layout Regenerative resistors may be heated to 00 or more above the ambient temperature. Carefully determine the position of the radiation, installation position, wiring path, etc. Wiring Use flame-resistant wires to wire the resistor by avoiding contact between the wires and resistor body. Be sure to use twisted wires when connecting to the servo amplifier, and keep the wiring distance to no longer than m. Parameter When using an external regenerative resistor in HA-00A-, set [SP: Regenerative resistor selection] to []. For details, refer to [SP: Regenerative resistor selection] (P-). CAUTION Regenerative resistors become very hot. Determine the position of the radiation, installation position, wiring path, etc. by giving thorough consideration to safety. A-

293 A- Regenerative resistor Connecting to the driver Connect the external regenerative resistor between the R and R terminals of the HA-00 driver. HA-00*-, - and - U V W R R R Red White Black M AC Servo Actuator External regenerative resistor When using a built-in regenerative resistor with the HA-00A-/, short-circuit the R and R.(On our extension cables, these terminals are already short-circuited with a short bar.) When using an external regenerative resistor, keep R and R open and connect the regenerative resistor between R and R. Terminal block for motor connection (for TB) Manufacturer Phoenix Contact Model FKIC./-ST-.0 U V W R R R HA-00*- TB R R R U V W When using a built-in regenerative resistor with the HA-00A-, short-circuit the R and R.(These terminals are already short-circuited with a short bar as default.) When using an external regenerative resistor, keep R and R open and connect the regenerative resistor between R and R. Red White Black M External regenerative resistor AC Servo Actuator Terminal block for motor connection Crimp terminal Reference Screw size outer diameter Round crimp terminal (R-type).-R (J.S.T. Mfg. Co., Ltd) M φmm.-ns (J.S.T. Mfg. Co., Ltd) Apx Appendix A-

294 A- Regenerative resistor Connection example of external regenerative resistor Regenerative power: 0W RH00 0ΩJ( resistors) Regenerative power: 00W RH00 0ΩJ( resistors) R R R R R U V W Red White Black M AC Servo Actuator R U V W Red White M Black AC Servo Actuator Apx Appendix A-

295 A- Regenerative resistor Allowable load inertia The following is a list of recommended allowable inertia in a horizontal drive at the max. rotational speed (The input voltages are AC00V for 00V specifications, AC00V for 00V specifications). (The allowable load inertia varies depending on the motor speed, operation pattern, and input voltage etc. during an actual operation.) When the regenerative resistance (built-in or external) is applied, it should be within the allowable absorption power or allowable absorption energy of regenerative resistance. SHA series (voltage: 00V) Actuator model No. SHA0A-SG Actuator reduction ratio 0 Combined driver HA-00A-D/E-00 Max. rotational speed r/min..... Actuator inertia moment kg m (no brake) kgf cm s..0. Actuator inertia moment kg m (with brake) kgf cm s Allowable load inertia moment when a built-in regenerative resistor is used (repeat cycle) Allowable load inertia moment when a built-in regenerative resistor is used (non-repeat cycle) Allowable load inertia moment when an external regenerative resistor is used kg m kgf cm s. kg m..... kgf cm s. kg m. (.) (.) (.) (.) kgf cm s () () () () External regenerative resistor RH0BΩJ Actuator model No. SHAA-SG/HP Actuator reduction ratio 0 Combined driver HA-00A-D/E-00 Max. rotational speed r/min Actuator inertia moment kg m (no brake) kgf cm s 0.0. Actuator inertia moment kg m (with brake) kgf cm s 0.. Allowable load inertia moment when a built-in regenerative resistor is used (repeat cycle) Allowable load inertia moment when a built-in regenerative resistor is used (non-repeat cycle) Allowable load inertia moment when an external regenerative resistor is used kg m kgf cm s kg m kgf cm s kg m kgf cm s. 0 0 External regenerative resistor RH0BΩJ Apx Appendix A-

296 A- Regenerative resistor Actuator model No. SHAA-SG/HP Actuator reduction ratio 0 Combined driver HA-00A-D/E-00 Max. rotational speed r/min Actuator inertia moment (no brake) Actuator inertia moment (with brake) Allowable load inertia moment when a built-in regenerative resistor is used (repeat cycle) Allowable load inertia moment when a built-in regenerative resistor is used (non-repeat cycle) Allowable load inertia moment when an external regenerative resistor is used kg m kgf cm s 0. 0 kg m kgf cm s. 0 kg m kgf cm s.0 0 kg m kgf cm s.. kg m kgf cm s External RH0BΩJ regenerative resistor Apx Appendix Actuator model No. SHA0A-SG Actuator reduction ratio 0 0 Combined driver HA-00A-D/E-00 HA-00A-D/E-00 Max. rotational speed r/min Actuator inertia kg m moment (no brake) kgf cm s Actuator inertia kg m.. moment (with brake) kgf cm s 0 0 Allowable load inertia moment when a built-in regenerative resistor is used (repeat cycle) Allowable load inertia moment when a built-in regenerative resistor is used (non-repeat cycle) Allowable load inertia moment when an external regenerative resistor is used kg m kgf cm s kg m. kgf cm s kg m () () () () () kgf cm s (0) (0) (0) (00) (0) External regenerative resistor RH0BΩJ Connect two RH00_0ΩJ in parallel, or connect four RH00_0ΩJ in series and parallel. A-

297 A- Regenerative resistor Actuator model No. SHAA-SG SHAA-SG Actuator reduction ratio 0 0 Combined driver HA-00A-D/E-00 HA-00A-D/E-00 Max. rotational speed r/min Actuator inertia kg m 0 moment (no brake) kgf cm s Actuator inertia kg m moment (with brake) kgf cm s Allowable load inertia moment when a built-in regenerative resistor is used (repeat cycle) Allowable load inertia moment when a built-in regenerative resistor is used (non-repeat cycle) Allowable load inertia moment when an external regenerative resistor is used kg m 00 0 kgf cm s kg m kgf cm s kg m kgf cm s External regenerative resistor Connect two RH00_0ΩJ in parallel, or connect four RH00_0ΩJ in series and parallel. Connect two RH00_0ΩJ in parallel, or connect four RH00_0ΩJ in series and parallel. Actuator model No. SHA0A-CG SHAA-CG(-S) Actuator reduction ratio Combined driver HA-00A-D/E-00 HA-00A-D/E-00 Max. rotational speed r/min Actuator inertia kg m moment kgf cm (no brake) s Actuator inertia moment (with brake) Allowable load inertia moment when a built-in regenerative resistor is used (repeat cycle) Allowable load inertia moment when a built-in regenerative resistor is used (non-repeat cycle) Allowable load inertia moment when an external regenerative resistor is used kg m kgf cm s.... kg m kgf cm s.. 0 kg m kgf cm s kg m. (.) (.) (.) (.).. 0 kgf cm s () () () () 0 0 External regenerative resistor RH0BΩJ RH0BΩJ Apx Appendix A-

298 A- Regenerative resistor Actuator model No. SHAA-CG(-S) Actuator reduction ratio Combined driver HA-00A-D/E-00 Max. rotational speed r/min Actuator inertia kg m.... moment kgf cm (no brake) s Actuator inertia moment (with brake) Allowable load inertia moment when a built-in regenerative resistor is used (repeat cycle) Allowable load inertia moment when a built-in regenerative resistor is used (non-repeat cycle) Allowable load inertia moment when an external regenerative resistor is used kg m kgf cm s 0 0 kg m... kgf cm s kg m kgf cm s kg m kgf cm s External regenerative RH0BΩJ resistor Apx Appendix Actuator model No. SHA0A-CG(-S) Actuator reduction ratio Combined driver HA-00A-D/E-00 HA-00A-D/E-00 Max. rotational speed r/min Actuator inertia kg m.. moment (no brake) kgf cm s 0 0 Actuator inertia kg m.. moment (with brake) kgf cm s Allowable load inertia moment when a built-in regenerative resistor is used (repeat cycle) Allowable load inertia moment when a built-in regenerative resistor is used (non-repeat cycle) Allowable load inertia moment when an external regenerative resistor is used kg m kgf cm s kg m. kgf cm s kg m () () () () () kgf cm s (0) (0) (0) (00) (0) External regenerative resistor RH0BΩJ Connect two RH00_0ΩJ in parallel, or connect four RH00_0ΩJ in series and parallel. A-

299 A- Regenerative resistor SHA series (voltage: 00V) Actuator model No. SHAA-SG SHAA-CG(-S) Actuator reduction ratio Combined driver HA-00A-D/E-00 HA-00A-D/E-00 Max. rotational speed r/min Actuator inertia kg m moment (no brake) kgf cm s Actuator inertia kg m moment (with brake) kgf cm s.. Allowable load inertia moment kg m when a built-in regenerative resistor is used kgf cm s (repeat cycle) Allowable load inertia moment kg m when a built-in regenerative resistor is used kgf cm s (non-repeat cycle) Allowable load kg m (.) (.) () () (0) (.) (.) () () (0) inertia moment kgf cm s () (0) () () (0) () (0) () () (0) when an external External regenerative regenerative RH0BΩJ RH0BΩJ resistor is used resistor FHA-Cmini series (voltage: 00V/00V) Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio Combined driver HA-00A-*-00 HA-00A-*-00 HA-00A-*-00 HA-00A-*-00 HA-00A-*-00 HA-00A-*-00 Max. rotational speed r/min Actuator inertia moment Allowable load inertia moment when a regenerative resistor is disconnected (repeat cycle) Allowable load inertia moment when a regenerative resistor is not connected (non-repeat cycle) Allowable load inertia moment when an external regenerative resistor is used kg m kgf cm s kg m kgf cm s kg m kgf cm s kg m (0.00) (0.0) (0.0) (0.0) (0.0) (0.0) (0.0) (0.) (0.0) kgf cm s (0.0) (0.) (0.0) (0.) (0.) (.0) (0.) (.) (.0) External regenerative resistor RH0BΩJ RH0BΩJ RH0BΩJ Apx Appendix A-

300 A- Regenerative resistor FHA-C series (voltage: 00V) Actuator model No. FHA-C FHA-C FHA-C FHA-0C Actuator reduction ratio Combined driver HA-00A-*-00 HA-00A-*-00 HA-00A-*-00 HA-00A-*-00 Max. rotational speed r/min Actuator inertia moment Allowable load inertia moment when a regenerative resistor is disconnected (repeat cycle) Allowable load inertia moment when a regenerative resistor is not connected (non-repeat cycle) Allowable load inertia moment when an external regenerative resistor is used kg m Kgf cm s kg m kgf cm s.. 0 kg m Kgf cm s kg m (0.) (.) (.) Kgf cm s (.) () () External regenerative resistor RH0BΩJ RH0BΩJ RH0BΩJ RH0BΩJ Apx Appendix FHA-C series (voltage: 00V) Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio Combined driver HA-00A-*-00 HA-00A-*-00 HA-00A-*-00 Max. rotational speed r/min Actuator inertia moment Allowable load inertia moment when a regenerative resistor is disconnected (repeat cycle) Allowable load inertia moment when a regenerative resistor is not connected (non-repeat cycle) Allowable load inertia moment when an external regenerative resistor is used kg m Kgf cm s... kg m kgf cm s kg m Kgf cm s kg m (0.) (.) (.) (.) (0) () (.) () () Kgf cm s (.) () () () (00) (0) () (0) (0) External regenerative resistor RH0BΩJ RH0BΩJ RH0BΩJ A-

301 A- Regenerative resistor HMA series (voltage: 00V/00V) Motor model No. HMAC0 HMAB0 HMAB0 MAB HMAB HMAAA Combined driver HA-00A-D/E-00 HA-00A- D/E-00 HA-00A- D/E-00 HA-00A-D/E-00 Max. rotational speed r/min Actuator inertia moment (no brake) Actuator inertia moment (with brake) Allowable load inertia moment when a built-in regenerative resistor is used (repeat cycle) Allowable load inertia moment when a built-in regenerative resistor is used (non-repeat cycle) Allowable load inertia moment when an external regenerative resistor is used 0 - kg m kgf cm s kg m kgf cm s kg m kgf cm s kg m kgf cm s kg m (.) (.) (.) (0.) (.) 0 - kgf cm s (.) (.) (.) (0) (0) External regenerative resistor RH0BΩJ Connect two RH00_0ΩJ in parallel, or connect four RH00_0ΩJ in series and parallel. Apx Appendix A-0

302 A- List of data retained in the driver A- List of data retained in the driver Apx Appendix This is a list of data retained in the internal non-volatile memory (EEPROM) of the driver and a list of operations of the set values. There are two types of data that are retained in the non-volatile memory. They are adjustment parameters and system parameters. Adjustment parameters AJxx Symbol Name AJ00 Position loop gain AJ0 Speed loop gain AJ0 Speed loop integral compensation AJ0 Feed-forward gain AJ0 In-position range AJ0 Attained speed judgment value AJ0 Attained torque judgment value AJ0 Zero speed judgment value AJ0 Internal speed command AJ0 Internal speed command AJ0 Internal speed command AJ Torque limit AJ Acceleration time constant AJ Deceleration time constant AJ External speed command offset AJ External torque command offset AJ Speed monitor offset AJ Current monitor offset AJ System reservation * AJ System reservation * AJ0 Feed-forward filter AJ Load inertia moment ratio AJ Torque constant compensation factor AJ Spring constant compensation factor AJ Automatic positioning gain AJ System reservation * AJ System reservation * AJ System reservation * AJ System reservation * AJ System reservation * AJ0 System reservation * AJ System reservation * AJ System reservation * AJ System reservation * AJ System reservation * AJ System reservation * AJ System reservation * AJ System reservation * AJ System reservation * AJ System reservation * AJ0 to AJ System reservation * Display, Edit, Save Main unit display panel Servo parameter setting Software PSF-00 * Displaying set values Editing set values Displaying set values Editing set values Displaying set values Displaying set values Editing set values Saving a file (psf extension) Displaying set values Editing set values Saving a file (psf extension) Displaying set values Saving a file (psf extension) A-

303 A- List of data retained in the driver *: Do not change the parameters that are in the system reserved areas. The default setting of the system reservation may vary depending on the model/version. *: If the set values change when the parameters are transferred between different models using PSF-00, it does not affect the product functions. System parameter SP00- * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Symbol SP00 SP0 SP0 SP0 SP0 SP0 SP0 SP0 SP0 SP0 SP0 Name Emergency stop input setting Reset input setting Clear input setting FWD inhibit input setting REV inhibit input setting FWD enable input setting REV enable input setting FWD selection input setting REV selection input setting Internal speed command input setting Internal speed command input setting Internal speed limit input setting Internal speed limit input setting Internal torque limit input setting Electronic gear selection input setting Control mode selection input setting INHIBIT input setting SP SP SP SP SP SP SP System reservation * SP System reservation * SP System reservation * SP0 CN-pin : Signal assignment and function setting SP CN-pin : Signal assignment and function setting SP CN-pin : Signal assignment and function setting SP CN-pin : Signal assignment and function setting SP CN-pin 0: Signal assignment and function setting SP CN-pin : Signal assignment and function setting SP CN-pin : Signal assignment and function setting SP System reservation * SP System reservation * SP System reservation * SP0 System reservation * SP System reservation * SP System reservation * SP System reservation * SP System reservation * SP System reservation * SP System reservation * SP System reservation * SP System reservation * SP System reservation * Display, Edit, Save Main unit display panel Servo parameter setting Software PSF-00 * Displaying set values Editing set values Displaying set values Editing set values Displaying set values Editing set values Saving a file (psf extension) Displaying set values Editing set values Saving a file (psf extension) Apx Appendix A-

304 A- List of data retained in the driver *: Do not change the parameters that are in the system reserved areas. The default setting of the system reservation may vary depending on the model/version. *: If the set values change when the parameters are transferred between different models using PSF-00, it does not affect the product functions. System parameter SP0- * The setting change of the system parameters (SP00 to ) is enabled by reconnecting the control power supply after changing the setting. Apx Appendix Display, Edit, Save Symbol Name Main unit display panel Servo parameter setting Software PSF-00 * SP0 CN-CP output signal setting SP Control mode switching setting SP Command pulse input pattern setting SP Multiplication of -phase input SP Electronic gear numerator SP Electronic gear denominator SP Electronic gear numerator SP Electronic gear denominator SP Deviation clear upon servo-on SP Allowable position deviation Displaying set values SP0 Command polarity Displaying set values Editing set values SP Speed input factor Editing set values Saving a file SP Zero clamp (psf extension) SP Torque input factor SP Status display setting SP DB enable/disable setting SP External speed limit enable/disable SP External torque limit enable/disable SP System reservation * SP Angle compensation enable/disable setting SP0 Automatic positioning gain Setting enable/disable setting SP Encoder monitor output pulses SP System reservation * SP System reservation * SP Regenerative resistor selection SP FWD/REV inhibit operation SP Absolute encoder function setting SP Output shaft divide function setting SP System reservation * Displaying set values Displaying set values Editing set values SP Feed-forward control function setting Editing set values Saving a file SP0 System reservation * (psf extension) SP System reservation * SP System reservation * SP System reservation * SP System reservation * SP System reservation * SP System reservation * SP System reservation * SP System reservation * SP System reservation * *: Do not change the parameters that are in the system reserved areas. The default setting of the system reservation may vary depending on the model/version. *: If the set values change when the parameters are transferred between different models using PSF-00, it does not affect the product functions. A-

305 A- Driver replacement procedures A- Driver replacement procedures The following explains the procedures to replace the HA-00A driver for maintenance. Procedures Description Places to check/manual Checking the Check the nameplate of the driver currently used before the items (items to be replaced) replacement. Check the type (TYPE) and combined actuator (ADJ.). Nameplate on the side of the driver main unit TYPE: - Receiving inspection Checking the items (new items) Checking the switch settings Saving parameters * Combined actuator (ADJ.): Check the nameplate of the new driver. Check that the type (TYPE) and combined actuator (ADJ.) are the same as the ones currently used. * If the type and combined actuator are different, it cannot be replaced. Check the switch settings of the driver currently used before the replacement. Rotary switch (SW) communication device number setting: Dip switch (SW) communication setting: Left side OFF (Down) Center OFF OFF(Down) Right side * The left side and the center dip switches (SW) do not have any functions. They are normally switched OFF (Down). * These switch settings are the communication settings with the PSF-00 communication software. As a default, SW = 0 and SW = All OFF (Down). Save the parameters set in the driver currently used (retained in EEPROM) before the replacement. [Adjustment parameters] [System parameters] Name of the file to save (psf extension): Front side of the driver main unit, inside of the LED display cover - Name and function of each part of a display panel PSF-00 Communication software 0-- Saving set values *: If the parameter settings have not been changed and the default settings are used, and the new driver has the default parameter settings, it is not necessary to save/write the parameters. If you do not know the using condition, save/write the parameters. CAUTION This work requires wiring changes. Exercise caution to prevent accidents such as electric shock. Apx CAUTION When replacing the actuator/motor, adjustment of the device/machine coordinate settings may be required. Replace according to the specifications of the system, which includes the device main unit and host controller. Appendix A-

306 A- Driver replacement procedures Procedures Description Places to check/manual Replacing items () Disconnect the power to the driver. After confirming that the CHARGE lamp is turned OFF (or wait until the lamp is turned OFF), disconnect all the wiring from the driver to be replaced. () Remove the driver to be replaced from the control board. () Install the new driver on the control board. () Connect the power wiring (TB or r, s, R, S, T) and ground wire to the new driver. () Connect the personal computer communication cable (CN) to the new driver. Turn ON the control power supply * ()() By not connecting the actuator wiring, unexpected actuator operation can be avoided if an incorrect operation command is input during the replacement work. Connect the control power (r, s) to the new driver. Check that the driver starts and LED display ( segment LED) lights up. Writing parameters Wire connection * At this time, an alarm may be displayed due to incomplete wiring or parameters not set. It does not affect the replacement work, so proceed to the next step of the procedure. * By supplying the control power (r, s) only, the driver main power supply is not charged. The time waiting for the CHARGE lamp to turn OFF (discharged) can be shortened during wiring work in step. * If the main power supply (R, S, T) cannot be connected separately, it is not a problem to connect both control power (r, s) and main power supply (R, S, T) simultaneously. In this case, perform the wiring work in step after the CHARGE lamp is turned OFF (discharged) to prevent electrical shock. Write the parameters saved in [. Saving parameters] to the new driver. [Adjustment parameters] [System parameters] Disconnect the power to the new driver. After confirming that the CHARGE lamp is turned OFF (or wait until the lamp is turned OFF), connect all the wiring. PSF-00 Communication software 0--. Writing a saved settings file to the driver Switch settings Set the switch status noted in [. Checking the switch settings] to the new driver. Front side of the driver main unit, inside of the LED display cover Apx Appendix CAUTION This completes the driver replacement work. - Display panel This work requires wiring changes. Exercise caution to prevent accidents such as electric shock. CAUTION When replacing the actuator/motor, adjustment of the device/machine coordinate settings may be required. Replace according to the specifications of the system, which includes the device main unit and host controller. A-

307 A- Notices for using SHA-CG(-S) A- Notices for using SHA-CG(-S) This explains the notices for when using the SHA-CG(-S). When using the SHA-CG series, always check the necessary setting, referencing [-bit absolute encoder] (P-). The SHA-CG(-S) has the following two features that differentiate it from previous SHA series (SHA-SG/HP).. Output shaft single revolution absolute model. Output shaft divide function. Output shaft single revolution absolute model The SHA-CG output shaft single revolution absolute model (SHA-CG-S) assumes a machine that only moves the index table in one direction. When the machine continues to rotate in just one direction, the absolute encoder eventually exceeds the number of revolutions that can be detected with multi-revolution detection and it becomes impossible to manage position information accurately. Therefore, each time the output shaft turns through single revolution, the cumulative multi revolution counter is cleared to 0 to achieve the output shaft single revolution absolute function. This is how position information is accurately managed when the shaft continuously turns in just one direction. When using this function, set [SP: Absolute encoder function setting] to 0. Also, with the SHA-CG output shaft single revolution model, for the default current value data read-out signals at the time when the servo comes ON, the range for the CN-0, current value data output is [0~ x speed reduction ratio -] pulses.. Output shaft divide function With the SHA-CG series, in order to make it easier to make the settings for performing index table and other indexing operations in units of the output shaft angle, operation commands can be set in the actuator in angle units with [SP: Output shaft divide function setting] and the setting on the host device can be omitted. With the [SP: Output shaft divide function setting], the corresponding electronic gear value is set automatically from the SP setting and the applicable actuator. The output shaft divide function and the electronic gears cannot be used together. SP=0: According to electronic gear settings (SP SP/SP, SP/SP) SP=: Division of single output shaft rotation into,000 parts (equivalent to 0.0 degree resolution) SP=: Division of single output shaft rotation into 0,000 parts (equivalent to 0.00 degree resolution) SP=: Division of single output shaft rotation into,00,000 parts (equivalent to degree resolution) The SP setting automatically changes the output range for the CN-0, current value data output. Also, set the output shaft rotation speed referencing command pulse frequency [Hz] = output shaft rotation speed [r/min]/0 x number of output shaft divisions. Apx Appendix Example) To set SP= (one rotation of output shaft divided into 0,000 parts) and set the output shaft rotational speed to 0 [r/min] Command pulse frequency = 0 [r/min]/0 x 0000 = 00 [khz] A-

308 A- Notices for using SHA-CG(-S) When configuring an absolute system using the SHA-CG(-S), connect the CN-0, current value data output to the host device and manage the coordinates with the host device. For details, refer to [-bit absolute encoder] (P-). Note that the output range and polarity of the CN-0, current value data output depends on [SP: Output shaft divide function setting] and [SP0: instruction polarity] setting. For details, refer to [Outputting the current value data from the pins CN-0 and ] (P-). Model Setting Output range Unit SP=0 - to pls SHA-CG SP= -0 to 0 * pls ( 0.0deg equivalent) SP= -00 to 00 * pls ( 0.00deg equivalent) SP= -000 to 000 * pls ( 0.000deg equivalent) SP=0 0 to 0 * pls SHA-CG-S SP= 0 to pls ( 0.0deg equivalent) SP= 0 to pls ( 0.00deg equivalent) SP= 0 to pls ( 0.000deg equivalent) *: On the SHA-CG, when SP=,, or, the output range depends on the speed reduction range of the actuator and is the range of the calculated angle values of the multi revolution detection range. The output range is from [ /( x speed reduction ratio) x number of output divisions to ( -)/( x speed reduction ratio) x number of output divisions]. *: On the SHA-CG-S, when SP=0, the output range depends on the speed reduction ratio of the actuator. The output range is [0~ x speed reduction ratio ]. [SP: Output shaft divide function setting] is the function that sets the operation command resolution. It does not guarantee the precision of positioning on the output shaft. For details on the output shaft positioning precision, refer to [AC Servo Actuator SHA Series Manual]. With the SHA-CG series, the CN-0, current value data output range depends on the value of [SP: Output shaft divide function setting]. The output shaft divide function setting is achieved using the electronic gear function, so the speed setting and acceleration/deceleration and acceleration time settings operate with multiples of the automatically set electronic gears. (For their values, refer to the table below. When SP= is used, the permitted command pulse input frequency on the HA-00A is MHz, so the max. motor rpm is restricted to Max. motor rpm [r/min] = x 0 / encoder resolution x 0 x electronic gear ratio. For the max. rotational speed for each speed reduction ratio, refer to the table below. Apx Reduction ratio SP= Output shaft max. rotational speed [r/min] Max. motor rpm [r/min] Appendix Electronic gear value for when output shaft divide function is set SP=,000 divisions SP= 0,000 divisions SP=,00,000 divisions Reduction ratio Numerator Denominator Numerator/ denominator Numerator Denominator Numerator/ denominator Numerator Denominator Numerator/ denominator A-

309 A- Notices for using SHA-CG(-S) Examples of combined operations Ex. : SHA-CG, when output shaft divide function is not used (SP=0) Ex. : SHA-CG, when output shaft divide function is used (SP=) Ex. : SHA-CG-S (output shaft revolution absolute model), when output shaft divide function is not used (SP=0) Ex. : SHA-CG-S (output shaft revolution absolute model), when output shaft divide function is used (SP=) Ex. : SHA-CG, when output shaft divide function is not used (SP=0) SHAA0CG (Resolution of output shaft: 00 [pls/r]), [SP: when output shaft divide setting] is 0, electronic gear = / When Forward command is input (command pulses: 00) SP0=0 (default) SP0= SP0= Clockwise rotation with command pulse increase operation to clockwise direction Counter clockwise rotation with command pulse increase operation to counter clockwise direction Counter clockwise rotation with command pulse increase operation to counter clockwise direction 0 /0 0 /0 0 / Current value data output Increase with clockwise rotation Current value data: 00 0 Current value data output Increase with clockwise rotation Current value data: Current value data output Increase with counter-clockwise rotation Current value data: 00 When Reverse command is input (command pulses: 00) SP0=0 (default) SP0= SP0= Counter clockwise rotation with command pulse decrease operation to counter clockwise direction Clockwise rotation with command pulse decrease operation to clockwise direction Counter clockwise rotation with command pulse decrease operation to counter clockwise direction 0 /0 0 /0 0 / Apx 0 Current value data output Increase with clockwise rotation Current value data: Current value data output Increase with clockwise rotation Current value data: 00 0 Current value data output Increase with counter-clockwise rotation Current value data: -00 Appendix A-

310 A- Notices for using SHA-CG(-S) Ex. : SHA-CG, when output shaft divide function is used (SP=) SHAA0CG (Resolution of output shaft: 00 [pls/r]), [SP: when output shaft divide setting] is When Forward command is input (command pulses: 00) SP0=0 (default) SP0= SP0= Clockwise rotation with command pulse increase operation to clockwise direction Counter clockwise rotation with command pulse increase operation to counter clockwise direction Counter clockwise rotation with command pulse increase operation to counter clockwise direction 0 /0 0 /0 0 / Current value data output Increase with clockwise rotation Current value data: 00 0 Current value data output Increase with clockwise rotation Current value data: Current value data output Increase with counter-clockwise rotation Current value data: 00 When Reverse command is input (command pulses: 00) SP0=0 (default) SP0= SP0= Counter clockwise rotation with command pulse decrease operation to counter clockwise direction Clockwise rotation with command pulse decrease operation to clockwise direction Counter clockwise rotation with command pulse decrease operation to counter clockwise direction 0 /0 0 /0 0 / Apx 0 Current value data output Increase with clockwise rotation Current value data: Current value data output Increase with clockwise rotation Current value data: 00 0 Current value data output Increase with counter-clockwise rotation Current value data: -00 Appendix A-

311 A- Notices for using SHA-CG(-S) Ex. : SHA-CG-S (output shaft revolution absolute model), when output shaft divide function is not used (SP=0) SHAA0CG-S (Resolution of output shaft: 00 [pls/r]), [SP: when output shaft divide setting] is 0, electronic gear = / When Forward command is input (command pulses: 00) SP0=0 (default) SP0= SP0= Clockwise rotation with command pulse increase operation to clockwise direction Counter clockwise rotation with command pulse increase operation to counter clockwise direction Counter clockwise rotation with command pulse increase operation to counter clockwise direction 0 /0 0 /0 0 / Current value data output Increase with clockwise rotation Current value data: 00 0 Current value data output Increase with clockwise rotation Current value data: 00 0 Current value data output Increase with clockwise rotation Current value data: 00 When Reverse command is input (command pulses: 00) SP0=0 (default) SP0= SP0= Counter clockwise rotation with command pulse decrease operation to counter clockwise direction Clockwise rotation with command pulse decrease operation to clockwise direction Counter clockwise rotation with command pulse decrease operation to counter clockwise direction 0 /0 0 /0 0 / Current value data output Increase with clockwise rotation Current value data: 00 0 Current value data output Increase with clockwise rotation Current value data: 00 0 Current value data output Increase with counter-clockwise rotation Current value data: 00 Apx Appendix A-0

312 A- Notices for using SHA-CG(-S) Ex. : SHA-CG-S (output shaft revolution absolute model), when output shaft divide function is used (SP=) SHAA0CG-S (Resolution of output shaft: 00 [pls/r]), [SP: when output shaft divide setting] is When Forward command is input (command pulses: 00) SP0=0 (default) SP0= SP0= Clockwise rotation with command pulse increase operation to clockwise direction Counter clockwise rotation with command pulse increase operation to counter clockwise direction Counter clockwise rotation with command pulse increase operation to counter clockwise direction 0 /0 0 /0 0 / Current value data output Increase with clockwise rotation Current value data: 00 0 Current value data output Increase with clockwise rotation Current value data: 00 0 Current value data output Increase with clockwise rotation Current value data: 00 When Reverse command is input (command pulses: 00) SP0=0 (default) SP0= SP0= Counter clockwise rotation with command pulse decrease operation to counter clockwise direction Clockwise rotation with command pulse decrease operation to clockwise direction Counter clockwise rotation with command pulse decrease operation to counter clockwise direction 0 /0 0 /0 0 / Apx 0 Current value data output Increase with clockwise rotation Current value data: 00 0 Current value data output Increase with clockwise rotation Current value data: 00 0 Current value data output Increase with counter-clockwise rotation Current value data: 00 Appendix A-

313 A- Control block diagram A- Control block diagram An internal control block diagram of this driver is shown here. Position control mode SP *: When [SP0: Command polarity] is set to 0, this is equivalent to multiplying the command pulses by +. When it is set to or, this is equivalent to multiplying the command pulses by -.When it is set to 0 or, this is equivalent to multiplying [CN-0, current value data output] by +. When it is set to, this is equivalent to multiplying [CN-0, current value data output] by -. *: For details on the calculation of the motor rpm [r/min] and current A from the [Speed monitor] and [Current monitor] monitor voltage, refer to [Monitor output] (P-). *: Converts the encoder pulse units to command pulse units according to [SP: Output shaft divide function setting]. Apx Appendix A-

314 A- Control block diagram Speed control mode Torque control mode Apx Appendix *: When [SP0: Command polarity] is set to 0, this is equivalent to multiplying the command pulses by +. When it is set to or, this is equivalent to multiplying the command pulses by -.When it is set to 0 or, this is equivalent to multiplying [CN-0, current value data output] by +. When it is set to, this is equivalent to multiplying [CN-0, current value data output] by -. *: For details on the calculation of the motor rpm [r/min] and current A from the [Speed monitor] and [Current monitor] monitor voltage, refer to [Monitor output] (P-). *: Converts the encoder pulse units to command pulse units according to [SP: Output shaft divide function setting]. A-

315 A- Control block diagram Apx Appendix A-

316 - Index A Absolute encoder function setting... - Acceleration time constant... - Alarm code... - Alarm reset... - Alarms... - Alarm history clear... - Alarm mode... - Allowable position deviation... - Analog waveform monitoring... - Angle compensation enable/disable setting... - Attained speed... - Attained torque... - Attained speed judgment value... - Attained torque judgment value... - Automatic adjustment of speed command offset. - Automatic adjustment of torque command offset. - Automatic positioning gain setting enable/disable setting... - Auto-tuning... - Auto-tuning displacement... - Auto-tuning level selection... - B Battery... - Battery voltage low... - Battery replacement method... - Battery voltage low... - BUSY error... - C Cable size... - CN-CP output signal setting... - Command polarity... - Command pulse display... - Command pulse input pattern setting... - Command pulse frequency display... - Communication error... - Configuration diagram... - Connecting the encoder... - Control mode selection... - Control modes... - Control block diagram... Control mode switching setting... - Control modes... - Cooling fan stopped... - Cooling fan stopped... - Current monitor... - Current value output... - Current monitor offset... - D DB enable/disable setting Deceleration time constant... - Default settings... Deviation counter... - Deviation clear upon servo-on setting... - Digital signal monitor Discharge time... - Display panel... - Driver model... - Driver replacement procedures... Dynamic brake actuated... - E Electronic gear selection... - Electronic gear setting... - Emergency stop... - Emergency stop... - Encoder output... - Encoder combination... - Encoder disconnection... - Encoder monitor output pulses... - Encoder receiving error... - Environment... - Error pulse count display... - Error counter overflow... -, -0 Extension cable combinations... - External power supply... - External speed command offset... - External torque command offset... - External drawing... - External speed limit enable/disable External torque limit enable/disable F Feedback pulse display... - Feed-forward filter... - Feed-forward gain... - Feed-forward control function setting... - FPGA configuration error... - FPGA setting error... - FWD enable... - FWD inhibit FWD selection... - FWD inhibit status... - FWD inhibit input effective...- FWD/REV inhibit operation... - G Gain adjustment... - Ground... - I I/O signal monitor... - In-position complete... - In-position range... - Internal speed... - Internal speed limit... - Internal speed command... - Internal function block diagram... - IPM error... - J JOG acceleration/deceleration time constant setting... - JOG speed setting... - JOG operation... -

317 Index L List of data retained in the drive... 0 Load inertia moment ratio... - M Main circuit voltage low... - Main circuit power voltage... - Main circuit voltage low... - Main circuit voltage low... - MEMORY error... - Memory failure (EEPROM)... - Memory failure (RAM)... - Motor code... -, - Motor rotation speed indication... - Multi revolution clear Multi revolution data error... -, - Multi revolution overflow... - Multiplication of -phase input setting... - N Noise... - O Operation preparation complete... - Option... - Output signal operation... - Output shaft divide function setting... - Output torque monitor... - Overheat error... - Overload... - Overload status... - Overload rate display... -, - Overload status... - Overspeed...-, - Overvoltage... - P Panel display... - Parameter initialization... - Periodically replaced part... - Phase Z... - Position command disable... - Position command mode... - Position loop gain... - Positioning Automatic Gain Present alarm/warning display PSF R Rating... - Regenerative resistance... - Regenerative resistor... Regenerative resistor overheat... - Regenerative resistor selection (HA-00- only)... - REV enable... - REV inhibit REV selection... - REV inhibit status... - REV inhibit input effective...- S Servo ON input enable... - Servo-ON... - Single rotation data error...- Specifications... - Speed command mode Speed limiting... - Speed monitor... - Speed loop gain... - Speed loop integral compensation... - Speed monitor offset... - Speed command voltage... - Speed input factor setting... - Spring constant compensation factor Status display... - Status display setting System failure... -, - System parameters... - T Torque command mode... - Torque limit... - Torque limiting... - Torque limit... - Torque constant compensation factor... - Torque command voltage... - Torque input factor setting... - Tune mode... - U UVW error... - W Warnings... - Wrong actuator...- Z Zero speed... - Zero speed judgment value... - Zero clamp... -

318 Index

319 Warranty period and terms The warranty period of the HA-00A series and warranty terms are explained below. Warranty period Under the condition that it is used properly according to each item specified in the manuals and operation manuals, this product is warranted for the period of year after delivery or,000 hours of operation (this product), whichever ends first. Warranty terms If the product fails due to any defect in workmanship or material during the warranty period specified above, the defective product will be repaired or replaced free of charge. This limited warranty does not apply to any product that has been subject to: () Improper handling or use by the customer; () Modification or repair carried out other than by Harmonic Drive Systems, Inc.; () Failure not attributable to this product; or () Natural disaster or any other event beyond the control of Harmonic Drive Systems, Inc. The warranty covers only the above-named product purchased from Harmonic Drive Systems, Inc. Harmonic Drive Systems, Inc. shall not be liable for any consequential damages of other equipment caused by the defective product, or expenses and labor costs for removing and installing the defective product from/to your system.

320 Certified to ISO00/ISO00 (TÜV Management Service GmbH) All specifications and dimensions in this manual subject to change without notice. This manual is correct as of August 0. Head Office/Ichigo Omori Building, F -- Minami-Ohi, Shinagawa-ku, Tokyo, Japan 0-00 TEL+(0)--00 FAX+(0)-- Overseas Division/- Hotakamaki Azumino-shi Nagano, Japan -0 TEL+(0)-- FAX+(0)--0 HOTAKA Plant/- Hotakamaki Azumino-shi Nagano, Japan -0 TEL+(0)--00 FAX+(0)--0 Harmonic Drive AG/Hoenbergstraβe, Limburg, Germany TEL FAX0-00- Harmonic Drive L.L.C/ Lynnfield Street, Peabody, MA, 00, U.S.A. TEL FAX "HarmonicDrive " is a trademark of Harmonic Drive Systems Inc. The academic or general nomenclature of our products "HarmonicDrive " is "strain wave gearing." 0-R-THA00A-E