100V/200V power supply AC Servo Driver (MECHATROLINK-II type) HA- 800B series manual

Transcription

1 00V/00V power supply AC Servo Driver (MECHATROLINK-II type) HA- 00B series manual (for SHA, FHA-Cmini, FHA-C, RSF/RKF series) ISO00 This operation manual covers the following software versions: Ver.X ISO900

2 Introduction Thank you very much for your purchasing our AC Servo Driver HA-00B series for 00V/00V power supply. 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.

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 If this product is utilized in any facility in which human life is at stake or that may incur material losses, install safety devices so that accidents will not occur even when the output control is disabled due to damage.

4 SAFETY GUIDE SAFETY NOTE ITEMS YOU SHOULD NOTE WHEN USING THE ACTUATOR NOTICES ON DESIGN CAUTION Always use them 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 (No condensation) Vibration:.m/s or less 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 the actuator shaft center and corresponding center as per the manual. Failure to observe this caution may lead to vibration, resulting in damage of output elements. OPERATIONAL PRECAUTIONS WARNING Never connect cables directly to a power supply socket. Each actuator must be operated with a proper driver. Do not directly apply a commercial power supply. Failure to observe this caution may lead to fire or damage to 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 directly attached to the output shaft are hit, the output shaft may become non-controllable.

5 SAFETY GUIDE ITEMS YOU SHOULD NOTE WHEN USING THE DRIVER NOTICES ON DESIGN CAUTION Always use them under followings conditions: The driver generates heat. Take extra caution for radiation and use it under the following conditions. Mount in a vertical position keeping sufficient distance to other devices to let heat generated by the driver radiate freely. 0 to 0, 9% RH or below (No condensation) No vibration or physical shock No metal powder, dust, oil mist, corrosive gas, or explosive gases. 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 make a voltage resistance test. Use a fast-response type ground-fault detector designed for PWM inverters. When using a fast-response type ground-fault detector, use one that is 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. OPERATIONAL PRECAUTIONS 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 uncontrollable operation. Do not touch terminals or inspect products at least minutes after turning OFF power. Even after the power supply is turned OFF, electric charge remains in the driver. 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. Do not perform a megger test or voltage resistance test. Failure to observe this caution may result in damage to the control circuit of the driver. 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 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 Chapter Functions and configuration Installation/wiring Overviews of driver models, specifications, external dimensions, etc., are explained. Receiving inspection, environment, power wiring, noise suppression and connector wiring are explained. Chapter Chapter Startup Encoder system 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 Chapter Panel display and operation Status display mode/ Alarm mode/ Tune mode System parameter mode How to operate the display, operation buttons on the driver's front panel and overview of operation in each mode is explained. Information displayed in the status display mode and alarm mode, and 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. The I/O signal assignment, logic setting method and the details of the electronic gear settings as function expansion are explained. Chapter 9 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. Chapter 0 Communication software (PSF-00) Chapter Troubleshooting Chapter Option Chapter MECHATROLINK communication function Appendix 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. Details of how driver alarms and warnings generate are explained. Options you can purchase as necessary are explained. The communication specification and setting method of MECHATROLINK are explained. The list of default parameters and regenerative resistors are explained.

8 Contents SAFETY GUIDE... Notation... LIMITATION OF APPLICATIONS... SAFETY NOTE... Structure of this document... Contents... Related manual... Related actuator/driver standards... Compatible standards... Conformance to European EC Directives... Chapter Functions and configuration - Overviews of driver... - Overviews 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... -9

9 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 MECHATROLINK connector 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... -

10 Contents Remedial actions for errors/warnings Incremental encoder... - Startup... - Origin setting... - 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 signal connection circuit... - Output signal connection circuit Details of input signals... - CN-: FWD inhibit (FWD-IH)... - CN-: REV inhibit (REV-IH)... - CN-: Latch (LATCH)... - CN-: Latch (LATCH)... - CN-: Origin signal (ORG)... - CN-: Input signal common (IN-COM) Details of output signals... - CN-: Operation preparation complete (READY)... - CN-: Origin return complete (ORG-END)... - CN-9: In-position complete (INPOS)... - CN-0: Alarm (ALARM)... - CN-: Output signal common (OUT-COM)... - CN- to : Encoder signal output (A, B, Z) Monitor output CN9-: Speed monitor (SPD-MON) CN9-: Current monitor (CUR-MON) CN9-: Signal monitor (SIG-MON)... - CN9-: Monitor Ground (GND) Connection example with default settings wire-saving incremental model (FHA-C series) bit absolute model (FHA-C series) bit absolute encoder model (SHA)... - Chapter Panel display and operation - Operating display panel... - Summary of modes... - Initial panel display... - Panel display hierarchy... - Operation overview of status display mode... - Operation outline of alarm mode... - Operation overview of tune mode... - Operation outline of system parameter mode... - Operation outline of test mode... -0

11 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: Applicable actuator code... - d: Regenerative power (HA-00B- 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: Zero speed judgment value... - AJ: Acceleration time constant... - AJ: Deceleration time constant... - AJ: Speed monitor offset... - AJ: Current monitor offset... - AJ: FWD torque limit... - AJ9: REV torque limit... - AJ0: Feed-forward filter... - AJ: Load inertia moment ratio... - AJ: Torque constant compensation factor... - AJ: Spring constant compensation factor... - AJ: Automatic positioning gain... - Chapter System parameter mode - System parameter mode... - SP0: CN9-CP output signal setting... - SP to : Electronic gear setting... - SP: Deviation clear upon servo-on setting... - SP9: Allowable position deviation... - SP0: Command polarity... - SP: Speed input factor setting... - SP: Status display setting... - SP: DB enable/disable setting... - SP9: Angle compensation enable/disable setting

12 Contents SP0: Automatic positioning gain setting enable/disable setting... - SP: Encoder monitor output pulses... - SP: Input signal logic setting... - SP: Output signal logic setting... - SP: Regenerative resistor selection (HA-00B- only)... - SP: FWD/REV inhibit operation... - SP: Absolute encoder function setting SP9: Feed-forward control function setting Chapter 9 Test mode 9- 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: Multi revolution clear T09: Auto-tuning T0: Auto-tuning travel angle setting T: Auto-tuning level selection Chapter 0 Communication software 0- Overviews Setup Initial screen Status display Auto-tuning Parameter setting Editing and initializing internal parameters of the driver Saving, comparing and copying set values Saving set values Reading saved set value files 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 Alarm

13 Contents 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 cable... - Dedicated communication cable... - Connectors... - Servo parameter setting software... - Backup battery... - Monitor cable... - Chapter MECHATROLINK communication function - Specifications... - Communication specification... - System configuration... - Communication setting Network parameters... - List of parameters : Final external positioning distance : FWD soft limit : REV soft limit : Origin position range : Originating approach speed : Originating acceleration/deceleration time : Virtual origin : Originating direction : Soft limit enable/disable Main command... - List of main commands Details of main commands... - Disable command (NOP: 00H)... - Parameter read command (PRM_RD: 0H)... - Parameter write command (PRM_WR: 0H)... - ID read command (ID_RD: 0H) Device setup request command (CONFIG: 0H) Error/warning read command (ALM_RD: 0H) Error/warning clear command (ALM_CLR: 0H)... - Synchronization establishment request command (SYNC_SET: 0DH).. - Connection establishment request command (CONNECT: 0EH)... - Connection release request command (DISCONNECT: 0FH)... -

14 Contents Non-volatile parameter read command (PPRM_RD: BH)... - Non-volatile parameter write command (PPRM_WR: CH)... - Coordinate system setting command (POS_SET: 0H)... - Brake actuation request command (BRK_ON: H)... - Brake release request command (BRK_OFF: H)... - Sensor-ON command (SENS_ON: H)... - Sensor-OFF command (SENS_OFF: H)... - Motion stop request command (HOLD: H)... - Status monitor command (SMON: 0H)... - Servo-ON (SV_ON: H) Servo-OFF (SV_OFF: H) Interpolated feed (INTERPOLATE: H)... - Positioning (POSING: H)... - Constant-speed feed (FEED: H)... - Interpolated feed with position detection function (LATCH: H)... - Positioning by external input (EX_POSING: 9H)... - Originating (ZRET: AH)... - Speed command(velctrl: CH)... - Torque command (TRQCTRL: DH) Subcommand Disable command (NOP: 00H) Parameter read command (PRM_RD: 0H) Parameter write command (PRM_WR: 0H) Error/warning read command (ALM_RD: 0H)... - Non-volatile parameter write command (PPRM_WR: CH)... - Status monitor command (SMON: 0H) Command data field... - Latch signal selection: LT_SGN... - Option: OPTION... - Status (STATUS)... - Monitor selection (SEL_MON///), monitor information (MONITOR///)... - IO monitor (IO_MON)... - Substatus (SUBSTATUS)... - Description of alarm/warning (ALM_DATA)... - Parameter No. and size (NO/SIZE) Control mode... - Switching the control mode... - Notices for switching between control modes... -

15 Contents 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-

16 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 SHA0A to SHAA 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-C to FHA-C 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.

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

18 Related actuator/driver standards Overseas standard Function HA-00*- HA-00*- HA-00*- HA-00*- Rated current (A) Maximum current (A) General-pur pose I/O MECHATROLIN K CC-Link UL/cUL CE TUV HA-00A HA-00B HA-00C Applicable actuator Volt age UL/c UL CE Encoder type SHA0Axxxx-C0x00-xxSbA 00 -D/E-00 SHAAxxxx-B09x00-xxSbA 00 -D/E-00 SHAAxxxx-Bx00-xxSbA 00 -D/E-00 SHA0Axxxx-Bx00-xxSbA 00 -bit absolute -D/E-00 -D/E-00 SHAAxxxx-Ax00-xxSbA 00 -D/E-00 SHAAxxxx-Ax00-xxSbA 00 -D/E-00 SHAAxxxx-B09x00-xxSbA 00 -D/E-00 Compatible standards Motor & Actuator UL 00- (Rotating Electrical Machines - General Requirements) UL 0 (Insulation Coordination Including Clearances and Creepage Distances for Electrical Equipment) CSA-C. No. 00 (Motors and Generators), CSA-C. No. 0. (Insulation Coordination) (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. Driver <HA-00B-*, HA-00B-*, HA-00B-*, HA-00B-*> UL 0C (Power Conversion Equipment) CSA-C. No. (Industrial Control Equipment) (UL File No. E9) EN00-- (Low Voltage Directive) EN00- (EMC Directive)

19 Related actuator/driver standards Conformance to European EC Directives We conduct tests of checking conformity to the Low Voltage Directive and EMC Directives 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: 009/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 break Noise filter HA-00 series driver ) ) Actuator, motor Surge protector ) Host controller DCV power supply :Toroidal core :Ferrite core :Metal clamp ) Encoder cable ) Motor cable (motor power and holding brake) ) Interface cable

20 Related actuator/driver standards () 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

21 Related actuator/driver standards Recommended parts for compliance with EMC () Noise filter Model Specifications Manufacturer Remarks RF00-DLC Rated voltage: Line-Line 0 to 0 V RASMI ELECTRONICS Rated current: 0A LTD. Enable the -turn RF00-DLC Rated voltage: Line-Line 0 to 0 V RASMI ELECTRONICS input to L, L, L, Rated current: 0A LTD. and ground for RF00-DLC Rated voltage: Line-Line 0 to 0 V RASMI ELECTRONICS toroidal core. Rated current: 0A LTD. HF00A-UN Rated voltage: AC0V Rated current: 0A Soshin Electric Co., Ltd. HF00A-UN Rated voltage: AC0V Rated current: 0A Soshin Electric Co., Ltd. HF00A-UN Rated voltage: AC0V Enable -turn input Soshin Electric Co., Ltd. Rated current: 0A to L, L, and L, HF00C-SZC Rated voltage: AC00V not including ground Soshin Electric Co., Ltd. Rated current: 0A for toroidal core. HF00C-SZC Rated voltage: AC00V Rated current: 0A Soshin Electric Co., Ltd. HF00C-SZC Rated voltage: AC00V Rated current: 0A Soshin Electric Co., Ltd. SUP-PH-EPR Rated voltage: AC0V Okaya Electric Industries Enable the -turn Rated current: A Co., Ltd. input to L, L, L, SUP-P0H-EPR Rated voltage: AC0V Okaya Electric Industries and ground for Rated current: 0A Co., Ltd. toroidal core. SUP-HH-ER- Rated current: A Co., Ltd. insulation Rated voltage: AC0V Okaya Electric Industries Moreover, install transformer and SUP-H0-ER- ferrite core at the Rated voltage: AC0V Okaya Electric Industries power input area. Rated current: 0A Co., Ltd. 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 ZCAT0-090 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. 9

22 Related actuator/driver standards () Insulation transformer Although the noise resistance of the HA-00 series is sufficient without an insulation transformer, it is recommended that one be used in a noisy environment. Prepare an insulation transformer of the following specification if using one. Number Driver model of Power capacity (kva) phase HA-00B-* FHA-,C 0. FHA-C 0. FHA-C RSF- 0. HA-00B-* SHA0 SHA FHA-C RSF-0, RKF-0, MAC0 MAB09 0. SHA 0. HA-00B-* SHA FHA-C RSF- RKF- MAB. SHA0 FHA-0C MAB. SHA0 MAB. HA-00B-* SHA SHA. MAA. 0

23 Chapter Functions and configuration Outlines of driver models, specifications, external dimensions, etc., are explained in this chapter. - Overviews of driver - - Function block diagram - - Device configuration diagram - - Driver model - - Actuator and extension cable combinations - - Driver ratings and specifications - - Function list -0 - External drawing - -9 Name and function of each part of a display panel -

24 - Overviews of driver Functions and configuration - Overviews of driver The HA-00B driver series are dedicated servo drivers for SHA series, FHA-C series, RSF 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-00B drivers provide many superior functions to allow various actuators to excel in performance. Overviews of functions MECHATROLINK-II type The driver conforms to MECHATROLINK-II, and can be operated in -byte and -byte modes. The host controller is intended to be used in combination with the MP000 series by YASKAWA Electric Corporation and KV-MLV controller by Keyence Corporation. (Some functions are limited.) Check our website for the latest information for more details of the limited functions. Supporting transmission cycles of to ms The supported transmission cycle are ms,. ms, ms, ms, ms and ms. Half the positioning stabilization time (compared to HA-) using an original control logic The amount of positioning stabilization time was cut in half compared to the conventional machine as a result of controlling overshooting and undershooting during positioning using an original control logic. Auto-tuning function The auto-tuning function allows the driver to estimate the load and automatically set an optimal servo gain. Separate main circuit power and control circuit power The control circuit power is separate from the main circuit power, which allows for safe diagnosis in the event of an error. Dedicated comprehensive software Dedicated software, PSF-00, is now available to be used for changing the HA-00B driver parameters and monitoring the operation status. -

25 - Function block diagram - Function block diagram An internal function block diagram of this driver is shown. TB R S T s CN MECHATROLINK-II r CN Diode bridge Control power Network Input signal I/F Output signal I/F ENC monitor I/F TB R External type R Regenerative circuit R * Cooling fan * Voltage detection Charge lamp Overcurrent detection Gate drive Control calculation Current detection Power amplifier Dynamic brake Encoder I/F Operation I/F Operation part TB U V W Ground CN battery option * Functions and configuration CN RS-C I/F CN9 Analog monitor I/F Digital monitor I/F DAC Control part *: 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. -

26 - Device configuration diagram Functions and configuration - Device configuration diagram A basic configuration diagram of this driver is shown. HA-00B-,, Power supply * Circuit breaker * Host device * Surge absorber * VDC brake power supply * Noise filter * Servo actuator CN For I/O signals TB Magnetic switch * CN Drive cable Encoder cable Main power supply * CN MECHATROLINK-II cable * MECHATROLINK-II terminating resistance * Control power supply * TB Power supply cable * CN Dedicated communication cable Personal computer * MECHATROLINK-II Machine controller * *: 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. Install Communication software (PSF-00) -

27 - Device configuration diagram HA-00B- Power supply * Circuit breaker * Surge absorber * Noise filter * Host device * Functions and configuration Magnetic switch * Main power supply * Power supply cable * CN CN For I/O signals Encoder cable Servo actuator VDC brake power supply * Control power supply * Drive cable MECHATROLINK-II cable * MECHATROLINK-II terminating resistance * CN Dedicated communication MECHATROLINK-II Machine controller * Personal computer * *: The customer should provide marked devices separately. *: Dedicated to -phase AC00V (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 - Driver model The following explains how to read the driver model name and symbol, as well as options. Driver model HA-00B-A-00-SP Model: AC Servo Driver HA series Series: 00 series 00A I/O command type 00B MECHATROLINK-II type 00C CC-Link type Rated output current:.a A A A Available encoder: A -bit absolute encoder B -wire incremental encoder C -wire wire-saving incremental encoder D -bit absolute encoder E -bit encoding incremental model Input voltage: 00 AC00V 00 AC00V Custom specification code: Blank Standard product SP Special product *: For details on the available encoders, see Chapter. Option Extension cables (optional) Refer to [Actuator and extension cable combinations] (P-). Dedicated communication cables (optional) Model EWA-RS0 Connectors (optional) Model CNK-HA0B-S/CNK-HA0B-S/CNK-HA0B-S-A/CNK-HA0B-S-A Servo parameter setting software PSF-00 (Downloadable from our website [ Backup battery for absolute encoder HAB-ER/ (attached to the shipped driver) -

29 - Actuator and extension cable combinations - Actuator and extension cable combinations The following explains the combinations of drivers, actuators and extension cables (option). SHA series Actuator series FHA-Cmini series FHA-C series Model No. Input voltage (V) Encoder type Combined driver HA-00B 0 00 HA-00B-D/E HA-00B-D/E HA-00B-D/E HA-00B-D/E-00 -bit 0 00 Absolute HA-00B-D/E HA-00B-D/E-00 Motor wire 00 HA-00B-D/E HA-00B-D/E HA-00B-C HA-00B-C wires, HA-00B-C-00 wire-saving type 00 Incremental HA-00B-C HA-00B-C HA-00B-C HA-00B-D/E HA-00B-D/E bit HA-00B-D/E Absolute HA-00B-D/E HA-00B-D/E HA-00B-D/E HA-00B-C wires, HA-00B-C-00 wire-saving type 00 Incremental HA-00B-C HA-00B-C HA-00B-A bit HA-00B-A Absolute HA-00B-A HA-00B-A HA-00B-C-00 wires, 00 wire-saving type HA-00B-C Incremental HA-00B-C HA-00B-A bit HA-00B-A Absolute HA-00B-A-00 RSF series 00 HA-00B-B wires HA-00B-B-00 RSF/RKF 00 Incremental HA-00B-B-00 series 00 HA-00B-B-00 Extension cable (option) Motor wire EWD-M**-A0-TN Encoder wire EWD-S**-A0-M Model No. 0: EWD-MB**-A0-TMC Model No., : EWD-MB**-D09-TMC Encoder wire Model No. 0: EWD-S**-A0-M Model No., : EWD-S**-D0-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 Motor wire EWC-MB**-M0-TN Encoder wire EWC-E**-B0-M Motor wire EWC-MB**-M0-TN Encoder wire EWC-S**-B0-M Motor wire EWA-M**-A0-TN Encoder wire EWA-E**-A-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 Functions and configuration -

30 - Driver ratings and specifications Functions and configuration - Driver ratings and specifications The following explains the ratings and specifications of this driver. Input voltage Power supply: 00V Power supply: 00V Model HA-00B-* HA-00B-* HA-00B-* HA-00B-* HA-00B-* HA-00B-* Driver's rated current *. A.0 A A. A.0 A A Driver's maximum current *.0 A 9. A 9.0 A.0 A 9. A 9.0 A Main Input circuit voltage Control circuit Power frequency Allowed -bit revolution absolute (motor -bit shaft) absolute Allowed environment Structure Installation method Command method Input signals Output signals Operation panel Protective functions Monitor terminals Digital I/O port Configuration Status display function Parameter adjustment function Alarms Warnings Regenerative processing Regenerative resistor absorption power Embedded functions Surge-current prevention function AC00 to 0V (single phase * * /-phase) AC00 to V (single phase), +0 to +0% to -% -% AC00 to 0V (single phase), +0 to -% AC00 to V (single phase), +0 to -% 0VA 0VA 0/0Hz -,09 to,09 -,09 to,09 -, to, -, to, Operating temperature: 0 to 0 Storage temperature: -0 to Operating/storage humidity: below 9%RH (No condensation) Resistance to vibration:.9m/s (0 to Hz, Tested for hours each in the X, Y, and Z directions)/shock resistance: 9m/s (Tested once each in the X, Y, and Z directions) Ambience: No metal powder, dust, oil mist, corrosive gas, or explosive gas. Forced Forced Natural air-cooling Natural air-cooling air-cooling air-cooling Base mount (wall installation) MECHATROLINK-II, -byte, -byte modes FWD inhibit, REV inhibit, latch, latch, origin signal Operation preparation complete, origin return complete, operation completion, alarm channels, motor rotation speed, current command, general-purpose output (parameter selection) RS-C Status monitor, various parameters settings (PSF-00) Display (-segment LED), digits (red), push-button switches Rotation speed (r/min), torque command (%), load rate (%), input signal monitor, output signal monitor, alarm history ( alarms), etc. System parameters,, adjustment parameters, 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, cooling fan stopped, main circuit input voltage low, FWD inhibit input effective, REV inhibit input effective Comes with an external regenerative resistor mounting terminal Regenerative resistor contained Comes with an external regenerative resistor mounting terminal Comes with an external regenerative 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 Operation mode *: Set according to the specification of the combined actuator. *: If the FHA-Cmini (FHA-C/C/C) or FHA-C is combined, -phase 00VAC or single-phase 00VAC input can be used. -

31 - Driver ratings and specifications *: If the SHA series or any of FHA-C/C/0C is combined, use of -phase 00VAC input is recommended. Single-phase 00VAC 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-00B-) 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-00B-) Derating 00% 0% 0% 0% 0% 00% 0% Functions and configuration -

32 - Driver ratings and specifications Functions and configuration Input voltage Power supply: 00V Model HA-00B-* Driver's rated current * A Driver's maximum current * A Main circuit AC00 to 0V (-phase), +0 to -% Input Control AC00 to 0V (single phase), +0 to -% voltage circuit 0VA Power frequency 0/0Hz Allowed revolution -bit (motor absolute -, to, shaft) Allowed environment Operation panel Protective functions Structure Installation method Control method Input signals Output signals Motor terminals Digital I/O port Configuration Status display function Parameter adjustment function Alarms Warnings Regenerative processing Regenerative resistor absorption power Embedded functions Surge-current prevention function Operating temperature: 0 to 0 Storage temperature: -0 to Operating/storage humidity: below 9%RH (No condensation) Resistance to vibration:.9m/s (0 to Hz, Tested for hours each in the X, Y, and Z directions)/shock resistance: 9m/s (Tested once each in the X, Y, and Z directions) Ambience: No metal powder, dust, oil mist, corrosive gas, or explosive gas. Forced air-cooling type Base mount (wall installation) MECHATROLINK-II, -byte, -byte modes FWD inhibit, REV inhibit, latch, latch, origin signal Operation preparation complete, origin return complete, operation completion, alarm channels, motor rotation speed, current command, general-purpose output (parameter selection) RS-C Status monitor, various parameters settings (PSF-00) Display (-segment LED), digits (red), push-button switches Rotation speed (r/min), torque command (%), load rate (%), input signal monitor, output signal monitor, alarm history ( alarms), etc. System parameters,, adjustment parameters, 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, -phase missing error, main circuit voltage low error, overregeneration error, excessive regenerative power error Battery voltage low, overload, main circuit input voltage low, FWD inhibit input effective, REV inhibit input effective Regenerative resistor contained Comes with an external regenerative resistor mounting terminal 90W 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. -9

33 - 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 Chapter - Torque control mode The driver functions as a torque control servo. T 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 P P- the positioning time. Auto-tuning The driver can estimate the load in the JOG mode and automatically set an appropriate servo All P9-9 gain. 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-0 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-9 You can change the weight (multiplier) of pulse Electronic gear * input by setting desired values for the numerator and denominator of electronic gear. (Incremental encoder only) All P- The JOG operation of the actuator is possible, and operation check can be performed to see if JOG operation the power supply, motor wire and encoder wiring All P9- are normal, regardless of the I/O signals received from 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 All Chapter 9 are available. Tune mode The servo gain, in-position range and various other items relating to the servo system can be All P- set. System parameter mode The various HA-00B functions can be set. All Chapter Analog monitor output The motor speed and motor current can be monitored as voltage levels. All P-0 Status monitor output The selected servo status can be monitored. All P- Absolute encoder function A -bit absolute encoder can be used as an setting * incremental encoder. All P- *: When the host controller is used in combination with the MP000 series by YASKAWA Electric Corporation or the KV-MLV controller by Keyence Corporation, do not change the electric gear settings for the HA-00B. *: This is available for HA-00 software version.x or later. Functions and configuration -0

34 - External drawing Functions and configuration - External drawing The following shows the external drawing of this driver. HA-00B-/ (Mass: kg) Unit: mm HA-00B- (Mass:. kg) Regenerative resistor Unit: mm Wind direction -

35 - External drawing HA-00B- (Mass:. kg) Unit: mm Functions and configuration Regenerative resistor Specification indication plate Caution plate Cooling fan Wind direction Terminal symbol layout -

36 -9 Name and function of each part of a display panel Functions and configuration -9 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-00B-/HA-00B-/HA-00B- Station address setting switch (SW) This switch is used to set the MECHATROLINK communication. [Chapter MECHATROLINK communication function] Station address/transfer bytes setting switch (SW) This switch is used to set the MECHATROLINK communication [Chapter MECHATROLINK communication function] 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 terminals (U, V, W) Connect the servo motor drive wire. [Wiring the driver and motor] (P-) Regenerative resistor connection terminals (R, R, A terminal for connecting an external regenerative resistor. Connect an external regenerative resistor if the regeneration capacity is not enough. [Wiring the driver and motor] (P-) Main circuit power connection terminals (T, S, R) A terminal for connecting the main circuit power supply. [Connecting power cables] (P-) Control circuit power connection terminals (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-) Cover is open Maintenance connector Do not connect. Waveform monitoring connector (CN9) The speed, current waveform and status signal can be monitored. [Monitor output] (P-0) Communication status monitor LED LED: Turns ON while data is being received via MECHATROLINK communication. LED: Turns ON while data is being sent via MECHATROLINK communication. LED: Turns ON when MECHATROLINK communication is not established. 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 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-) MECHATROLINK connector (CN) A connector for MECHATROLINK communication. PSF-00 communication connector (CN) A communication connector for dedicated driver communication software PSF-00. [Chapter 0 Communication software]

37 -9 Name and function of each part of a display panel HA-00B- Station address setting switch (SW) This switch is used to set the MECHATROLINK communication. [Chapter MECHATROLINK communication function] Station address/transfer bytes setting switch (SW) This switch is used to set the MECHATROLINK communication. [Chapter MECHATROLINK communication function] LED display The driver status display, alarm display, data values, etc., can be checked. Main circuit power connection terminals (R, S, T) A terminal for connecting the main circuit power supply. [Connecting power cables] (P-) 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 Maintenance terminal Do not wire the - and P terminals DC reactor connection terminals (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 terminals (R, R, R) A terminal for connecting an external regenerative resistor. Connect an external regenerative resistor if the regeneration capacity is not enough. [Wiring the driver and motor] (P-) Ground terminal A ground terminal for protection against electric shock. Be sure to connect this terminal. [Connecting a ground wire] (P-) Cover is open Control circuit power connection terminals (r, s) A terminal for connecting the control circuit power supply. [Connecting power cables] (P-) Servo motor connection terminals (U, V, W) Connect the servo motor drive wire. [Wiring the driver and motor] (P-) Maintenance connector Do not connect. Waveform monitoring connector (CN9) The speed, current waveform and status signal can be monitored. [Monitor output] (P-0) Communication status monitor LED LED: Turns ON while data is being received via MECHATROLINK communication. LED: Turns ON while data is being sent via MECHATROLINK communication. LED: Turns ON when MECHATROLINK communication is not established. 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-) MECHATROLINK connector (CN) A connector for MECHATROLINK communication. PSF-00 communication connector (CN) A communication connector for dedicated driver communication software PSF-00. [Chapter 0 Communication software] Functions and configuration -

38 -9 Name and function of each part of a display panel Functions and configuration -

39 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 -9

40 - 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 the driver is shown. 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-00B 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-00B driver, injury or fire. -

41 - 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 9% 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..9 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. 9 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 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-00B drivers for reference when planning the cooling system. FHA-C series (00V) Driver HA-00B- HA-00B- HA-00B- 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-00B- HA-00B- HA-00B- Actuator RSF- RSF/RKF RSF/RKF RSF/RKF Power loss W 0W W 0W SHA series (00V) Driver HA-00B- HA-00B- HA-00B- Actuator SHA0 SHA SHA SHA0 Power loss W W W 0W Driver HA-00B- Actuator SHA0 SHA SHA Power loss 0W 0W 0W SHA series (00V) Driver HA-00B- Actuator SHA Power loss 0W Air flow Control cabinet 0mm or more Air flow 0mm or more 0mm or more Air filter Air flow 0mm or more 0mm or more Driver Cooling fan - Wall mounted Air flow

42 - Installation location and installation Installation/wiring Installation procedure [HA-00B-, HA-00B-, HA-00B-] 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-00B-/ Wall HA-00B- Wall -

43 - Installation location and installation [HA-00B-] 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-00B- Installation/wiring Wall -

44 - Connecting power cables - Connecting power cables The following explains how to connect the power supply to this driver. Installation/wiring WARNING CAUTION Before connecting the power cable to the HA-00B 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-00B driver after installing the driver on the specified wall. () Ground the HA-00B driver to avoid electric shock, malfunctions caused by external noise, and for the suppression of radio noise emissions. Allowable cable sizes The table below lists the minimum allowable wire sizes of power cables, ground cables and other cables. Using the thickest wires possible is recommended. 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-00B- HA-00B- HA-00B- HA-00B- SHA0 SHA FHA-C Combined actuator FHA-C SHA FHA-C SHA0 SHA0 SHA FHA-C Combined motor FHA-C MAC0 FHA-0C MAB MAB SHA FHA-C MAB09 MAB MAA For main circuit power R, S, T supply For control circuit power supply r, s Motor U, V, W,.0.0. cable * E (.) * (.) * (.) * Ground wire (FG) Ground mark Regenerati R, R.... ve resistor Encoder CN Twisted pair shield cable of 0. mm or thicker * Cable Control CN Twisted pair wire or twisted pair whole-shield cable (AWG, 0. mm ) signal wire *: We provide extension cables (m/m/0m) for motor cables (including brake cables) and encoder cables. For the combinations of HA-00B 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. -

45 - Connecting power cables [Single phase 00V input] Min. allowable wire size (mm) Driver HA-00B- HA-00B- HA-00B- Combined FHA-C FHA-C SHA actuator FHA-C FHA-C FHA-C MAB09 Combined motor FHA-C For main circuit power R, S supply For control circuit power supply r, s 0... Motor U, V,.0 cable * W, E (.) * Ground wire (FG) Regenerati ve resistor Encoder cable Control signal wire Ground mark... R, R... CN Twisted pair shield cable of 0. mm or thicker * CN Twisted pair wire or twisted pair whole-shield cable (AWG, 0. mm ) *: We provide extension cables (m/m/0m) for motor cables (including brake cables) and encoder cables. For the combinations of HA-00B 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. Installation/wiring 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. HA-00B-// Terminal block for power connection (for TB) Manufacturer Model Phoenix Contact FKC,/-ST-.0 T S R s r -phase power supply (00V) Circuit breaker Magnetic switch HA-00B T Noise filter NF S R s r Single-phase power supply (00V, 00V) Circuit breaker NF Noise filter Magnetic switch HA-00B T S R s r -

46 - Connecting power cables HA-00B- -phase power supply (00V) Installation/wiring Terminal block for power connection Terminal name Screw size Crimp terminal outer diameter R, S, T, M HA-00B- φmm Circuit breaker Noise filter 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 HA-00B Magnetic switch R S T r s 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 power supply Main switch HA-00 Other device Other device HA-00 Other device Other device Good wiring example Bad wiring example -

47 - Connecting power cables 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 voltage 00V 00V 00V 00V 00V 00V 00V 00V Driver model HA-00B HA-00B- HA-00B- HA-00B HA-00B HA-00B HA-00B HA-00B--00 SHA0 SHA FHA-C SHA RSF-0 FHA-C SHA0 Actuator FHA-C FHA-C SHA0 SHA MAA FHA-C RSF- SHA RSF- FHA-0C motor FHA-C RSF- MAB SHA RKF-0 RKF- MAB RKF- MAB MAB09 MAC0 Rated current capacity (A) of circuit breaker (MCB) Required power capacity per driver (kva) * Surge-current 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 interrupting capacity of circuit breaker is a recommended value for -phase AC00V input or single-phase AC00V input. Installation/wiring Connecting a ground wire Use a ground wire of an appropriate size selected from the table below, or larger. Cable Ground (FG) wire Symbol Ground mark Min. allowable wire size (mm ) HA-00B- HA-00B- HA-00B- HA-00B The HA-00B 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 -

48 - Connecting power cables Installation/wiring 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 or the HA-00B driver's [CN-0 Alarm: ALARM] signal. Turn ON/OFF the power after switching the servo lock of the HA-00B 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-00B-, -, -) 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 output and monitor output remain indeterminable for approximately 0 seconds after turning the control power supply ON. Control circuit power Main circuit power ON OFF ON OFF 0s (max) * 0 ms (min) s (typ) * S-ON command Operation preparation complete: READY Dynamic brake (DB enabled, SP = ) Motor excitation (DB enabled, SP = ) Output Release brake Excitation ON Excitation OFF 0 ms (min) 0ms (typ) 0ms (typ) ms (typ) Operation command Input enable Dynamic brake (DB disabled, SP = 0) Motor excitation (DB disabled, SP = 0) Operation command Release brake Excitation ON Excitation OFF s (typ) 0ms (typ) ms (typ) Input enable *: 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 approx. seconds or more after the control circuit power, the S-ON command will be input after approximately seconds, provided that the capacitor in the main circuit power has been discharged fully. -9

49 - Connecting power cables Servo-OFF sequence (HA-00B-, -, -) S-OFF command Motor excitation Operation preparation complete: READY Dynamic brake (DB enabled, SP = ) Dynamic brake (DB disabled, SP = 0) Excitation ON Excitation OFF Output Release brake Release brake ms (typ) ms (typ) ms (typ) (Dynamic brake released) Installation/wiring Sequence when an alarm generates (HA-00B-, -, -) Alarm Motor excitation Operation preparation complete: READY Without alarm With alarm Excitation ON Excitation OFF Output ms (typ) Dynamic brake (DB enabled, SP = ) Release brake ms (typ) Dynamic brake (DB disabled, SP = 0) Release brake (Dynamic brake released) -0

50 - Connecting power cables Installation/wiring Power OFF sequence (HA-00B-, -, -) 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 Operation preparation complete: READY ON OFF ON OFF Output 0 ms (min) s (min) * minutes (max) * *: 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 servo-off, it may take up to minutes or so before the operation preparation complete signal (READY) turns OFF (main circuit DC voltage drop). If the main circuit power is turned OFF while servo-on, the motor excitation is continued until the operation preparation complete signal (READY) 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 turn 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 00 ms (the time varies depending on the input voltage). At this point, the operation preparation complete signal (READY) 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-00B-) 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 output and monitor output remain indeterminable for approximately 0 seconds after turning the control power supply ON. ON Control circuit power Main circuit power S-ON command ON OFF ON OFF 0s (max) * 0 ms (min) s (typ) * 0 ms (min) Operation preparation complete: READY Dynamic brake * Output Motor excitation Excitation ON (DB enabled, SP = * ) Excitation OFF Operation command Release brake s (typ) 0ms (typ) 00ms (min) Input enable *: 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 approx. 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-00B- by setting [SP DB enable/disable setting] to (default setting). *: The dynamic brake operates interlinked to the main circuit power. -

51 - Connecting power cables Servo-OFF sequence (HA-00B-) S-OFF command Motor excitation Operation preparation complete: READY Dynamic brake (DB enabled, SP = * ) *: Make sure to use HA-00B- 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-00B-) Alarm Motor excitation Operation preparation complete: READY Alarm: ALARM Excitation ON Excitation OFF Output Release brake Without alarm With alarm Excitation ON Excitation OFF Output Output ms (typ) ms (typ) (Dynamic brake released * ) ms (typ) Installation/wiring Main circuit power Dynamic brake (DB enabled, SP = * ) ON OFF Release brake (Dynamic brake released * ) Main circuit power * Dynamic brake * (DB enabled, SP = * ) ON OFF Release brake 00 ms (typ) *: Make sure to use HA-00B- 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 is under high load such as regenerative resistor overheat alarm (AL) and overregeneration alarm (AL), the discharge function may not operate and the dynamic brake thus may not be activated. -

52 - Connecting power cables Installation/wiring Power OFF sequence (HA-00B-) 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 Operation preparation complete: READY ON OFF ON OFF Output 0 ms (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 operation preparation complete signal (READY) turns OFF in approximately 0. second due to the main circuit discharge function. However, if regenerative resistance is under high load such as regenerative resistor overheat alarm (AL) and overregeneration alarm (AL), 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 operation preparation complete signal (READY) 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 turn 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 00 ms (the time varies depending on the input voltage). At this point, the operation preparation complete signal (READY) 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 -

53 - Suppressing noise - 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 breaker Surge absorber Noise filter * Operation relay sequence, etc. User signal generation circuit Magnetic switch Wire of.mm or larger HA-00B R U S V T W E r s CN CN, * HD M E Installation/wiring.mm or larger Grounding to the earth (must be single-point grounding) Wire of.mm or larger *: 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 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. -

54 - Suppressing noise Installation/wiring 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 P in this manual. -

55 - Suppressing noise 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 reduce its effectiveness by half. 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. Do not place the ground wire and filtered wires in the same pipe or duct, or bundle them together. Filter Filter Grounding in a control cabinet Filter Ground in Grounding in a control cabinet Filter Installation/wiring 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 wires near power lines is acceptable. Grounding in a control cabinet Filter Grounding in a control cabinet Filter E E E E Shield wire Grounding in a control cabinet Shield wire 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 -

56 - Wiring the driver and motor Installation/wiring - 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-00B-/-/-] U V W R R R TB U V W R R R Red White Black M AC Servo Actuator Regenerative resistor When using a built-in regenerative resistor with the HA-00C-/, 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 [HA-00B-] TB R When using a built-in regenerative resistor with the HA-00C-, 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. R R U V W Red White Black M Regenerative resistor AC Servo Actuator 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 -

57 - 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 We have optional cables of m/m/0m long. CN Encoder connector (CN) Connector Cover Manufacturer M M Model 0-000PE 0-F0-00 Wire conductivity: 0.0Ω/m or less Pin layout of encoder connector (CN) The pin layout shown below is viewed from the soldered side. E Encoder Installation/wiring -wire wire-saving incremental encoder -bit absolute encoder SD NC NC NC SD NC NC NC NC 0 NC NC 9 NC +V 0V SD NC CLR NC SD NC BAT- NC NC 0 NC BAT+ 9 NC +V 0V -bit absolute encoder -wire incremental encoder SD NC NC NC SD NC BAT- NC NC 0 NC BAT+ 9 NC +V 0V A W Z W A V B V Z 0 U B 9 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. -

58 - 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 Host device 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. 0 ALARM 9 FINISH 0 FG 9 -- ORG- END IN- COM READY MON- GND MON- Z- LATCH ORG MON- Z+ MON- B- REV-IH LATCH MON- B+ MON- A- FWD-IH MON- A+ OUT- COM 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. -9

59 - Wiring the host device Connecting the MECHATROLINK connector Connect HA-00B using a dedicated communication cable manufactured by YASKAWA Controls Co., Ltd. (JEPMC-W00-A-E, etc.). Connect a terminating resistance (JEPMC-W0) at the end of the device. MECHATROLINK dedicated communication cable (CN) Cable Manufacturer YASKAWA ELECTRIC CORPORATION Model JEPMC-W00-A-E, etc. Terminating device MECHATROLINK dedicated terminating resistance (CN) Terminating resistance Manufacturer YASKAWA ELECTRIC CORPORATION Model JEPMC-W0 CN Installation/wiring -0

60 - Wiring the host device Installation/wiring 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 9-pin female) Socket Hood Jack screw Manufacturer OMRON Corporation OMRON Corporation OMRON Corporation Model XMD-090 XMS-09 XMZ-00 Pin layout of PSF-00 communication connector (CN) Driver side Personal computer side Symbol Pin No. Pin No. Symbol TxD - GND TxD NC RxD NC - GND GND RxD The PC and HA-00B driver communicate via RS-C. Do not wire the NC ( and pins). -

61 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 -9 - Operation check with the actual system - - Manual gain adjustment method - - Normal operation -

62 - 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. -

63 - 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 Normal operation Refer to: [Turning ON the power for the first time] (P-) Refer to: [Operation check with the actuator alone] (P-9) Refer to: [Operation check with the actual system] (P-) Refer to: [Normal operation] (P-) Startup -

64 - 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 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 Turn ON the control power supply Turn ON the main power supply 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-, -) Turn ON the main power supply. JOG operation with the actuator alone in the test mode Perform rotary operations via JOG operation to confirm that the power supply, motor and encoder are wired correctly. Refer to: [Chapter 9 Test mode] -

65 - 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. () When a -bit absolute encoder (-bit encoder incremental model) (SHA series, FHA-Cmini series) is combined (P-) () When a -bit absolute encoder (FHA-C series) is combined (P-) () When a -wire-saving incremental encoder (FHA-Cmini series) is combined (P-) () When a -wire-saving incremental encoder (FHA-C series) or -wire incremental encoder is combined (P-) () When a -bit absolute encoder (SHA series, FHA-Cmini 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. Normal Abnormal Startup MODE UP DOWN S E T 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, [UA99: 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. 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](p9-). MODE UP DOWN S E T MODE UP DOWN S E T -

66 - 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. Normal Abnormal Startup MODE UP DOWN S E T 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. MODE UP DOWN S E T 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](p9-). -

67 - Turning ON the power for the first time () When a -wire-saving incremental encoder (FHA-Cmini series) is combined Turn ON the control circuit power. Check the driver and actuator combination. Normal MODE UP DOWN S E T Abnormal Startup 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 [UA99: 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 S E T -

68 - Turning ON the power for the first time () When a -wire-saving incremental encoder (FHA-C series) or -wire incremental encoder is combined Turn ON the control circuit power. Normal Abnormal Startup MODE UP DOWN S E T 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 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. MODE DOWN S E T UP Wrong 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 -

69 - Turning ON the power for the first time Troubleshooting upon power ON Descriptio n of operation Power ON JOG operation Description of problem The LED display does 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 P9- Poor motor wire connection Defective driver Defective actuator P- Chapter Startup -

70 - 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). Input signal logical setting Output signal logic setting Make sure to set the logic specification as needed if you use the input signal. Refer to: [SP: Input signal logic setting] (P-) Make sure to set the logic specification as needed if you use the output signal. Refer to: [SP: Output signal logic setting] (P-) Set the function extension mode As necessary, change the function settings of the driver. Check the settings for parameters that strongly affect operation. Refer to: [Chapter System parameter mode] Check the I/O wirings and logics in the test mode. 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 9 Test mode] Operate from the host controller Perform actual operations according to the actual operation commands from the host controller. Refer to: [Chapter MECHATROLINK communication function] -9

71 - Operation check with the actuator alone Troubleshooting at operation check Position control mode Operation Servo-ON input Operation command input Description of problem The servo does not lock. An alarm generates. The actuator does not rotate. Check item Estimated cause Reference Is the motor wire connected Poor motor wire connection correctly? Is warning code [9: Main The main circuit voltage is not input circuit voltage low] or lower than the warning 9 generated? threshold. Refer to [Chapter Troubleshooting]. Is the motor wire connected correctly? Is the FWD or REV inhibit input enabled? Wrong motor wire UVW connection P- P- Chapter P- The inhibit input in non-rotatable direction is enabled. P- The rotation Check the command Wrong operation program setting direction * is program. P- reversed. Check the command Parameter setting error polarity. P- An alarm Refer to [Chapter Troubleshooting]. generates. Chapter *: The rotation polarity varies depending on the actuator model. Refer to the manual of your actuator. Startup -0

72 - Operation check with the actuator alone Speed control mode Startup Operation Servo-ON input Description of problem The servo does not lock.. Check item Estimated cause Reference Is the motor wire connected correctly? Is warning code [9: Main circuit voltage low] generated? Poor motor wire connection The main circuit voltage is not input or lower than the warning 9 threshold. P- An alarm Refer to [Chapter Troubleshooting]. generates. Chapter Speed The actuator Is the motor wire Wrong motor wire UVW command does not rotate. connected correctly? connection P- Monitor the I/O statuses Incorrect input signal (VELCTRL: using PSF-00 software. P- CH) input Is the FWD or REV inhibit The FWD/REV inhibit inputs are input enabled? enabled. P- The speed command Check the speed command set value is 0. value. P- The rotation Is the speed command Check the speed command set direction * is value input correctly? value. P- reversed. Check the command Parameter setting error polarity. P- An alarm Refer to [Chapter Troubleshooting]. generates. Chapter *: The rotation polarity varies depending on the actuator model. Refer to the manual of your actuator. P- -

73 - Operation check with the actuator alone Torque control mode Operation Servo-ON input Description of problem The motor is not excited. Check item Estimated cause Reference Is the motor wire connected correctly? Is warning code [9: Main circuit voltage low] generated? Poor motor wire connection The main circuit voltage is not input or lower than the warning 9 threshold. P- An alarm Refer to [Chapter Troubleshooting]. generates. Chapter Torque The actuator Is the motor wire Wrong motor wire UVW connection command does not connected correctly? P- (TRQCTRL: rotate. Monitor the I/O statuses Incorrect input signal DH) input using PSF-00 software. P- The torque command Check the torque command set value is 0. value. P- Is the FWD or REV inhibit The FWD/REV inhibit inputs are input enabled? enabled. P- The rotation The torque command Check the torque command set direction * is value is not input correctly. value. P- reversed. Check the command Parameter setting error polarity. P- An alarm Refer to [Chapter Troubleshooting]. generates. Chapter *: The rotation polarity varies depending on the actuator model. Refer to the manual of your actuator. P- Startup -

74 - 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 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 9 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-) Set the origin using the absolute encoder This is necessary only on models equipped with an absolute encoder. Refer to: [Origin setting] (P-, -) Operate from the host controller Stop Perform actual operations according to the actual operation commands from the host controller. Refer to: [Chapter I/O signals], [Chapter MECHATROLINK communication function] -

75 - 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. An alarm generates. Check item Estimated cause Reference Is the startup or shutdown time too short? Is the load inertia too big? Refer to [Chapter Troubleshooting]. Host controller setting error Actuator selection error Check the servo gain set Servo gain setting error value. Is the startup or shutdown Host controller setting error time too short? Is the load inertia too big? Actuator selection error Refer to [Chapter Troubleshooting]. P9-9 Chapter P- Chapter Startup -

76 - Manual gain adjustment method - 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-00B driver monitor software PSF-00 waveform monitoring. Prepare a measuring instrument to observe monitored output waveforms to CN9. Startup Position control A block diagram of position control is shown below. HA-00B 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] (Apx-). Adjustment procedure Perform rough adjustment via auto-tuning. Refer to [T09: Auto-tuning] (P9-9). 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. -

77 - Manual gain adjustment method Adjustment details Adjustment details of 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. Speed control A block diagram of speed control is shown below. Startup Speed command HA-00B driver Mechanical load system Position control part Speed control part Power amplifier Actuator Speed loop 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] (Apx-). -

78 - Manual gain adjustment method Startup Adjustment procedure Perform rough adjustment via auto-tuning.refer to [T09: Auto-tuning] (P9-9). Set a 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. Fine-tune the above gains by observing the condition of machine operation under speed control. Adjustment details Adjustment details of 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. -

79 - 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. [SP9: 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). SP9: 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) * [SP9: Feed-forward control function setting] is available for HA-00 software version.x or later. *: Changes to system parameter settings (SP00 to 9) are put into effect by changing the setting, then turning control power supply OFF, then ON again. Startup Do not set [SP9: 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-00B 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. The feed-forward control function is only effective during position control. It does not operate for speed control or torque control. -

80 - Manual gain adjustment method Block diagram of feed-forward control function Startup Position command Differentiation Feed-forward control part Position control part HA-00B 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 SP9 * 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 9) 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 (SP9) Setting details This sets the responsiveness when [SP9: 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 [SP9: Feed-forward control function setting] is [0,, or ], [AJ0: Feed-forward filter] can be set to any desired value. Adjustment method Normally, set [SP9=: 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 [SP9=: High-speed operation mode], you can also adjust the feed-forward filter manually with [SP9=: Manual tune mode].only use [SP9=: Feed-forward control] when [SP9=: Manual tune mode] cannot produce satisfactory results. Vibration Responsiveness SP9=: Stable operation mode Small Low speed SP9=: Normal operation mode Medium Medium speed SP9=: High-speed operation mode Large High speed -9

81 - 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 [SP9: 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] (P9-, 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. Startup 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 [SP9: 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. -0

82 - 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 [SP9: 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. -

83 - 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. Startup 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. Check point Interval Inspection standard Treatment Terminal screws -year inspection No loosen screws Tightening screws Unit exterior -year inspection No dust or metal chips on the case Cleaning Unit interior -year No discoloration, damage or other inspection abnormalities Contact us. -

84 - Normal operation 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. Startup 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-00B 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 Manufacturer model Hitachi Maxell, Ltd. ER/ (.V,00 mah) Data retention time Data retention time Conditions Approx. year after the power is cut off Unused power is turned OFF, ambient temperature:, axis stopped (The actual life varies depending on the condition of use.) A battery purchased separately from the battery manufacturer does not come with connector wires. Prepare them on your own and attach them to the battery before use. 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 -

85 - Normal operation How to replace the backup battery If [UA9: Battery voltage low] is displayed, replace the battery by following the procedure below: Open the operation panel cover. Remove the battery. Panel cover Startup 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 and FHA-Cmini series)*, UA9 will be automatically reset after the battery is replaced. With a -bit absolute encoder (SHA series (excluding SHA0)), UA9 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 UA9. Exercise caution to prevent the battery cable from getting caught when closing the panel cover. -

86 - Normal operation Startup -

87 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 -

88 - Overview of encoders - 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 system Encoder type Actuator model Driver model Details -bit absolute encoder SHA series -bit encoder incremental model FHA-Cmini series HA-00B*D/E-00/00 P- -bit absolute encoder FHA-C series HA-00B*A-00/00 P- -wire wire-saving incremental encoder FHA-C series HA-00B*C-00/00 -wire wire-saving incremental encoder FHA-Cmini series HA-00B*C-00/00 P- -wire incremental encoder RSF/RKF series HA-00B*B-00/00 -

89 - Overview of encoders The specifications of encoders that can be connected to the HA-00B driver are shown below. Select an applicable driver model according to the actuator used and the applicable encoder specification. -bit wires wires, wire-saving type Item -bit absolute encoder * absolute Incremental Incremental encoder encoder encoder Actuator model SHA series (excluding SHA0) SHA0 and FHA-Cmini series FHA-C series FHA-Cmini series FHA-C series RSF/RKF series Details P- P- P- P- P- P- Applicable HA-00B-C driver model -00/00 Sensor type 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 Retention time by actuator's built-in capacitor Encoder/driver communication method Encoder/driver connection cable HA-00B-D/ E-00/00 HA-00B-D/ E-00/00 HA-00B-D /E-00 Magnetic sensor Battery backup method bits (0 pulses) bits (- to ) Parameter setting can be changed. Up to,9 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) 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 HA-00B-D /E-00 HA-00B-D /E-00/00 Single revolution: Optical sensor Multi revolution: Magnetic sensor Battery backup method bits (0 pulses) bits (- to ) Parameter setting can be changed. Up to,9 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) Approx. 0. h (Fully charged) Line driver receiver method EWD-S**-A0 -M -core twisted wire x -pair shield cable HA-00B-A -00/00 HA-00B-A -00/00 Optical sensor Battery backup method bits (,9 pulses) bits (-09 to 09) Optical sensor HA-00B-C- 00/00 HA-00B-C- 00/00 Optical sensor HA-00B- B-00/00 HA-00B- B-00/00 Optical sensor None None None,000 pulses * 0,000 pulses *,000 pulses * Not limited Not limited Not limited Fixed Fixed Fixed Fixed,000 r/min (constant speed),00 r/min (accelerating ) Approx. year (Power not supplied) 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**-M 0-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 Encoder system -

90 - Overview of encoders Encoder system Alarm Item -bit absolute encoder * Actuator model Encoder breakage MEMORY error System failure Single rotation data error Multi revolution data error BUSY error Overheat error Communic ation error Encoder counter receiving error Multi revolution counter overflow Multi revolution data error Safety/redunda ncy SHA series (excluding SHA0) -bit absolute encoder wires, wire-saving type Incremental encoder wires Incremental encoder Absolute data dual-redund ancy matching method SHA0 and FHA-Cmini series Absolute data dual-redund ancy matching method FHA-C series FHA-Cmini series FHA-C series RSF/RKF series 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 -

91 - -bit absolute encoder - -bit absolute encoder CAUTION If [AL: System failure], [AL: Single revolution data error] or [AL: Multi revolution data error] generated due to a loss of absolute position or error, be sure to reset the origin. Failure to do so may result in unexpected operations. Features The SHA series (excluding SHA0) is equipped with a multi revolution-type -bit magnetic absolute encoder. The absolute type of the SHA0 and FHA-Cmini series is equipped with a multi revolution-type -bit optical absolute encoder. (Multi revolution detection part 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 the 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. Encoder system 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. 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. HA-00B driver Communication control part Actuator Data calculation part Single revolution detection part Multi revolution detection part Angle compensation data Communication control part Backup battery Backup capacitor Block diagram of actuator/encoder and driver -

92 - -bit absolute encoder Standard connection A connection example of an actuator of -bit absolute encoder model with a HA-00B driver is shown. HA-00B-*D U V W AC Servo Actuator SHA, FHA-Cmini Red White Black M Encoder system R R R CN +V 0V SD SD BAT+ BAT- Green/ Yellow Be sure to connect to the ground terminal. Red Blac Yello Blue Orange Gray E 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. -bit absolute encoder Connector shell Shield Use a twisted pair shield cable. Securely connect the shield to the cable-clamp with grand plane of the connector. Startup Parameters that must be set Parameters No SP SP Name Encoder monitor output pulses Absolute encoder 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 9 If this parameter is set to the maximum value of,9, the resolution becomes, pulses (,9 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-00B-*D) : Use as an incremental encoder. (Default value on HA-00B-*E) *: If you change the setting, the origin needs to be set again. Be sure to change the value before setting the origin. -

93 - -bit absolute encoder 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-9). When setting [SP: Absolute encoder function setting] to 0 (default value on HA-00B-*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-00B-*E) and using as an incremental encoder, the backup battery is not required. 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 [UA9: Battery voltage low warning] generate. It is necessary to initialize (multi revolution data clear) the errors. For details, refer to [T0: Multi revolution clear] (P9-). When setting [SP: Absolute encoder function setting] to and using as an incremental encoder, the backup battery is not required. * UA9 will not occur on the SHA0 and FHA-Cmini series absolute type if the battery is normal. If UA9 occurs, replace the battery. Encoder system Setting the parameter Set [S: Encoder monitor output pulses *] according to the method used, after which turn the power ON again to make the parameters effective. For details, refer to [SP: Encoder monitor output pulses] (P-) and [Output signal pulses] (P-). *: If you change the value, 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 -

94 - -bit absolute encoder Origin setting Encoder system. When using the originating function of the host controller * Set the coordinate (set the origin) using the host controller based on the following procedure if the HA-00B is intended to be used in combination with the MP000 series by YASKAWA Electric Corporation or the KV-MLV controller by Keyence Corporation. For the notices when using the HA-00B in combination with a host controller, refer to [Notices when connecting the HA-00B with the machine controller (MP00) manufactured by YASKAWA Electric Corporation] or [Notices when connecting the HA-00B and KV-MLV controller by Keyence Corporation]. () Move the controller to near the mechanical origin via a JOG operation, manually, or using the various host controller functions. () Execute T0 (multi revolution clear) by operating the HA-00B panel near the mechanical origin, and reconnect the HA-00B power supply. () Perform originating using the originating function of the host controller. *: The current HA-00B position display will not indicate zero at the mechanical origin, but it does not affect the operation. (The current position display of the host controller usually indicates zero.). When not using the originating function of the host controller * If not using the originating function of the host controller, perform the following to set the HA-00B coordinate (set the origin). () Set the virtual origin to zero (default), and reconnect the HA-00B power supply. () Move the driver to the target mechanical origin position via a JOG operation or manually. () Execute T0 (multi revolution clear) by operating the HA-00B panel, and reconnect the HA-00B power supply. () Perform any of the following to read the current absolute encoder value. (a) 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]. (b) Use the status display panel for the HA-00B 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-). (c) Use the MECHATROLINK communication. For details, refer to [Status monitor command (SMON: 0H)] (P-). () Perform either of the following to set the current absolute encoder value that has been read as the virtual origin. (a) Use the HA-00 driver monitor software PSF-00. For details, refer to [Parameter setting] (P0-0). (b) Use the MECHATROLINK communication. For details, refer to [Non-volatile parameter write command (PPRM_WR: CH)] (P-). () Reconnect the power supply to the host controller and HA-00B. () The mechanical origin is set to zero in the amount of absolute value displacement operation. *: The current HA-00B position display will indicate zero at the mechanical origin. *: Driver software Ver..x or later is explained. -

95 - -bit absolute encoder 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-00B 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. Data output 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 the system parameter SP. 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 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 [,9]) Phase B signal output Set value of SP ([] to [,9]) Phase Z signal output *: If you change the value, the origin needs to be set again. Be sure to change the value before setting the origin. For example, setting the maximum value,9 in SP causes,9 pulses to be output per motor shaft revolution. Although this corresponds to a resolution of, pulses, or times,9, it is one-fourth the resolution,0 of the -bit absolute encoder per motor shaft revolution. 9 x = (quadruplicate) 0 = For phase Z, pulse is output per motor shaft revolution. -

96 - -bit absolute encoder Phase A, B and Z incremental output waveforms For FWD rotation, the A signal is output with an advance of 90 relative to the B signal. For REV rotation, the A signal is output with a delay of 90 relative to the B signal. To obtain the resolution in the quadrupled mode, utilize the leading edges and trailing edges of both phase A and B signals. Incremental output signal for FWD rotation Phase A signal Phase B signal Phase A signal Phase B signal Incremental output signal for REV rotation Encoder system When,9 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 Phase B signal Phase Z signal Number of phase-a pulses =,9 pulses/revolution Number of phase-b pulses =,9 pulses/revolution Phase Z pulses = pulse/revolution REV rotation FWD 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. -9

97 - -bit absolute encoder Remedial actions for errors/warnings Remedial action for error Name Description Cause Action Encoder signals have been cut off. AL0 Encoder breakage AL0 MEMORY error AL System failure AL Single rotation data error AL Multi revolution data error AL BUSY error AL Overheat error 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-00B driver control circuit error () Encoder error () HA-00B driver control circuit error () Turned the power ON for the first time after the purchase. () SHA series (excluding SHA0): Either the voltage of the backup capacitor in the encoder or HA-00B driver battery, whichever is higher, has become.v or below. () SHA0 and 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): 00 r/min or more SHA0 and FHA-Cmini series: 0 r/min or more () Encoder failure () The board temperature in the encoder has reached 9 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-00B driver. () Replace the actuator. () Replace the HA-00B driver. () Execute T0: Multi revolution clear to reconnect the power. () Replace the HA-00B driver battery with a new one. After the battery has been replaced, set the origin. () Replace the actuator. () Execute T0: Multi revolution clear to reconnect the power. () Provide noise suppression measures to eliminate negative effects of external noise. () Replace the actuator. () Execute 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. Encoder system -0

98 - -bit absolute encoder AL Communication error Data could not be received in at least consecutive communications between the actuator and this driver. () 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. Encoder system Remedial action for warning Name Description Cause Action UA9 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-00B driver control circuit error () Encoder failure () SHA series (excluding SHA0): Replace the battery with a new one, input alarm reset and then reconnect the power supply. SHA0 and FHA-Cmini series*: Replace the battery with a new one. * In Version.x and earlier, after the battery is replaced, turning the power back ON releases UA9. () Repair the wire. () Replace the HA-00B driver. () Replace the actuator. -

99 - -bit absolute encoder - -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.) 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. HA-00B driver Communication control part Backup battery Actuator Data Single revolution detection part Multi revolution detection part Communication control part Backup capacitor Block diagram of actuator/encoder and driver -

100 - -bit absolute encoder Standard connection A connection example of an actuator of -bit absolute encoder model with a HA-00B driver is shown. Encoder system HA-00B-*A U V W R R R CN CLR +V 0V Red White Black Green/ Yellow Shield AC Servo Actuator FHA-C series M Be sure to connect to the ground terminal. Green White Red Black E 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. SD SD BAT+ BAT- Connector shell Shield Yellow Blue Orange Gray -bit absolute Encoder Use a twisted pair shield cable. Securely connect the shield to the cable-clamp with grand plane of the connector. -

101 - -bit absolute encoder 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] (P9-). 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-). Encoder system -

102 - -bit absolute encoder Origin setting Encoder system. When using the originating function of the host controller * Set the coordinate (set the origin) using the host controller based on the following procedure if the HA-00B is intended to be used in combination with the MP000 series by YASKAWA Electric Corporation or the KV-MLV controller by Keyence Corporation. For the notices when using the HA-00B in combination with a host controller, refer to [Notices when connecting the HA-00B with the machine controller (MP00) manufactured by YASKAWA Electric Corporation] or [Notices when connecting the HA-00B and KV-MLV controller by Keyence Corporation]. () Move the controller to near the mechanical origin via a JOG operation, manually, or using the various host controller functions. () Execute T0 (multi revolution clear) by operating the HA-00B panel near the mechanical origin, and reconnect the HA-00B power supply. () Perform originating using the originating function of the host controller. *: The current HA-00B position display will not indicate zero at the mechanical origin, but it does not affect the operation. (The current position display of the host controller usually indicates zero.). When not using the originating function of the host controller * If not using the originating function of the host controller, perform the following to set the HA-00B coordinate (set the origin). () Set the virtual origin to zero (default), and reconnect the HA-00B power supply. () Move the driver to the target mechanical origin position via a JOG operation or manually. () Execute T0 (multi revolution clear) by operating the HA-00B panel, and reconnect the HA-00B power supply. () Perform any of the following to read the current absolute encoder value. (a) 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]. (b) Use the status display panel for the HA-00B 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-). (c) Use the MECHATROLINK communication. For details, refer to [Status monitor command (SMON: 0H)] (P-). (d) Use [Outputting the current value data from the pins CN- to ] (HA- driver mode). 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 and check the data by the host controller. For details, refer to [Outputting the current value data from the pins CN- to ] (P-). () Perform either of the following to set the current absolute encoder value that has been read as the virtual origin. (c) Use the HA-00 driver monitor software PSF-00. For details, refer to [Parameter setting] (P0-0). (d) Use the MECHATROLINK communication. For details, refer to [Non-volatile parameter write command (PPRM_WR: CH)] (P-). () Reconnect the power supply to the host controller and HA-00B. () The mechanical origin is set to zero in the amount of absolute value displacement operation. *: The current HA-00B position display will indicate zero at the mechanical origin. *: Driver software Ver..x or later is explained. -

103 - -bit absolute encoder 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. 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. Encoder system -

104 - -bit absolute encoder Data output Encoder system Outputting the current value data from the pins CN- to Position data is output from the encoder phase A, B and Z signal output ports. Following the powering sequence, the output ports of the [CN- phase-a: A+] through [CN- Monitor ground] 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 current value 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 Monitor ground Multi revolution data Multi revolution data is output by phase signals having a phase difference of 90. 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 90 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 90 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. LS Multi revolution: Positive Multi revolution: Negative Phase A signal 90 Phase A signal 90 Phase B signal Phase B signal Count Count Absolute position Absolute position is output by phase signals having a phase difference of 90. If the multi revolution data is positive, the phase A signal is output with an advance of 90 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 90 relative to the phase B signal. The pulse frequency is 00kHz. Since pulses are output in the quadrupled mode, count the leading edges and trailing edges of both phase A and B signals. In the example shown below, the absolute position is. Absolute position when the multi revolution data is positive Absolute position when the multi revolution data is negative Phase A signal 90 Phase A signal 90 Phase B signal Phase B signal Count Count

105 - -bit absolute encoder 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 90 relative to the phase B signal. For REV rotation, the phase A signal is output with a delay of 90 relative to the phase B signal. Phase A signal Phase B signal Incremental output signal for FWD rotation Phase A signal Phase B 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 Z signal ON OFF 0 ms (min) Phase Z signal Encoder system Main circuit power ON OFF s (max). s (min) Phase Z signal output Phase A signal output Phase B signal output ms (min) ms 90 ms (max.). ms 90 ms (max.) Multi revolution data Data per motor shaft revolution Incremental signal for REV rotation Absolute position data -

106 - -bit absolute encoder 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 revolution, 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 -9

107 - -bit absolute encoder Phase A, B and Z output signal waveforms For FWD rotation, the phase A signal is output with an advance of 90 relative to the phase B signal. For REV rotation, the phase A signal is output with a delay of 90 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. Incremental output signal for FWD rotation Phase A signal Phase B signal Phase A signal Incremental output signal for REV rotation Phase B signal Phase Z signal The values of the -bit absolute encoder and phase A and B waveforms are shown below. Absolute encoder value Phase Z signal Encoder system Phase A signal Phase B signal Number of phase-a pulses = 0 pulses/revolution Number of phase-b pulses = 0 pulses/revolution REV rotation FWD 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. Checking the absolute position data using the monitor software PSF-00 The HA-00B driver monitor software PSF-00 can be used to display and check the absolute position data of the -bit absolute encoder on a personal computer. For details, refer to [Chapter 0 Communication software]. -0

108 - -bit absolute encoder Encoder system Remedial actions for errors/warnings Remedial action for error Name Description Cause Action AL0 Encoder breakage 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 -,09 to +,09 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-00B driver control circuit error () Electrical discontinuity of encoder signal wire () Non-connection or poor connection of encoder connector CN () Defective encoder () HA-00B 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-00B driver and actuator have been disconnected for many hours. () Either the voltage of the backup capacitor in the encoder or HA-00B driver battery, whichever is higher, has become.v or below. () Encoder failure () The actuator has turned in one direction in excess of the multi revolution counter range of -,09 to +,09 revolutions (motor shaft). () Defective encoder () HA-00B 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-00B 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-00B driver. () Repair the wire. () Connect the connector properly. () Replace the actuator. () Replace the HA-00B driver. () Check the ground line or other ground. () Execute T0 in the test mode to clear the multi revolution data and then reconnect the power. () Execute T0 in the test mode to clear the multi revolution data and then reconnect the power. () Replace the HA-00B 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-00B driver. () Execute T0 in the test mode to clear the multi revolution data. () Replace the actuator. () Replace the HA-00B driver. -

109 - -bit absolute encoder Remedial action for warning Name Description Cause Action UA9 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-00B driver control circuit error () Encoder failure () Replace the battery with a new one. () Repair the wire. () Replace the HA-00B driver. () Replace the actuator. Encoder system -

110 - Incremental encoder - 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-00B-*C U V W R R R CN +V 0V SD SD Red White Black AC Servo Actuator FHA-C series FHA-Cminiseries Green/ Yellow Shield Be sure to connect to the ground terminal. Red Black Yello Blue M E 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 wire-saving incremental encoder Connector shell Shield Use a twisted pair shield cable. Securely connect the shield to the cable-clamp with grand plane of the connector. -

111 - Incremental encoder -wire incremental encoder model HA-00B-*B U V W Red White Black ACServo Actuator RSF/RKF series M Connector shell R R R CN +V 0V A A B B Z Z U 9 U 0 V V W W Shield Green/ Yellow Shield Be sure to connect to the ground terminal. Red Black Green Green/whit Gray Gray/white Yell Yellow/whit Bro Brown/whit Blu Blue/white Orange E Orange/white Use a twisted pair shield cable. -wire incremental Encoder Securely connect the shield to the cable-clamp with grand plane 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. Encoder system -

112 - Incremental encoder Startup Parameters that must be set Nothing in particular. Encoder system 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. 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-). -

113 - Incremental encoder Origin setting. When using the originating function of the host controller * Set the coordinate (set the origin) using the host controller based on the following procedure if the HA-00B is intended to be used in combination with the MP000 series by YASKAWA Electric Corporation or the KV-MLV controller by Keyence Corporation. For the notices when using the HA-00B in combination with a host controller, refer to [Notices when connecting the HA-00B with the machine controller (MP00) manufactured by YASKAWA Electric Corporation] or [Notices when connecting the HA-00B and KV-MLV controller by Keyence Corporation]. () Perform originating using the originating function of the host controller. *: The current HA-00B position display will not indicate zero at the mechanical origin, but it does not affect the operation. (The current position display of the host controller usually indicates zero.). When not using the originating function of the host controller * If not using the originating function of the host controller, perform the following to set the HA-00B coordinate (set the origin). () Set the virtual origin to zero (default), and reconnect the HA-00B power supply. () Perform originating to set the origin to be usually used (ZRET: AH). () Perform one of the following to confirm that the current incremental encoder value is set to 0. (a) 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]. (b) Use the status display panel for the HA-00B 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-). (c) Use the MECHATROLINK communication. For details, refer to [Status monitor command (SMON: 0H)] (P-). () By performing the JOG operation etc., move the operation section to the mechanical origin position. Be sure to carry out from the operation in Step () without shutting down the power. () With the operating section stopped at the mechanical origin, perform one of the methods in Step () to read the current incremental encoder value. () Perform either one of the following to set the current incremental encoder value that has been read as the virtual origin. (a) Use the HA-00 driver monitor software PSF-00. For details, refer to [Parameter setting] (P0-0). (b) Use the MECHATROLINK communication. For details, refer to [Non-volatile parameter write command (PPRM_WR: CH)] (P-). () Reconnect the power supply to the host controller and HA-00B. () When an originating operation is executed, the driver will stop at the mechanical origin determined in Step () and the current value will be set to 0. *: The current HA-00B position display will indicate zero at the mechanical origin. Encoder system *: Driver software Ver..x or later is explained. 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 -

114 - Incremental encoder Encoder system 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 LS Phase A (Encoder resolution) / * Phase B (Encoder resolution) / * Phase Z *: For example, assume that the encoder resolution is 0,000 pulses,,00 pulses (0,000 / ) are output. * A phase Z for the reduction ratio per shaft revolution of the output shaft is output for an actuator with a speed reducer. Phase A, B and Z output signal waveforms For FWD rotation, the phase A signal is output with an advance of 90 relative to the phase B signal. For REV rotation, the phase A signal is output with a delay of 90 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. Incremental output signal for FWD rotation Incremental output signal for REV rotation Phase A signal output Phase B signal output Phase Z signal output Phase A signal output Phase B signal output Phase Z signal output 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. -

115 - Incremental encoder Remedial action for error Name Description Cause Action AL0 Encoder breakage AL Encoder 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-00B driver control circuit error () Electrical discontinuity of encoder signal wire () Poor contact/connection of encoder signal connector CN () Defective encoder () HA-00B 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-00B 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-00B driver. () Repair the wire. () Connect the connector properly. () Replace the actuator. () Replace the HA-00B driver. () Check the ground line or other ground. () Repair the wire. () Connect the connector properly. () Replace the actuator. () Replace the HA-00B driver. Encoder system -

116 - Incremental encoder Encoder system -9

117 Chapter I/O signals Details of I/O signal conditions and signal functions are explained in this chapter. - I/O signal list - - Details of input signals - - Details of output signals - - Monitor output -0 - Connection example with default settings -

118 - I/O signal list - I/O signal list This unit communicates with the host device via the CN connector (0-pin half-pitch connector). The following explains the I/O signals used in this communication. Pin numbers and names of I/O signals The CN (0-pin half-pitch connector) pin numbers and corresponding signal names are shown in the table below. Logics can be set to input signals (pins to ) and output signals (pins to 0) using the system parameter mode. I/O signals Pin Input Signal Symbol No. Output FWD inhibit FWD-IH Input REV inhibit REV-IH Input Latch LATCH Input Latch LATCH Input Origin signal ORG Input Input signal common IN-COM Input Operation preparation complete READY Output Origin return complete ORG-END Output 9 In-position complete INPOS Output 0 Alarms ALARM Output Output signal common OUT-COM Output Encoder monitor (A+) A+ Output Encoder monitor (A-) A- Output Encoder monitor (B+) B+ Output Encoder monitor (B-) B- Output Encoder monitor (Z+) Z+ Output Encoder monitor (Z-) Z- Output Monitor ground MON-COM Output 9 0 Frame ground FG Output Do not connect the pins marked "-". These pins are connected to internal circuits, so connecting them may result in failure. 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 -

119 - I/O signal list 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: VDC ± 0% Current: 0 ma or less (per port) External power supply VDC GND FWD inhibit REV inhibit Latch Latch IN-COM FWD-IH REV-IH LATCH LATCH.k.k.k.k.k I/O signals Origin signal ORG The driver has no built-in input signal power supply. Connect VDC or GND to [CN-: Input signal common] as the common voltage of the external power supply for input signals. External IN-COM.kΩ 0.0μF PC VDC 0Ω Input signals -

120 - I/O signal list Input signal function (logic) Opt-isolator ON Input signal status from host Opt-isolator OFF Circuit status HA-00 IN-COM HA-00 IN-COM Logic setting 0: Normally open (contact A) Logic NO Enabled Disabled : Normally closed (contact B) Disabled Logic NC Enable: The function of the selected signal is enabled. Disable: The function of the selected signal is disabled. Enabled I/O signals Input signal functions can be changed using system parameters or servo parameter setting software PSF-00. For system parameters, refer to [SP: Input signal logic setting] (P-). For the operation method of the setting software PSF-00, refer to [Chapter 0 Communication software]. Output signal connection circuit The following explains how to connect the output signal port to the host device. This driver has output signal ports as shown below. Specifications of output ports Open-collector output opt-isolator insulation Voltage: VDC or less Current: 0 ma or less /per port Operation preparation complete READY Origin return complete ORG-END In-position complete INPOS 9 Alarms ALARM 0 Output signal COM OUT-COM -

121 - I/O signal list How to connect Connect an output signal between each output port and [CN-: Output signal common OUT-COM]. Voltage: VDC or less Current: 0 ma or less /per port Ry CN-, etc. HA-00B PC CN- OUT-COM Output signal function (logic) Function (logic) definition Transistor output signal status Transistor ON Transistor OFF Logic setting 00 Enabled Disabled 0 Disabled Enabled I/O signals Enabled: The function of the output signal is enabled. Disabled: The function of the output signal is disabled. How to change function (logic) Output signal functions can be changed using system parameters or servo parameter setting software PSF-00. For system parameters, refer to [SP: Output signal logic] (P-). For the operation method of the setting software PSF-00, refer to [Chapter 0 Communication software]. -

122 - Details of input signals - Details of input signals The following explains the details of input signals. For the signal logic, refer to P-. I/O signals CN-: FWD inhibit (FWD-IH) CN-: REV inhibit (REV-IH) This input is used to limit the motion range using a limit sensor signal set at the operation limit of the drive system. FWD inhibit: With the default setting, turning ON the input signal does not cause the actuator to generate torque in the forward direction. (The actuator does not generate torque in the reverse direction either, when the deviation is a positive value.) REV inhibit: With the default setting, turning ON the input signal does not cause the actuator to generate torque in the reverse direction. (The actuator does not generate torque in the forward direction either, when the deviation is a negative value.) With no normal rotation/ reverse rotation input, the actuator may stop with the position deviation not cleared, and the operation will not start even if a command to operate in the direction to cancel the FWD/REV inhibit input is executed until the position deviation is cleared. Note also that the actuator may suddenly rotate if the inhibit input is cancelled while the position deviation is not cleared. With the default setting, the actuator is set (normally open) in a way that turning OFF both input signals does not cause the actuator to generate torque in both the forward and reverse directions. To use these signals, do so upon changing the logic in system parameter, [SP: Input signal logic setting] (normally closed). 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]. REV inhibit FWD inhibit Motion range Commands from the host controller are received even in FWD/REV inhibit status. Therefore, the actuator keeps retaining position deviation values if a command continues to be sent in the inhibited direction in FWD/REV inhibit status, and an alarm for excessive position deviation values may occur, in which case the servo driver will turn OFF. CN-: Latch (LATCH) CN-: Latch (LATCH) These are input signals to be used for event occurrence condition (selected by LT_SGN) when the following commands are executed. Name Command Interpolated feed with position latch function LATCH (H) Positioning by external input EX_POSING (9H) Originating ZRET (AH) The logic can be changed in system parameter, [SP: Input signal logic setting]. With the default setting, it becomes the latch signal detected status when the input signal turns ON. -

123 - Details of input signals CN-: Origin signal (ORG) Connect the input of the sensor installed at the position you want to use as the origin of the system mechanism. The logic can be changed in system parameter, [SP: Input signal logic setting]. The logic is set to normally open in the default setting. When HA-00B performs an originating operation (ZRET: AH), this signal is input and an originating is performed by a latch signal. The parameters required for an originating (originating acceleration/deceleration time, originating approach speed and virtual origin) can be set in PSF-00. The originating speed is to be set using the host device. For details, refer to [Originating (ZRET: AH)] (P-). Originating acceleration/decelera tion time Origin signal Originating speed Originating approach speed Virtual origin I/O signals Latch signal * *: The latch signal shown in the figure represents the latch signal specified by a MECHATROLINK command. CN-: Input signal common (IN-COM) This is a common terminal for input signals: CN-,,, and. It supplies power to the external power supply for input signals. Connect the VDC or 0V side of the external power supply for input signals. -

124 - Details of output signals - Details of output signals The following explains the details of output signals. For the signal logic, refer to P-. I/O signals CN-: Operation preparation complete (READY) With the default setting, this signal turns ON when the servo motor is excited and becomes ready following the [Servo-ON (SV_ON: H)] command. It turns OFF if an alarm occurs. The logic can be changed in system parameter, [SP: Output signal logic setting]. With the default setting, the output transistor turns ON in the ready state. Connection method Voltage: VDC or less, current: 0mA or less (per port) Operation preparation complete CN- Ry READY HA-00B PC CN- OUT-COM CN-: Origin return complete (ORG-END) With the default setting, the signal turns ON when the originating (ZRET command) is completed. The signal may not turn ON since some host controllers do not use the ZRET command for originating. When the signal is used in a combination with an absolute encoder, it turns ON once the control circuit power supply is connected to the HA-00B driver and the current encoder value is read. The logic can be changed in system parameter, [SP: Output signal logic setting]. With the default setting, the output transistor turns ON when the system is operating normally. Connection method Voltage: VDC or less, current: 0 ma or less (per port) Origin return complete Ry CN- HA-00B ORG-END PC CN- OUT-COM It turns OFF if an encoder alarm occurs. It turns OFF while the originating (ZRET command) is being executed. -

125 - Details of output signals CN-9: In-position complete (INPOS) With the default setting, this signal turns ON to indicate completion of positioning when the value of the deviation counter changes to or below the value set in [AJ0: In-position range] accessible from [Adjustment parameters]. Use this signal for confirmation of in-position, etc. at the host device. The signal is not valid in speed control or torque control. The logic can be changed in system parameter, [SP: Output signal logic setting]. With the default setting, the output transistor turns ON when the accumulated pulses in the deviation counter drop to or below the set value of in-position range. Connection method Voltage: VDC or less, current: 0 ma or less (per port) In-position complete CN-9 Ry INPOS HA-00B PC CN-0: Alarm (ALARM) CN- OUT-COM With the default setting, this signal turns OFF when an alarm occurs following an error detection by the HA-00B driver. This is a normally closed signal (NC, contact b). The logic can be changed in system parameter, [SP: Output signal logic setting]. With the default setting, the output transistor turns ON when the system is operating normally. I/O signals Connection method Voltage: VDC or less, current: 0 ma or less (per port) Alarms Ry CN-0 ALARM HA-00B PC CN- OUT-COM CN-: Output signal common (OUT-COM) This is a common terminal for output signals CN-,, 9 and 0. -

126 - Details of output signals I/O signals CN- to : Encoder signal output (A, B, Z) The encoder's phase A, B, and Z signals are output via a line driver (LS). Pin No. Name Symbol Encoder monitor (A+) A+ Encoder monitor (A-) A- Encoder monitor (B+) B+ Encoder monitor (B-) B- Encoder monitor (Z+) Z+ Encoder monitor (Z-) Z- Connection method Receive the signals using a line receiver (AMLS or equivalent). * Use an EIA-A compliant line receiver. 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 LS -9

127 - Monitor output - Monitor output The following explains how to output speed waveforms, current waveforms, and the signal waveforms set in system parameter mode, [SP0: CP output signal setting], that are output via the CN9 connector. CN9-: 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 obtained by the value set in system parameter [SP: Speed input factor]. Note, however, that the output is unstable for seconds after the power is turned ON. (A maximum of approx. ±V may be output.) Motor rotation speed (r/min) = Speed monitor output voltage (V) Speed input factor (r/min) 0.0 (V) Output specifications Output voltage range: -0 to +0V Output impedance: kω Connection method Plug the supplied connector into CN9 and check the waveform between [CN9- speed monitor: SPD-MON] and [CN9- monitor ground: GND] using an oscilloscope. SPD-MON CN9- CN9- Ω GND I/O signals CN9-: Current monitor (CUR-MON) The actuator current is output as voltage. The voltage is output based on the maximum actuator current being +0V. Note, however, that the output is unstable for seconds after the power is turned ON. (A maximum of approx. ±V may be output.) Actuator current (A) = Current monitor output voltage (V) = Max. current (A) 0.0 (V) Output specifications Output voltage range: -0 to +0V Output impedance: kω Connection method Plug the supplied connector into CN9 and check the waveform between [CN9- current monitor: CUR-MON] and [CN9- monitor ground: GND] using an oscilloscope. CUR-MON CN9- CN9- kω GND -0

128 - Monitor output CN9-: Signal monitor (SIG-MON) The signal waveform set in signal parameter [SP0: CN9-CP output signal setting] is output. The output voltage is 0V for Low and.v for High. Note, however, that the output is unstable for seconds after the power is turned ON. (A maximum of approx. ±V may be output.) Output specifications Output voltage range: 0 or.v Output impedance: kω Connection method Plug the supplied connector into CN9 and check the waveform between [CN9- signal monitor: SIG-MON] and [CN9- monitor ground: GND] using an oscilloscope. SIG-MON CN9- CN- kω GND I/O signals CN9-: Monitor Ground (GND) This is a common terminal for analog monitors CN9-, and. * An optional dedicated cable is required to monitor the signal. (EWA-MON0-JST) Color : Red, : White, : Black, : Green -

129 - Connection example with default settings - Connection example with default settings -wire-saving incremental model (FHA-C series) HA-00B-*C MECHATROLINK communication External power supply VDC 0V FWD inhibit REV IN-COM FWD-IH REV-IH SRD+ SRD- SLD SRD+ SRD- SLD CN A A A A B B B B CN.k.k.k TB T S R s r TB U V W Line filter L/F Line filter L/F Red White Black CP NFB Power supply transformer ACServo Actuator FHA-**C M Power input AC00V (0/0Hz) or AC00V (0/0Hz) I/O signals Latch Latch Origin signal Operation preparation complete Origin return complete In-position complete LATCH LATCH ORG READY ORG-END INPOS 9.k.k R R R Green/ Yellow Shield Be sure to connect to the ground terminal. 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. Alarms ALARM 0 Output signal COM OUT-CO CN 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 Encoder monitor ground LS Connector shell +V 0V SD SD Shield Red Black Yellow Blue E Incremental encoder Use a twisted pair shield cable. Securely connect the shield to the cable-clamp with grand plane of the connector. Connector shell -

130 - Connection example with default settings -bit absolute model (FHA-C series) HA-00B-*A I/O signals MECHATROLINK communication External power supply VDC 0V FWD inhibit REV Latch Latch Origin signal Operation preparation complete Origin return In-position READY INPOS SRD+ SRD- SLD SRD+ SRD- SLD IN-COM FWD-IH REV-IH LATCH LATCH ORG ORG-END CN A A A A B B B B CN 9.k.k.k.k.k TB T S R s r TB U V W R R R Line L/F Line L/F Red White Black Green/ Yellow CP NFB Power supply transformer ACServo Actuator FHA-**C Shield M Be sure to connect to the ground terminal. Power input AC00V (0/0Hz) or AC00V (0/0Hz) 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. Alarms Output signal ALARM OUT-CO 0 CN CLR Green White 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 Encoder monitor ground LS +V 0V SD SD BAT+ BAT- Red Black Yellow Blue Orange Gray E -bit absolute encoder Connector shell Shield Use a twisted pair shield cable. Connector shell Securely connect the shield to the cable-clamp with grand plane of the connector. -

131 - Connection example with default settings -bit absolute encoder model (SHA) HA-00B-*D MECHATROLINK communication External power supply VDC 0V FWD inhibit REV inhibit Latch Latch Origin signal Operation preparation complete Origin return complete In-position complete SRD+ SRD- SLD SRD+ SRD- SLD CN A A A A B B B B Alarms ALARM 0 Output signal COM IN-COM FWD-IH REV-IH LATCH LATCH ORG READY ORG-END INPOS OUT-CO CN 9.k.k.k.k.k TB T S R s r TB U V W R R R CN +V 0V Line L/F Line L/F ACServo Actuator Red SHA White Black Green/Yellow CP Be sure to connect to the ground terminal. Red Black M E NFB Power supply transformer Power input AC00V (0/0Hz) or AC00V (0/0Hz) 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. I/O signals 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 Encoder monitor ground Connector shell LS 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 plane of the connector. Connector shell -

132 - Connection example with default settings I/O signals -

133 Chapter Panel display and operation How to operate the display and operation buttons on the driver's front panel and overview of operation in each mode are explained. - Operating display panel -

134 - Operating display panel - Operating display panel The front display panel has a -digit LED display and operation keys. You can perform display, tuning, setting and other operations other than specifying network-related settings on this display panel. Summary of modes The display panel is operated in the modes specified below. 0 Panel display and operation ppe Status display mode (d00 to d) The current position information from the motor encoder, condition of cumulative pulses in the deviation counter, I/O signal statuses, load condition, alarm history and code number of the actuator to be combined are shown, among others. 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 HA-00B driver switches to the alarm mode, regardless of the present mode of the display panel, and shows the present alarm code. For details, refer to [Alarm mode] (P-). Tune modes, and (AJ00 to AJ9) Parameters, such as a servo gain, can be displayed and changed. Tune mode parameters can be changed even when the actuator is operating. Changes are reflected in real time. For details, refer to [Tune mode] (P-). System parameter configuration modes and (SP0 to SP9) These set the HA-00B driver functions. The set values will become effective when the HA-00B driver power supply is reconnected. For details, refer to [System parameter mode] (P-). Test modes (T00 to T) You can monitor CN I/O signals, operate output signals, initialize parameters, and perform multi revolution clear and auto-tuning. You can also perform a simple JOG operation, and thus, the actuator can be operated simply by connecting the HA-00B driver and the actuator. -

135 - 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 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. MODE UP DOWN S E T The display software version is shown for approx. second. MODE UP DOWN S E T MODE UP Normal DOWN S E T Alarm The control software version is shown for approx. second. Panel display and operation 0 MODE UP DOWN S E T The status data set by system parameter [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. Appe The decimal point in the fifth digit indicates the servo-on. Lit: Servo-ON Unlit: Servo-OFF MODE UP DOWN S E T -

136 - Operating display panel 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 UP or DOWN MODE UP DOWN S E T MODE MODE Alarm mode Details of each mode UP or DOWN 0 Panel display and operation ppe MODE MODE UP DOWN S E T MODE Tune mode MODE Tune mode MODE Tune mode MODE UP or DOWN MODE Note: Do not change the tune mode parameters. System parameter mode (function extension signals) MODE System parameter mode (function extension signals) MODE UP or DOWN MODE UP or DOWN MODE UP or DOWN MODE UP or DOWN MODE Details of each mode Details of each mode Details of each mode Details of each mode Test mode Details of each mode UP or DOWN UP or DOWN MODE UP DOWN S E T MODE MODE -

137 - Operating display panel Operation overview 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 MODE MODE MODE UP DOWN S E T 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 SET Status data is shown. MODE UP DOWN S E T UP DOWN Panel display and operation 0 MODE UP DOWN S E T UP DOWN Appe MODE UP DOWN S E T UP -

138 - Operating display panel 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 MOD UP DOWS E T MODE UP DOWN S E T MODE UP DOWN UP DOWN UP 0 Panel display and operation ppe MODE UP DOWN S E T UP DOWN Alarm history (most recent) SET MODE UP DOWN S E T Alarm code No. UP DOWN Alarm history (second most recent) MODE UP DOWN S E T UP DOWN Total operating 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-0). UP -

139 - Operating display panel Operation overview 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 MODE MODE MODE UP DOWN SET UP MODE UP DOWN SET UP MODE UP DOWN SET UP DOWN AJ00 to 9 AJ0 to 9 AJ0 to 9 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 0 UP DOWN Appe MODE UP DOWN SET UP -

140 - Operating display panel How to change set value Press the SET button and release it before the flickering stops (within approx. second), and the change will be cancelled. Parameter set value UP SET or 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 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.) SET 0 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. ppe -

141 - 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. System parameter System parameter MODE MODE MODE UP DOWN S E T MODE UP DOWN S E T UP UP Function extension signals Function extension signals DOWN UP DOWN MODE UP DOWN SET UP DOWN SET Set value MODE UP DOWN SET UP DOWN Refer to the next page for the setting method. Panel display and operation 0 MODE UP DOWN SET UP DOWN Appe MODE UP DOWN SET UP * The setting change of the system parameters (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. -

142 - Operating display panel How to set function extension signals (SPxx) Example) Changing [SP0: CN9-CP output signal setting] to MODE UP DOWN S E T Set value MODE UP DOWN SET Press the SET button and release it before the flickering stops (within approx. second), and the change will be cancelled. SET 0 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 ppe -9

143 - 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 9 Test mode]. System parameter Test mode Status display mode MODE MODE MODE MODE UP DOWN S E T MODE UP DOWN S E T MODE UP DOWN SET DOWN UP 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 0 MODE UP DOWN S E T UP DOWN Appe MODE UP DOWN S E T UP -0

144 - Operating display panel 0 Panel display and operation ppe -

145 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 -9 - Tune mode - - Details of tune mode -

146 - Status display mode - 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-). Status display mode/alarm mode/tune mode 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) 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 from 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- d09 System reservation Do not use d0 Main circuit power The rectified main circuit power voltage is voltage shown. -- V -- d System reservation Do not use d System reservation Do not use d Applicable actuator code The actuator code number is shown P- -

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

148 - Details of status display mode - 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+ Error pulse Driver - Feedback pulse Status display mode/alarm mode/tune mode d0 indicates the lower digits, while d0 indicates the upper digits. Display example) Relational items d0 (Low) MODE UP DOWN S E T The lower digits of the error pulse (multiplied by ) are shown. Unit: Pulse (Example) = -0 pulses d0, d0, d0, d0 -

149 - 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 an alarm [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 (Max. current) ti Actuator current Status display mode/alarm mode/tune mode -

150 - 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) MODE UP DOWN S E T MODE UP DOWN S E T Status display mode/alarm mode/tune mode Display range: 0 to ± When the feedback pulses increase to a 9-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 Feedback pulse: [990] is shown. d0 (Low) MODE UP DOWN S E T Command pulse: [] is shown. Display range: 0 to ± When the command pulses increase to a 9-digit figure, the highest digit is ignored and only the lower digits are shown. Relational items d0, d0, d0, d0 -

151 - Details of status display mode 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 Voltage specification Encoder Absolute 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 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 0-0 FHA-C 0-0 FHA-C V FHA-C - FHA-C - FHA-C - FHA-0C - 00 V FHA-C 0-0 FHA-C 0-0 FHA-C 0-0 FHA-C - FHA-C - FHA-C - Status display mode/alarm mode/tune mode Codes of RSF series actuators Encoder Incremental Voltage specification Reduction ratio /0 /00 RSF-A 00 V RSF-0A RSF-A RSF-A -

152 - Details of status display mode d: Regenerative power (HA-00B- 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. Regenerative resistor absorption power (W) = 000 (W) x Motor display value (%) 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-00B-. With the HA-00B-, and, the power absorbed by regenerative resistor is unrelated. Status display mode/alarm mode/tune mode -

153 - Alarm mode - 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-9 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-0 A Alarm history and time of occurrence A Alarm history and time of occurrence Status display mode/alarm mode/tune mode -

154 - 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 Status display mode/alarm mode/tune mode The relationship of displayed code numbers and alarms/warnings is shown below. For details, refer to [Chapter Troubleshooting]. Alarms MODE UP DOWN S E T Code No. Alarms Code No. Alarms Code No. Alarms 0 Overspeed 0 Encoder breakage FPGA configuration error 0 Overload Encoder receiving *, * error FPGA configuration error 0 IPM error (overcurrent) UVW error * Processor error 0 Overvoltage System failure * 0 MEMORY error * Regenerative resistor Multi revolution * overheat overflow System failure* Overregeneration * Multi revolution data error * Single rotation data error * Missing phase * WDT error Multi revolution data error * Control power supply low * Synchronization error BUSY error * Main circuit voltage * low 0 Excessive deviation Overheat error* Overheated dynamic * brake 0 Memory failure (RAM) Communication error* Damaged power circuit Memory failure (EEPROM) *: 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) *: HA-00B- only is displayed MODE UP DOWN S E T Ex) This indicates that the excessive deviation alarm has occurred. Warning Code No. Alarms Code No. Alarms Code No. Alarms 90 Overload status 9 Command data error 9 REV inhibit input effective 9 Battery voltage low 9 Command error 99 Wrong actuator 9 Cooling fan stopped 9 Communication warning 9 Main circuit voltage low 9 FWD inhibit input effective -9

155 - 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

156 - Tune mode - Tune mode You can read and change parameters relating to actuator operations. The following items can be changed. mode Display Parameter name Default Reference Status display mode/alarm mode/tune mode Tune mode Tune mode Tune mode AJ00 Position loop gain * P- AJ0 Speed loop gain * P- AJ0 Speed loop integral compensation * P- AJ0 j0 Feed-forward gain 0 P- AJ0 In-position range * P- AJ0 System reservation * - - AJ0 System reservation * - - AJ0 Zero speed judgment value 0 P- AJ0 System reservation * - - AJ09 System reservation * - - AJ0 System reservation * - - AJ System reservation * - - AJ Acceleration time constant (position control) Acceleration/deceleration time P- setting (speed control) AJ Deceleration time constant (position control) P- AJ System reservation * - - AJ System reservation * - - AJ Speed monitor offset * P- AJ Current monitor offset * P- AJ FWD torque limit P- AJ9 REV torque limit P- 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- AJ Automatic positioning gain 0 P- AJ to 9 System reservation * - - AJ0 to 9 System reservation * - - *: It varies depending on the applicable actuator. Refer to the values of applicable actuator that are the targets of [Appendix-: Default setting] (Apx-). *: It varies depending on the driver. *: Do not change parameters in the system reservation area. 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--. Writing a saved settings file to the driver] (P0-). -

157 - Details of tune mode - 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 9999 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] (Apx-) 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. - * 9999 Relational items AJ00, AJ0, AJ0 *: The default varies depending on the applicable actuator. Refer to [Default settings] (Apx-) in the Appendix-. Status display mode/alarm mode/tune mode -

158 - 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 9999 Set the speed loop integral compensation value. - * Relational items AJ00, AJ0, AJ0 *: The default varies depending on the applicable actuator. Refer to [Default settings] (Apx-) in the Appendix-. Status display mode/alarm mode/tune mode 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 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. * The setting value of AJ0 is the encoder pulse units. Set value Function Unit Default 0 to 9999 Set the range in which to output an in-position output signal. Pulse * *: The default varies depending on the applicable actuator. Refer to [Appendix-: Default settings] (Apx-). -

159 - Details of tune mode AJ0: Zero speed judgment value A zero speed detection signal (ZSPD) of the MECHATROLINK status is output when the actuator's motor shaft rotation speed drops to the zero speed judgment value or below. Set value Function Unit Default 0 to 00 Set the zero speed judgment value. r/min 0 A zero speed detection (ZSPD) is not performed in the position control mode. AJ: Acceleration time constant Set the time over which the actuator will accelerate from the standstill state to the maximum speed during position control. Set the time over which the actuator will accelerate from the standstill state to the maximum speed and decelerate from the maximum speed to 0 r/min during speed control. Set value Function Unit Default to 9999 Set the time over which to accelerate from the standstill state to the maximum speed. ms This is used for position control and speed control. AJ: Deceleration time constant Set the time over which the actuator rotation speed will decelerate from the maximum speed to 0 r/min during position control. Set value Function Unit Default to 9999 Set the time over which to decelerate to 0 r/min. ms This is used for position control. Status display mode/alarm mode/tune mode -

160 - Details of tune mode AJ: Speed monitor offset Adjust the speed monitor output offset currently output to CN9. 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 CN9. 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. Set value Function Unit Default Set the offset value for current monitor * -0 to 0 - output. *: The default value varies depending on the driver. Status display mode/alarm mode/tune mode AJ: FWD torque limit This parameter is used to limit the torque to the specified value when bit (P-CL) of the option field in the MECHATROLINK command packet is set to. Set value Function Unit Default to 00 Specify the torque limit based on the ratio with the maximum current of the actuator set at 00%. % Torque cannot be limited by this parameter in an operation executed by a torque command. AJ9: REV torque limit This parameter is to be used to limit the torque to the specified value when bit (N-CL) of the option field in the MECHATROLINK command packet is set to. Set value Function Unit Default to 00 Specify the torque limit based on the ratio with the maximum current of the actuator set at 00%. % Torque cannot be limited by this parameter in an operation executed by a torque command. -

161 - Details of tune mode 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, SP9 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, SP9 When using the feed-forward control function, be sure to reference [Applied servo gain adjustment function] (P-) and understand the notices. Status display mode/alarm mode/tune mode -

162 - Details of tune mode 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, SP9 When using the feed-forward control function, be sure to reference [Applied servo gain adjustment function] (P-) and understand the notices. Status display mode/alarm mode/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, SP9 When using the feed-forward control function, be sure to reference [Applied servo gain adjustment function] (P-) and understand the notices. AJ: Automatic positioning gain This can be used to adjust the gain that is set when [SP0: Automatic positioning gain enable/disable] is enabled. * This is available with HA-00B software version.x or later. Set value Function Unit Default -0 to 00 Set the amount of increase/decrease in an automatic positioning gain. % 0 Relational items SP0 -

163 Chapter System parameter mode The following explains the I/O signal logic setting method and the setting details of the electronic gear, etc. as function expansion. - System parameter mode -

164 - System parameter mode - System parameter mode The following explains the parameters that can be operated/displayed in each operation mode. The settable parameters are explained below. * The setting change of the system parameters (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. System parameter mode Parameters No Name The reference set value defaults Reference SP0 CN9-CP output signal setting 00 P- SP System reservation * SP System reservation * SP System reservation * SP Electronic gear numerator P- SP Electronic gear denominator P- SP System reservation * SP System reservation * SP Deviation clear upon servo-on setting P- SP9 Allowable position deviation * P- SP0 Command polarity 0 P- SP Speed input factor setting * P- SP System reservation * SP System reservation * SP Status display setting 0 P- SP DB enable/disable setting P- SP System reservation * SP System reservation * SP System reservation * SP9 Angle compensation enable/disable setting 0 P- SP0 Automatic positioning gain setting enable/disable setting * P- SP Encoder monitor output pulses * P- SP Input signal logic setting 0 P- SP Output signal logic setting P- SP Regenerative resistor selection (HA-00B- only) 0 P- SP FWD/REV inhibit operation 0 P- SP Absolute encoder function setting * P-9 SP System reservation * SP System reservation * SP9 Feed-forward control function setting * P-9 SP0 to SP9 System reservation * *: It varies depending on the applicable actuator. Refer to the values of applicable actuator that are the targets of [Appendix-: Default setting] (Apx-). *: The system parameters (SP0 to 9) 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. -

165 - System parameter mode 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, comparing and copying set values] (P0-). *: HA-00B-*D;SP=0 HA-00B-*E;SP= System parameter mode -

166 - System parameter mode SP0: CN9-CP output signal setting Set the monitor output signal to pin of CN9. * The setting change of the system parameters (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. Set value Description Default 00 Without output 0 Operation preparation complete 0 Alarm output 0 In-position output 0 System reservation 0 System reservation 0 Zero speed output 0 System reservation 00 SP to : Electronic gear setting It can be set to make the displacement of the driven actuator mechanism per command pulse, an integer. When the host controller is used in combination with the MP000 series by YASKAWA Electric Corporation or the KV-MLV controller by Keyence, use this setting for the default value, and use the host controller to specify the settings. * The setting change of the system parameters (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. System parameter mode Rotary operation Linear operation This is a setting function available for the incremental encoder. It cannot be set for the absolute encoder. Electronic gear numerator (SP) Travel angle per command pulse = Actuator resolution Electronic gear denominator (SP) Reduction ratio of load mechanism 0 Electronic gear numerator (SP) Travel distance per command pulse = Actuator resolution Electronic gear denominator (SP) Feed pitch of load mechanism Set integers for both the denominator and numerator based on this formula: Combined encoder = Incremental encoder Parameter No. Name Set value Default Electronic gear numerator to 9999 Electronic gear denominator to 9999 Combined encoder = Absolute encoder Parameter No. Name Set value Default Electronic gear numerator Electronic gear denominator -

167 - System parameter mode SP: Deviation clear upon servo-on setting The deviation can be reset to 0 when the servo-on signal is input. * The setting change of the system parameters (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. Set value Function Default When the servo is turned ON while there is a 0 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. Exercise caution. SP9: 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 SP9 is the encoder pulse units. * The setting change of the system parameters (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. Set value Unit Unit Default Allowable value of position x,000 pulses to 9999 * deviation *: The default varies depending on the applicable actuator. Refer to [Default settings] (Apx-) in the Appendix-. System parameter mode -

168 - System parameter mode SP0: Command polarity Set the actuator rotation direction during positioning. * The setting change of the system parameters (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. Set value Function Default 0 CW (clockwise) direction is forward 0 CCW (counterclockwise) direction is forward *: With the SHA-SG/HP type, rotation is in the opposite directions from those above. This parameter affects the commands and monitoring that use MECHATROLINK. It does not affect test operation and other operations performed from PSF-00 or HA-00B panel. The following shows the affected range of command polarity. System parameter mode : SP0 setting is affected, : SP0 setting is not affected. ML communication Input signals Display panel INTERPOLATE FWD inhibit/rev inhibit JOG operation POSING Auto-tuning FEED Command pulse LATCH Feedback pulse EX_POSING Output signals Error pulse VELCTRL Output signal encoder monitor Speed display TRQCTRL Analog speed monitor Torque display Status_soft limit Analog current monitor FWF/REV torque limit FWD/REV soft limit Monitor information_pos Monitor information_mpos PSF-00 Network parameters Monitor information_perr JOG operation Final external positioning distance Monitor information_apos Program operation Virtual origin Monitor information_lpos Auto-tuning Originating direction Monitor information_ipos Command pulse Monitor information_tpos Feedback pulse Monitor information_fspd Error pulse Monitor information_cspd Speed display Monitor information_tspd Torque display Monitor information_trq -

169 - System parameter mode SP: Speed input factor setting Use this factor to output the voltage of the following formula to [CN9-: Speed monitor output]. Speed monitor output voltage (V) = Rotation speed (r/min) 0.0 (V) Speed input factor (r/min) * The setting change of the system parameters (SP0 to 9) 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] (Apx-) in the Appendix-. 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 (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. Set value Function Default 00 to Status display mode number to be displayed 0 SP: DB enable/disable setting Set whether to enable or disable the dynamic brake. Use this parameter for HA-00B-,, and. In HA-00B-, 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-00B- by setting SP =. * The setting change of the system parameters (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. Set value Function Default 0 Disabled Enabled SP9: Angle compensation enable/disable setting Set the angle compensation to be applied when a FHA-Cmini series (FHA-C/C/C) driver is combined. 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 (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. Set value Function Default 0 Do not compensate 0 Compensate System parameter mode -

170 - System parameter mode SP0: Automatic positioning gain setting enable/disable setting The automatic positioning gain setting function can be used when a FHA-Cmini 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 (SP0 to 9) 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] (Apx-) in the Appendix-. System parameter mode 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. Do not change the setting if you use the ZRET command. * The setting change of the system parameters (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. Set value Function Unit Default Number of pulses output to the encoder to 9 Pulse * monitor output terminal *: The default varies depending on the applicable actuator. Refer to [Default settings] (Apx-) in the Appendix-. SP: Input signal logic setting Set the input signal logic. * The setting change of the system parameters (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. Bit Bit Bit Bit Bit 0 Origin signal Latch Latch REV inhibit FWD inhibit Set value (bit) Function Unit Default 0 Normally open (contact A) Signal function is enabled when input opt-isolator is turned ON. Normally closed (contact B) 0 Signal function is enabled when input opt-isolator is turned OFF. *: Set a value being the total sum of the values that are raised to the power of for each bit. -

171 - System parameter mode SP: Output signal logic setting Set the output signal logic. * The setting change of the system parameters (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. Bit Bit Bit Bit 0 Alarms In-position complete Origin return complete Operation preparation complete Set value (bit) Function Unit Default 0 Normally open (contact A) Transistor turns ON when the output signal is enabled. Normally closed (contact B) Transistor turns OFF when the output signal is enabled. *: Set a value being the total sum of the values that are raised to the power of for each bit. SP: Regenerative resistor selection (HA-00B- only) Set this parameter on HA-00B- according to the connected regenerative resistor. At shipment from our factory, 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 (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. Set value Function Unit Default 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. * The setting change of the system parameters (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. Set value Function Unit Default 0 The actuator does not generate torque in the inhibited direction when FWD/REV inhibit input is enabled. - 0 The servo lock is engaged when FWD/REV inhibit input is enabled. * This is available for HA-00B software version.x or later. System parameter mode -

172 - System parameter mode 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-00B-*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 9) are put into effect by changing the setting, then turning control power supply OFF, then ON again. Set value Function Unit Default 0 Use as an absolute encoder. - * Use as an incremental encoder. *: HA-00B-*D;SP=0, HA-00B-*E;SP= System parameter mode SP9: 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 9) 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. -9

173 Chapter 9 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. 9- Test mode 9-9- Details of test mode 9-

174 9- Test mode 9- 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 Display Description Details T00 I/O signal monitor P9- T0 Output signal operation P9- T0 JOG speed setting P9- T0 JOG acceleration/deceleration time constant setting P9- T0 JOG operation P9- T0 Parameter initialization P9- T0 System reservation - T0 System reservation - T0 Multi revolution clear P9- T09 Auto-tuning P9-9 T0 Auto-tuning travel angle setting P9- T Auto-tuning level selection P9- Do not set/operate the items that are reserved by the system. Test mode 9 Test mode 0 Appe 9-

175 9- Details of test mode 9- 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 SET The third digit indicates the output status, while the fifth digit indicates the input status. Lit: ON Unlit: OFF Output Input MODE UP DOWN S E T UP or DOWN MODE UP DOWN S E T Pressing the UP or DOWN button returns the screen to the number display in the test mode. 9 Operation preparation complete Alarms Origin return complete In-position complete Origin signal FWD inhibit Latch REV inhibit Latch Test mode 0 Appe The decimal point in the input monitor indicates the servo-on. (It does not indicate the input signal status.) The servo turns ON when the decimal point becomes lit. 9-

176 9- Details of test mode T0: Output signal operation Output signals can be turned ON/OFF as desired. With this operation, the output signal is actually output. Take note that the equipment may operate due to the operation. Also, the operation can be done even when HA-00B 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. 9 Test mode 0 Appe 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 MODE UP DOWN S E T MODE UP 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 that output,,..., can be operated, respectively. * [] to [] are displayed, but the applicable range for the output signal operation with the HA-00B driver is [] to []. 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) MODE ON UP First digit MODE UP DOWN S E T UP DOWN S E T DOWN S E T Fifth digit Press the SET button, and the display will return to [T0]. 9-

177 9- 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 JOG speed setting is displayed. (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 Change the set value. SET 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 9 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 Test mode 0 Appe The value set here is not stored. When the HA-00B 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. 9-

178 9- 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 the max. rotational speed of the motor, or time to decelerate from the max. rotational speed of the motor to the standstill state. Setting range: to 9999 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. 9 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 0 Appe. 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-00B driver power is reconnected, it will return to the default value. 9-

179 9- 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 setting] and [T0: JOG acceleration/deceleration time constant setting] is used to perform JOG operation of the actuator. WARNING The actuator operates ignoring even the FWD/REV inhibit input signals during the JOG operation; operate carefully paying attention to the surrounding conditions. JOG operation is not performed accurately if the host controller and the MECHATROLINK are connected. When performing a JOG operation, disconnect the MECHATROLINK cable and restart the driver first. Do not perform a test run using the communication software PSF-00 simultaneously. The operation becomes unstable. The torque limit function is disabled during the JOG operation. 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, 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. The rotation speed will reach the speed set in [T0: JOG speed]. Acceleration and deceleration conform to the data set in [T0: JOG acceleration/deceleration time]. MODE MODE UP UP DOWN S E T SET DOWN S E T 9 Test mode 0 Appe Press the UP button, and the actuator will rotate in the CW direction. 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. 9-

180 9- 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-00B driver power. All parameters are initialized (excluding AJ and AJ). Since the logical setting of the I/O signal is 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-00B 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. 9 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 0 Press and hold the SET button until the display stops flickering and becomes lit, and then release the button. (Approx. seconds or more) The motor code is initialized and the test mode number is displayed. 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 Appe 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. 9-

181 9- 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-Cmini or FHA-C absolute system, 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-00B 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 DOWN S E T 9 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 SET DOWN S E T Test mode 0 SET Appe 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 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 9-

182 9- Details of test mode T09: 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 CW direction and then,000 degrees in the CCW 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 travel angle setting]. Do not perform any operation as it may be unstable during a MECHATROLINK communication. To perform an auto-tuning, disconnect the MECHATROLINK communication cable to disable communication and restart HA-00B. Performing an auto-tuning during a MECHATROLINK communication may result in an unexpected behavior. 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. 9 While [T09] 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 Test mode 0 Appe Press the SET button. Displayed [-A.c.] flickers. Press and hold the SET button for at least 0. second. [-A.c.] changes to [run] and the actuator is excited, after which it moves in the forward direction by the displacement set in [T0: Auto-tuning travel angle setting]. Thereafter, the actuator moves in the CCW 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.]. MODE MODE UP DOWN S E T SET DOWN S E T To cancel the auto-tuning, press the UP or DOWN button. The screen returns to the test mode number display. 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 MODE UP DOWN S E T UP DOWN S E T 9-9

183 9- Details of test mode Depending on the rotation position, a large load variation does not allow the load to be estimated properly which makes auto-tuning impossible. Adjust using the manual. 9 Test mode 0 Appe 9-0

184 9- Details of test mode T0: Auto-tuning travel angle setting 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 9 Press the UP or DOWN button to change the auto-tuning displacement. 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. MODE UP DOWN S E T UP or DOWN Test mode 0 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 UP DOWN S E T Appe 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. MODE UP DOWN S E T 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-00B driver is restarted, the set value returns to the default (000 ). 9-

185 9- 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 UP or DOWN 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 DOWN S E T 9 Test mode 0 Appe 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-00B driver is restarted, the set value returns to the default (). 9-

186 9- Details of test mode 9 Test mode 0 Appe 9-

187 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, and monitor servo operation waveforms are explained in this chapter. 0- Overviews 0-0- Auto-tuning 0-0- Parameter setting Saving, comparing and copying set values 0-0- Test operation Output signal operation 0-0- IO monitor 0-0- Waveform monitoring Alarm 0-

188 0- Overviews 9 0 Communication software Appe 0- Overviews 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-00needs 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 Xp, Windows Vista *, or Windows *, having a built-in RS-C communication port OS 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-

189 0- Overviews () 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-00B. 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. *: Dedicated communication cable RS-C communication cable: EWA-RS0 9 0 Communication software Appe 0-

190 0- Overviews 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. 9 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-

191 0- Overviews Initial screen The initial screen of PSF-00 is shown below. Menu Servo-ON display Connected model name Version number display Motor code display Operation control mode display Running status display Alarm display Status Display window Auto-tuning window 9 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-

192 0- Overviews Menu File Open Read the parameter set value, test operation patterns, and waveform monitoring data from the file via the parameter setting, test operation and waveform monitoring operation, respectively. Save As Save the parameter set value, test operation patterns and waveform monitoring data in the file from the parameter setting, test operation, and waveform monitoring operation, respectively. Exit --- Exit the program. Axis When PSF-00 is connected with HA-00B, driver can be operated. Connection example of PSF-00 and HA-00B 9 Master (PC) 0 Communication software Appe RS-C Between PC and driver Dedicated communication cable Model No.: EWA-RS0 (option) Window Although the status display screen opens when the software is started, you can change the initial screen in the Window menu. 0-

193 0- Overviews Detailed display area Axis number display When HA-00B and PSF-00 are connected, the axis number is fixed to Axis 00. 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) (Unlit) HA-00 power supply OFF Or PSF-00 is offline. Alarm display A red light flickers when the HA-00 is generating an alarm. (Red) Alarm is generating No alarm (Unlit) Servo-ON 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. 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) 9 0 Communication software Appe (Unlit) 0-

194 0- Overviews Status display In the Status Display window, you can monitor the operating status and values. 9 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 rpm reaches,000 r/min or higher. ON is shown if the motor rotation speed drops to or below the zero speed judgment value set by an adjustment parameter. ON is shown if the motor output torque reaches 0% or more of the maximum torque. ON is shown if the FWD inhibit signal is enabled. ON is shown if the REV inhibit signal is enabled. With the HA-00B, this display is OFF. 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. Overload rate Main circuit power The rectified AC voltage [V] of the main circuit is shown. 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 power (W) =,000 Display value [0.0%] 0000[0.0%] Ex) When display value = 0, absorption power = [W] * This value monitor is available only for HA-00B-. With the HA-00B-, and, the power absorbed by regenerative resistor is unrelated. 0-

195 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 CW direction and then,000 degrees in the CCW 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. Auto-tuning is not performed if the MECHATROLINK cable is connected. Disconnect the cable and restart the driver first. 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. Disconnect the MECHATROLINK cable and turn ON the driver power. 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. 9 0 Communication software Appe 0-

196 0- Auto-tuning When the auto-tuning is completed, the servo gain is displayed. After the auto-tuning, the Position Loop Gain, Speed Loop Gain, Speed Loop Integration and Load Inertia Moment Ratio are changed to values appropriate for the estimated load. Depending on the rotation position, a large load variation, does not allow the load to be estimated properly which makes auto-tuning impossible. Adjust using the manual. 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. 9 0 Communication software Appe 0-9

197 0- Parameter setting 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: Current 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 if you want to write the parameters. Click the Cancel button if you don t want to write the parameters. Adjustment : The set values for tune mode parameters AJ00 to AJ9 can be checked and changed. Adjustment : The set values for tune mode parameters AJ0 to AJ9 can be checked and changed. Adjustment : This is reserved for the system. System : The set values for system parameters SP0 to SP9 can be checked and changed. System : The set values for system parameters SP0 to SP9 can be checked and changed. Network: Parameter related to the operations executed via MECHATROLINK. The advance settings for the operations, such as originating, can be set. 9 0 Communication software Appe *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. 0-0

198 0- Parameter setting 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-00B driver power. All parameters are initialized except for AJ and AJ. Save the set values prior to the initialization of the required parameters. The parameters can be saved or read for the set values on a PC in accordance with [0- Saving, comparing and copying set values] (P0-). By this operation, [Adjustment parameters], [System parameters], and [Network parameters] are initialized. Click the Default Settings button. Verification screen is shown. Click the OK button to initialize. Click the Cancel button to stop initialization. 9 0 A progress screen is displayed. Wait for a while, and the values will return to their defaults. Communication software Appe 0-

199 0- Saving, comparing and copying set values 0- Saving, comparing and copying 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 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]. 9 0 Select Save As from the File menu. Communication software Appe 0-

200 0- Saving, comparing and copying set values Set a desired folder and file name, and click the Save button. Be sure to perform Load from Servo before performing Save As. The parameters saved by this operation are [Adjustment ], [Adjustment ], [Adjustment ], [System ], [System ] and [Network]. 9 0 Communication software Appe 0-

201 0- Saving, comparing and copying set values 0--. Reading saved set value files The following explains how to read a file with parameter 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]. 9 0 Communication software Appe 0-

202 0- Saving, comparing and copying set values Comparing a saved settings file with internal set values of the driver. The following explains how to compare the parameter set values backed up on a personal computer with 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. Adjustment (AJ00 to AJ9) 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 Red: Differences 0-

203 0- Saving, comparing and copying 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 ], [Network]. Switch the tabs Red: Differences 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). 9 0 Communication software Appe 0-

204 0- Saving, comparing and copying set values Writing a saved settings file to the driver The following explains how to write (copy) the parameter 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 a saved settings file) The current values of the driver before writing (set values for internal parameters of the driver during communication) 0 Communication software Appe Red: Differences 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. * 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. 0-

205 0- Saving, comparing and copying set values 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. The parameters written (copied) by this operation are [Adjustment ], [Adjustment ], [Adjustment ], [System ] and [System ], [Network]. 9 0 Communication software Appe 0-

206 0- Test operation 9 0- Test operation You can specify a speed to perform simple JOG operation, or perform JOG operation by specifying a displacement. The actuator operates ignoring even the FWD/REV inhibit input signals during the JOG operation; operate carefully paying attention to the surrounding conditions. JOG operation is not performed accurately if the host controller and the WARNING MECHATROLINK are connected. When performing a JOG operation, disconnect the MECHATROLINK cable and restart the driver first. Do not perform T0 JOG operation by pressing the driver push-button simultaneously. The operation becomes unstable. The torque limit function is disabled during the JOG operation. 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, 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 Communication software Appe JOG operation by specifying speed and acceleration/deceleration JOG operation by specifying displacement, JOG operation by specifying speed and acceleration/deceleration Set the JOG speed (r/min) and JOG acceleration/deceleration time (ms) *. 0-9

207 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. JOG operation by specifying displacement Set the JOG speed (r/min), JOG acceleration/deceleration time (ms) *, travel distance (pulse), travel speed (r/min), acceleration/deceleration time (ms) * and travel distance mode (relative value/absolute value). The electronic gear settings do not apply in a JOG operation. Set the desired travel distance (pulse) based on the actuator 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 over which the actuator reaches its maximum speed from standstill. 9 0 Communication software Appe 0-0

208 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. It can be used for verification with the host device. If you click Execute button again, the output signal operation is ended and each output signal automatically returns to the pre-operation status. 9 0 Communication software Appe 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-00B 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-

209 0- IO monitor 0- IO monitor The statuses of pins to which input signals and output signals are assigned are 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 9 0 Communication software Appe 0-

210 0- Waveform monitoring 9 0 Communication software Appe 0- Waveform monitoring In addition to speed and torque, waveforms of various status signals can be displayed. Waveform display area Waveform display selection Trigger condition setting Tracing time setting Start tracing Waveform display mode Waveform measurement Time axis setting How to obtain waveform Select the desired waveform using the waveform display selection. 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,000 ms 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-

211 0- Waveform monitoring Click the Run button. If the Run button shows Stop, the trigger is waited. When the set trigger level is reached, the system 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. Time axis measurement (measurement of rise time) Speed/torque measurement 9 0 Communication software Appe 0-

212 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 9 0 Communication software Appe Excel display available. Able to read the waveform on the PSF-00 again. 0-

213 0-9 Alarm 0-9 Alarm If the HA-00B 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. Alarm reset An alarm can be reset if the one that can be reset has occurred and its cause has already been eliminated. Clear history You can clear the history of up to most recent alarms using the Clear History button. 9 0 Communication software Appe 0-

214 0-9 Alarm 9 0 Communication software Appe 0-

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

216 - Alarms and remedial actions 9 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's 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. [CN-0: Alarm signal] will then be available. 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 Alarm Alarm name code clear AL0 Overspeed Not permitted AL0 Overload Permitted AL0 IPM error (overcurrent) Not permitted AL0 Overvoltage Not permitted AL Regenerative resistor overheat Not permitted AL Overregeneration * Not permitted AL Missing phase * Not permitted AL Control power voltage low ** Not permitted AL Main circuit voltage low * Not permitted AL Overheated dynamic brake * Not permitted AL Damaged power circuit Not permitted (Permitted) * AL0 Encoder breakage Not permitted AL Encoder receiving error * Not permitted AL UVW error * Not permitted AL System failure * Not permitted AL Multi revolution overflow * Not permitted AL Multi revolution data error * Not permitted AL WDT error Permitted AL Synchronization error Permitted AL0 Excessive deviation Permitted AL0 Memory failure (RAM) Not permitted AL Memory failure (EEPROM) Not permitted AL FPGA configuration error Not permitted AL FPGA configuration error Not permitted AL Processor error ** Not permitted AL0 MEMORY error * Not permitted AL System failure * Not permitted AL Single rotation data error * Not permitted AL Multi revolution data error * Not permitted AL BUSY error * Not permitted AL Overheat error * Not permitted AL Communication error * Not permitted *: 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 incremental model). *: These alarms may generate in HA-00B-. *: These alarms are not stored in the alarm history. *: The alarm code in the MECHATROLINK communication may be indeterminable depending on the occurrence condition of alarm. *: With HA-00B-, the alarm cannot be cleared. With HA-00B-//, the alarm can be cleared. -

217 - Alarms and remedial actions Remedial action for alarm Remedial actions are explained for respective alarms. 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 when the control circuit power is turned ON: The alarm occurs due to high-speed actuator rotation when a rotation command is input: Action 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] in the tune mode to match the load condition. Inappropriate electronic gear setting Set SP, : Electronic gear settings] again properly. AL0 Overload The allowable continuous current was exceeded. The alarm 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: Excessive value set for Torque command (TRQCTRL) Lower the set value. 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. 9 0 Troubleshooting Appe -

218 - Alarms and remedial actions 9 0 Alarm code AL0 Alarm name IPM error (overcurrent) 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 the servo-on command (SV_ON) is input: The alarm occurs when the servo-on command (SV-ON) is input, 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 is excessive or acceleration/deceleration time is too short. Lower the load inertia moment. For the speed control, 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. Troubleshooting Appe The alarm occurs during operation (when operation can be resumed after to minutes): The alarm occurs when cutting the main circuit power OFF: Faulty wiring of regenerative resistor (HA-00B-) 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 factor of the actuator and lower the load factor. 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-00B-) Resistance of an external regenerative resistor is low. Or it is short-circuited. It is connected in parallel with a built-in regenerative resistor. -

219 - 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. (HA-00B-, -, -) Connect an external 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-00B-, set [SP: Regenerative resistor selection] to [: Use external regenerative resistor]. The alarm occurs after turning the main circuit power ON: (HA-00B-) When an external regenerative resistor is used: (HA-00B-) 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 [S: Regenerative resistor selection] is wrong. Change the setting of system parameter SP and select an external regenerative resistor. 9 0 Troubleshooting Appe -

220 - Alarms and remedial actions Alarm code AL Alarm name Overregenerati on (HA-00B-) Description A regenerative resistor absorbed significantly excessive regenerative energy. Condition at occurrence The alarm occurs during deceleration: The alarm occurs after turning the main circuit power ON: When an external regenerative resistor is used: Action 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-00B driver.) Load inertia moment exceeds the adaptive range. Review the configuration and use the resistor with load inertia moment 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. The regenerative resistor is not properly wired or not connected. Connect the regenerative resistor correctly. 9 0 AL Missing phase (HA-00B-) Single-phase power supply was supplied to the main circuit power input (R, S, T) areas. The alarm occurs after turning the main circuit power ON: The parameter setting of [S: Regenerative resistor selection] 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. Troubleshooting Appe AL Control power voltage low (HA-00B-) The voltage of the control power supply input (r, s) areas dropped. The alarm occurs during operation: 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. -

221 - Alarms and remedial actions Alarm code AL AL AL AL0 Alarm name Main circuit voltage low (HA-00B- ) Overheate d dynamic brake (HA-00B- ) Damaged power circuit Encoder disconnecti on Description Although the main circuit power (R, S, T) is supplied, the main circuit DC voltage dropped. The dynamic brake circuit generated abnormal heat. An error was detected by the self-checking circuit when the servo was turned ON. The alarm occurs due to errors in the driver power circuit. Encoder signals have been cut off. Condition at occurrence The alarm occurs when turning the main circuit power ON: The alarm occurs after stopping the dynamic brake: The alarm occurs when the control power supply is turned ON: The alarm occurs when the servo is turned ON. The alarm occurs when the control power supply is turned ON: or 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): Action 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 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 may occur again if you replace the driver without removing the cause.) If the protective fuse gets disconnected, it must be repaired. The dynamic brake stopped under the conditions where load inertia moment was excessive or an excessive negative load was 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. Servo ON sequence error The alarm may occur when chattering occurs with servo-on command. Check the controller sequence. The alarm may occur when the servo is turned ON while the motor is rotating due to external force or inertia. HA-00B driver power circuit error If the error occurs each time the control power supply is turned ON, the circuit may be damaged. If the error occurs each time the servo is turned ON, the circuit may be damaged. Contact our sales office. (Replace the HA-00B 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 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. 9 0 Troubleshooting Appe -

222 - Alarms and remedial actions Alarm code AL AL Alarm name Encoder receiving error * UVW error Description Encoder serial data cannot be received accurately. Encoder phase UVW signal error 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 control circuit power is turned ON: 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 error Internal encoder damage Contact our sales office. Malfunction due to external noise Suppress noise according to [Suppressing noise] (P-). Non-connection or poor connection of the encoder connector (CN) or broken encoder wire Securely connect the encoder connector again. Or, replace the cable. 9 0 Troubleshooting Appe 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 -09 to +,09 revolutions (motor shaft). 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: Control circuit 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 origin return. 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 -09 to +,09 revolutions (motor shaft). Clear the multi revolution data using [T0: Multi revolution clear] in the test mode. -

223 - Alarms and remedial actions Alarm code AL AL AL Alarm name Multi revolution data error * WDT error Synchron ization error 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 counter information is not updated by an increment of during the MECHATROLINK communication. The MECHATROLINK communication command is off the frequency. Commands are not being sent. Condition at occurrence The alarm occurs when the control circuit power is turned ON: - - Action The actuator moved at a speed that exceeds the allowable speed 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. Poor connection of communication connector Check if the MECHATROLINK connector is securely inserted. Replace the MECHATROLINK connector. * The positioning may become offset if it is continued to be used. Malfunction due to noise Check if the FG processing is properly performed. Make sure that the MECHATROLINK cable is not bundled together with other cables. Poor connection of communication connector Check if the MECHATROLINK connector is securely inserted. Replace the MECHATROLINK connector. Malfunction due to noise Check if the FG processing is properly performed. Make sure that the MECHATROLINK cable is not bundled together with other cables. Host device error Make sure that the load on the PC due to other applications is not too great if the communication is to be established using the PC board, etc. Contact the manufacturer of the host device. 9 0 Troubleshooting Appe -

224 - Alarms and remedial actions Alarm code AL0 Alarm name Excessive deviation Description The deviation counter value exceeded the pulse count set in [SP9: Allowable position deviation]. Condition at occurrence The alarm occurs while the control power supply is being turned ON: The alarm occurs during acceleration or deceleration: Action The actuator moved due to external force and resulted in excessive deviation. Stop the actuator and reconnect the power supply. Stop the actuator and execute the alarm clear. The position deviation is cleared at the same time. 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. The command speed in the positioning command is too high. Lower the command speed on the host device. 9 0 Troubleshooting Appe AL0 AL Memory failure (RAM) Memory failure (EEPROM) An error occurred in the driver's RAM memory. An error occurred in the driver's EEPROM memory. The speed does not rise with the command, and the alarm occurs sometime after that: The actuator does not rotate and the alarm occurs: 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: Excessive load inertia moment Lower the load inertia moment. Cause: The input signal FWD inhibit or REV inhibit is enabled. Check [SP: Input signal logic setting]. The [CN-: FWD inhibit] input or the [CN-: REV inhibit] input is turned ON. Turn OFF the [FWD inhibit] or the [REV inhibit] input. 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. Large friction torque and load torque Confirm that holding brake is released. Confirm that the actuator output torque is sufficient to handle load torque. Driver control circuit error Contact our sales office. Driver control circuit error Contact our sales office. -9

225 - Alarms and remedial actions Alarm code AL AL AL AL0 AL Alarm name FPGA Configura tion error FPGA setting error Processo r error MEMOR Y error * System failure * Description Condition at occurrence Action The FPGA The alarm Driver control circuit error initialization was not occurs when the Contact our sales office. successful when the control circuit driver was started. power is turned ON: The FPGA did not The alarm Driver control circuit error start properly when occurs when the Contact our sales office. the driver was control circuit started. power is turned ON: Processor error - Reconnect the driver s control power supply. If the processor error is not restored even after the control power supply is reconnected, contact our sales office. The alarm code in the MECHATROLINK communication may be indeterminable depending on the occurrence condition of alarm. An EEPROM memory failure occurred in the -bit absolute encoder. SHA series (excluding SHA0): The voltage of the backup power supply in the absolute encoder or external battery voltage, whichever was higher, dropped to.v or below. SHA0 and FHA-Cmini series: The voltage of the backup battery dropped to.v or below. The alarm occurs when the control circuit power is turned ON: - Driver control circuit error or encoder error Contact our sales office. Execute [T0: Multi revolution data clear] in the test mode, then reconnect 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. 9 0 AL AL Single rotation data error * Multi revolution data error * Stored multi revolution data is lost. 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. The alarm occurs after actuator operation: The alarm occurs during operation: 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-). Troubleshooting Appe -0

226 - Alarms and remedial actions 9 0 Troubleshooting Appe Alarm code AL AL AL Not lit Alarm name BUSY error * Overheat error * Communi cation error * Description The position could not be specified when the -bit absolute encoder was started because the actuator was operating at a constant speed or above. The board temperature in the -bit absolute encoder reached or exceeded 9. The driver's heat sink temperature reached or exceeded 0. 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 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): 00 r/min or less SHA0 and FHA-Cmini series: 0 r/min or less -bit absolute encoder error Contact our sales office. (Replace the actuator.) The board temperature in the -bit absolute encoder reached or exceeded 9. Remove possible causes of actuator overheat, such as eliminating sudden starts and improving the heat radiation condition. -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. 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. -

227 - 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 and a warning is output to MECHATROLINK line. Although the actuator can be controlled while warnings are present, remove the cause of each warning as soon as possible. (If [UA9: Main circuit voltage low] or [UA99: Wrong actuator] occurs, the actuator cannot be controlled.) Warning list A list of warnings that may be displayed is shown below. Warning code Warning name 90 Overload status 9 Battery voltage low 9 Cooling fan stopped (HA-00B- only) * 9 Main circuit voltage low 9 Command data error 9 Command error 9 Communication warning 9 FWD inhibit input effective * 9 REV inhibit input effective * 99 Wrong actuator *: HA-00B- is not supported. *: A warning is not output to the MECHATROLINK line even when a warning has occurred. 9 0 Troubleshooting Appe -

228 - Warnings and remedial actions 9 0 Troubleshooting Appe Remedial action for warning Details of each warning are explained. Warning code UA90 UA9 UA9 UA9 UA9 Warning name Overload status Battery voltage low Cooling fan stopped (HA-00B- only) Main circuit voltage low Command data error 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 and FHA-Cmini series) 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 UA9. -bit absolute encoder (SHA series (excluding SHA0)) 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 internal DC voltage of the main circuit power dropped to the voltage specified below: AC00V actuator DC90V 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 servo-on command must be sent again to turn ON the servo. It is output when the data in the command received from the host device is outside of the setting range. If this warning is displayed, check the motion program or the settings of the host device. -

229 - Warnings and remedial actions Warning code UA9 Warning name Command error Description A command not supported by the HA-00B driver was sent. Or, A command was sent in the communication phase in which commands cannot be received. UA9 UA9 UA9 Communication warning FWD inhibit input effective REV inhibit input effective Check the motion program or the settings of the host device. This is output when an error occurs in the MECHATROLINK communication. This warning occurs when the CN-: FWD inhibit input is turned ON. Note that a warning is not output to the MECHATROLINK line even when a warning has occurred. This warning occurs when the CN-: REV inhibit input is turned ON. Note that a warning is not output to the MECHATROLINK line even when a warning has occurred. The connected actuator is different from the applicable actuator set for the driver. UA99 Wrong actuator Connect the correct actuator and then reconnect the power. The function is available for the following actuators: -bit absolute encoder (SHA series and FHA-Cmini series) and -wire incremental encoder (FHA-Cmini series/fha-c series). 9 0 Troubleshooting Appe -

230 - Warnings and remedial actions 9 0 Troubleshooting Appe -

231 Chapter Option Options you can purchase as necessary are explained in this chapter. - Option -

232 - Option Option - Option Options you can purchase as necessary are explained. Extension cable HA-00B 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 Model No Input voltage (V) Encoder type Combined driver HA-00B- HA-00B- HA-00B- HA-00B-D/E HA-00B-D/E HA-00B-D/E-00 -bit 00 Absolute HA-00B-D/E HA-00B-D/E HA-00B-D/E HA-00B-C HA-00B-C wires, wire-saving type Incremental HA-00B-C-00 HA-00B-C HA-00B-C HA-00B-C HA-00B-C/E HA-00B-C/E bit HA-00B-C/E Absolute HA-00B-C/E HA-00B-C/E HA-00B-C/E HA-00B-C wires, wire-saving type Incremental HA-00B-C-00 HA-00B-C HA-00B-C HA-00B-A bit HA-00B-A Absolute HA-00B-A HA-00B-A-00 Extension cable (option) 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 00 wires, HA-00B-C-00 Motor wire wire-saving EWC-MB**-M0-TN 00 HA-00B-C-00 type Encoder wire 00 Incremental HA-00B-C-00 EWC-E**-B0-M 00 HA-00B-A-00 Motor wire -bit EWC-MB**-M0-TN 00 HA-00B-A-00 Absolute Encoder wire 00 HA-00B-A-00 EWC-S**-B0-M -

233 - Option Actuator series RSF series RSF/RKF series Model No. 00 Input voltage (V) Encoder type Combined driver HA-00B- HA-00B- HA-00B- HA-00B-B wires HA-00B-B Incremental HA-00B-B HA-00B-B-00 Extension cable (option) Motor wire EWA-M**-A0-TN Encoder wire EWA-E**-A-M Actuator series SHA series Model No. Encoder type Combined driver HA-00B- 0 HA-00B-D/E -bit Absolute HA-00B-D/E Motor wire HA-00B-D/E ** 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 Extension cable (option) Motor wire EWD-MB**-A0-TMC Encoder wire EWD-S**-A0-M EWD-MB**-D09-TMC Encoder wire EWD-S**-D0-M Use a dedicated communication cable to connect this driver to a personal computer. Dedicated communication cable Model EWA-RS0 Specifications D-sub 9-pin (female).m Connectors The CN, CN, motor-wire and power-supply connectors of this driver are shown below. Connector model CNK-HA0B-S :CN type/cn type/motor-wire type/power-supply connector --- types CNK-HA0B-S :CN type/power-supply connector --- types CNK-HA0B-S-A :CN type/cn type --- types CNK-HA0B-S-A :CN type --- type 9 0 CN type CN type Motor-wire type For power-supply connector Manufacturer Sumitomo M Sumitomo M Phoenix Contact Phoenix Contact Model Connector: 0-000PE Cover: 0-F0-00 Connector: PE Cover: 00-F0-00 FKIC,/-ST-.0 FKC,/-ST-.0 Option -

234 - Option Servo parameter setting software This software lets you set various servo parameters of your HA-00B driver from a personal computer. Use an EIA-C cable to connect the CN connector on the HA-00B 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. For details on software, refer to [Chapter 0 Communication software]. You can download this servo parameter setting software from our website ( Model PSF-00 Supported operating systems What you need Windows Xp, Windows Vista *, Windows * 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 -

235 - 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 Hitachi Maxell, Ltd. Manufacturer model Data retention time Data retention time Conditions ER/ (.V,00 mah) Approx. year after the power is cut off Unused power is turned OFF, Ambient temperature: C, 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. Prepare them on your own and attach them to the battery before use. Monitor cable Use this signal cable to measure speed, current and other signals using an oscilloscope. 9 Model EWA-MON0-JST 0 Color : Red, : White, : Black, : Green Option -

236 - Option Option -

237 Chapter MECHATROLINK communication function The communication function of MECHATROLINK is explained in this chapter. - Specifications - - Network parameters - - Main command - - Details of main commands - - Subcommand -9 - Command data field - - Control mode -

238 - Specifications - Specifications The communication specification of MECHATROLINK is explained. Communication specification MECHATROLINK version MECHATROLINK-II Transmission rate 0Mbps Maximum transmission distance 0m Minimum inter-station distance 0.m Transmission medium Number of mobile units connected -core twisted pair cable with shield Maximum 0 slave stations Topology Bus Communication cycle ms,. ms, ms, ms, ms, ms Communication method Fully synchronized master/slave communication Coding Manchester encoding Data length bytes or bytes, selectable Use the MP000 series by YASKAWA Electric Corporation for the host controller, or use it in combination with the KV-MLV controller by Keyence Corporation. (Some functions are limited.) Check our website for the latest information for more details of the limited functions. System configuration MECHATROLINK-II machine controller (by YASKAWA Electric Corporation and Keyence Corporation) HA-00B HA-00B HA-00B Communication function *: When or more units communicate with one another or units are connected over the total extension distance of 0m or more, repeaters are required. The maximum connectable number of units is limited by the communication cycle, retry count and other settings. For details, refer to the MECHATROLINK Members Association's web site ( *: Be sure to use the dedicated cable. (0.m to 0m) Don't use any commercial USB cable. *: L+L+ --- Use these so that Ln equals to or is less than ( ) 0m. - L MECHATROLINK II cable JEPMC-W00-A-E, etc.* L Ln * Maximum 0 units * MECHATROLINK II terminating resistance JEPMC-W0

239 - Specifications Communication setting Specify the communication settings for HA-00B using the DIP switch and rotary switch on the front of the main unit. The new settings will become effective the next time the control power supply for HA-00B is turned ON. SW SW Setting the transfer bytes Set the value by turning ON/OFF the second bit of SW. SW Transfer bytes (Second bit) OFF Byte ON Byte Setting the station address For the HA-00B, the station address can be set in a range of H to FH. The upper digit of the station address is set by the first bit of SW, while the lower digit is set by SW. SW Station SW Station SW SW (bit ) address (bit ) address OFF 0 Disabled ON 0 0H OFF H ON H OFF H ON H OFF H ON H OFF H ON H OFF H ON H OFF H ON H OFF H ON H OFF H ON H OFF 9 9H ON 9 9H OFF A AH ON A AH OFF B BH ON B BH OFF C CH ON C CH OFF D DH ON D DH OFF E EH ON E EH OFF F FH ON F FH Communication function

240 - Network parameters - Network parameters Following parameters are set and displayed using the dedicated communication software PSF-00 or MECHATROLINK communication. This chapter explains the parameters. When using PSF-00 to perform these operations, refer to [Chapter 0 Communication software]. List of parameters NO * Parameter name Default PSF-00 Parameter No. 0 Final external positioning distance 0 NP 0 FWD soft limit NP0 0 REV soft limit - NP 0 Origin position range 0 NP0 0 Originating approach speed 0000 NP0 0 Originating acceleration/deceleration time 000 NP0 0 Virtual origin * 0 NP0 0 Originating direction 0 NP0 09 Soft limit enable/disable 0 NP *: For details on NO, refer to P-. *: Parameter 0: Virtual origin is applied after the power is reconnected. 0: Final external positioning distance The actuator moves to the position specified by this parameter based on the position where the latch signal is input upon occurrence of the latch factor specified in the LT_SGN field while the [External positioning input (EX_POSING: 9H)] command is being executed. Unit Lower limit value Upper limit value Default value Pulse - 0 Specify a value in the ±,00,000,000 range if the rotation direction changes as a result of a latch signal input. Failure to do so may result in unexpected operations. Communication function 0: FWD soft limit When the parameter No. 09: Soft limit enable/disable is set to and the REFE bit in PS_SUBCMD is set to for the [Coordinate system setting (POS_SET: 0H)] command, the soft limits are monitored and if the position command exceeds the value set here, the FWD commands are ignored and the P-SOT bit in the STATUS field becomes. Although the setting range is from - to, set an appropriate value that satisfies the conditions [FWD soft limit > REV soft limit] and [Forward limit Current value]. The soft limit is effective only during position control. Unit Lower limit value Upper limit value Default value Pulse - -

241 - Network parameters 0: REV soft limit When the parameter No. 09: Soft limit enable/disable is set to and the REFE bit in PS_SUBCMD is set to for the [Coordinate system setting (POS_SET: 0H)] command, the soft limits are monitored and if the position command becomes smaller than the value set here, the REV commands are ignored and the P-SOT bit in the STATUS field becomes. Although the setting range is from - to, set an appropriate value that satisfies the conditions [FWD soft limit > REV soft limit] and [Reverse/forward limit Current value]. The soft limit is effective only during position control. Unit Lower limit value Upper limit value Default value Pulse - - 0: Origin position range Upon completion of the originating triggered by the [Originating (ZRET: AH)] command, the ZPOINT bit in the STATUS field becomes if the difference between the origin position and feedback pulse counter is within the range set by this parameter. Unit Lower limit value Upper limit value Default value Pulse 0 0 0: Originating approach speed 0: Originating acceleration/deceleration time 0: Virtual origin When the [Originating (ZRET: AH)] command is executed, originating operation is performed as follows. These parameters set each aspect of originating. 0: Originating acceleration/deceleration time Set by [Originating (ZRET: AH)] command 0: Originating approach speed 0: Virtual origin 9 0 Origin signal Latch signal (selected by LT_SGN) - Communication function

242 - Network parameters Originating approach speed Unit Lower limit value Upper limit value Default value pls/s 0000 Originating acceleration/deceleration time Unit Lower limit value Upper limit value Default value ms *: The set time corresponds to the time over which the actuator accelerate/decelerates between the standstill and the maximum speed. Virtual origin Unit Lower limit value Upper limit value Default value Pulse - 0 *: On the absolute encoder, the virtual origin portion is applied for the command position and the feedback position. To change the setting, the power must be reconnected. Note, however, that it does not need to be changed as it is usually set by the host controller. 0: Originating direction Set the originating direction to be applied when the [Originating (ZRET: AH)] command is executed. The set value is 0 or. If 0 is set, originating is performed in forward direction. If is set, originating is performed in reverse direction. Lower limit value Upper limit value Default value : Soft limit enable/disable Specify whether or not to use the soft limit. Soft limit is enabled when this parameter is set to and the REFE setting in PS_SUBCMD for the coordinate system setting command (POS_SET: 0H) is set to. Lower limit value Upper limit value Default value 0 0 Communication function -

243 - Main command - Main command Main commands of the HA-00B are explained. Bytes to 9 of command/response data are used. Byte 0 of the command is set to 0H, and 0H is returned in byte 0 of the response. List of main commands Name Command Description NOP 00H Disable command: Processing is not performed. PRM_RD 0H Read user parameters. PRM_WR 0H Write user parameters (change the setting in the RAM). ID_RD 0H Read the ID and control software version of the HA-00B. CONFIG 0H Enable the parameter written by the device setup command ALM_RD 0H PRM_WR. Read the present alarms or warnings, or up to most recent alarms. ALM_CLR 0H Clear the present alarms or alarm history. SYNC_SET 0DH Change the communication phase ( ). CONNECT 0EH Establish a MECHATROLINK connection. DISCONNECT 0FH Open a MECHATROLINK connection. PPRM_RD BH Execute a non-volatile parameter read (This command is not yet installed.) PPRM_WR CH Write the parameters to RAM and EEPROM. POS_SET 0H Set the current value and enable/disable of soft limit monitoring function. BRK_ON H Request the brake actuation. (This command is not yet installed.) BRK_OFF H Request the brake release. (This command is not yet installed.) SENS_ON H Sensor-ON command SENS_OFF H Sensor OFF command HOLD H Motion stop. Stop the actuator currently operating. SMON 0H Monitor the servo status. SV_ON H Turn ON the servo. SV_OFF H Turn OFF the servo. INTERPOLATE H Perform interpolated feed. (Receive the displacement by every transmission cycle.) POSING H Move to the specified target value. FEED H Perform continuous operations at the specified speed. LATCH H Latch the position via an external input during interpolated feed. EX_POSING 9H Perform positioning where the displacement can be changed via an external input. ZRET AH Perform originating. VELCTRL CH Execute the speed command. TRQCTRL DH Execute the torque command Communication function

244 - Details of main commands Communication function - Details of main commands The following explains the details of each main command. Disable command (NOP: 00H) - Byte Command Response Explanation NOP (00H) NOP (00H) ALARM 9 0 STATUS WDT RWDT Bytes to 9 Bytes to 9 conform conform to a to a subcommand. subcommand. Processing category Synchronization category Subcommand Processing time Usable phase Network command Asynchronous command Permitted Within communication cycle All OK

245 - Details of main commands Parameter read command (PRM_RD: 0H) Byte Command Response Explanation PRM_RD (0H) PRM_RD (0H) ALARM STATUS No. No. SIZE SIZE 9 0 PARAMETER WDT RWDT Processing Data communication category command Synchronization Asynchronous category command Subcommand Not permitted Processing time Within communication cycle Usable phase, Read the enabled parameters. For the contents of parameters of the set value of No., refer to [Parameter No. and size (NO/SIZE)] (P-). In the following conditions, a warning occurs and the command is ignored. In this case, PARAMETER in the response becomes indeterminable: - The command is sent in a phase other than or Code 9 - An out-of-range number is set in No. Code 9 - The SIZE does not match. Code 9 Parameter write command (PRM_WR: 0H) Byte Command Response Explanation PRM_WR (0H) PRM_WR (0H) ALARM Processing Data communication category command Synchronization Asynchronous STATUS category command Subcommand Not permitted No. No. Within communication Processing time cycle SIZE SIZE Usable phase, 9 0 Tentatively write a user parameter (the EEPROM is not written). For the contents of parameters of the set value of No., refer to [Parameter No. and size (NO/SIZE)] (P-). Refer to the [PPRM_WR] command if you want to write the parameters to EEPROM. In the following conditions, a warning occurs and the PARAMETER PARAMETER command is ignored. - The command is sent in a phase other than phase or Code 9 WDT RWDT - A number outside of the range is set Code 9 - The parameter is outside the range Code 9 - The parameter of a size other than the specified size is sent Code 9 Since the HA-00B is recognized as a wildcard servo within the MECHATROLINK system, parameter read/write commands are not issued from the MP00. To change parameters, use the PC monitor software PSF-00. Note that if your system is used in the servo-driver transparent command mode, parameter read/write commands can be used Communication function

246 - Details of main commands ID read command (ID_RD: 0H) Byte Command Response Explanation ID_RD (0H) ID_RD (0H) ALARM STATUS DEVICE_CODE DEVICE_CODE OFFSET OFFSET SIZE SIZE 9 0 ID WDT RWDT Driver Type/name OFFSET Processing Data communication category command Synchronization Asynchronous category command Subcommand Not permitted Processing time Within communication cycle Usable phase, Read IDs. For details on ID, refer to the explanation below. In the following conditions, a warning occurs and the command is ignored. - The command is sent in a phase other than or Code 9 - DEVICE_CODE is out of range Code 9 - OFFSET is out of range Code 9 - Wrong SIZE (a value other than to is set) Code 9 DEVICE_ 0 9 A B C D E F CODE Model 00 H A M L Firmware ver. 0 0h Type/name OFFSET 0 9 A B C D E F DEVICE_ CODE Model Driver Firmware ver *: The model is indicated by ASCII code. *: The firmware version is indicated in HEX. Communication function -9

247 - Details of main commands Device setup request command (CONFIG: 0H) Byte Command Response Explanation CONFIG (0H) CONFIG (0H) ALARM STATUS 9 0 WDT RWDT Processing category Control command Synchronization category Asynchronous command Subcommand Not permitted Processing time Max. s Usable phase, Perform the following. - Turn the servo OFF if it is turned ON. - Read the parameter again from EEPROM. Parameters not written to EEPROM are replaced by the data in EEPROM. - Initialize the current encoder position. If this command is received when the servo is ON, the servo turns OFF. In the following conditions, a warning occurs and the command is ignored. - The command is sent in a phase other than or Code 9 *: The CMDRDY bit of STATUS remains 0 while the CONFIG command is being executed, and turns upon completion of the CONFIG. Error/warning read command (ALM_RD: 0H) Byte Command Response Explanation ALM_RD (0H) ALM_RD (0H) ALARM Processing category Control command Synchronization Asynchronous STATUS category command Subcommand Not permitted ALM_RD_MOD ALM_RD_MOD Processing time Max. s Usable phase, Read the list of present errors/warnings and error history. ALM_RD_MOD 0: Present warnings, errors: The 9 processing time is within the communication cycle. 0 ALM_RD_MOD : Error history* Up to errors: The ALM_DATA processing time is within seconds. (0 is written for the th and subsequent errors and in the empty fields of history data.) * Warning history is not kept. WDT RWDT In the following conditions, a warning occurs and the command is ignored. - Wrong ALM_RD_MOD setting Code 9 - The command is sent in a phase other than or Code Communication function

248 - Details of main commands Error/warning clear command (ALM_CLR: 0H) Byte Command Response Explanation ALM_CLR (0H) ALM_CLR (0H) ALARM STATUS ALM_CLR_MOD ALM_CLR_MOD 9 0 Processing category Control command Synchronization category Asynchronous command Subcommand Not permitted Processing time Max. s Usable phase, Clear the present errors/warnings and error history. ALM_CLR_MOD 0: Clear the present warnings, errors and position deviation. ALM_CLR_MOD : Clear the error history. In the following conditions, a warning occurs and the command is ignored. - Wrong ALM_CLR_MOD setting: Data setting warning Code 9 - The command is sent in a phase other than or Code 9 WDT RWDT * All present warnings can be cleared, but alarms that cannot be cleared with the clear command remain uncleared. To clear alarms that cannot be cleared with the clear command, you must reconnect the driver power. Synchronization establishment request command (SYNC_SET: 0DH) Communication function Byte Command Response Explanation SYNC_SET (0DH) SYNC_SET (0DH) ALARM Processing category Network command Synchronization Asynchronous STATUS category command Subcommand Not permitted Within communication Processing time cycle Usable phase Synchronous communication is started. (Move from phase 9 0 to phase.) The processing is complete upon change of the WDT edge. If this command is received in the following conditions, the applicable operations take place: This command is received in phase : Command warning Code 9 This command is received in phase : Ignored (No warning) This command is received in phase while the servo is turned ON: Servo OFF If any of the following alarms occurs, synchronous communication is resumed by this command: WDT RWDT - MECHATROLINK synchronization error - MECHATROLINK communication error -

249 - Details of main commands Connection establishment request command (CONNECT: 0EH) Byte Command Response Explanation CONNECT (0EH) CONNECT (0EH) ALARM STATUS VER VER COM_MODE COM_MODE COM_TIM COM_TIM 9 0 WDT RWDT COM_MODE details Processing category Network command Synchronization Asynchronous category command Subcommand Not permitted Processing time Within communication cycle Usable phase All OK Establish a MECHATROLINK connection. Set the communication mode via COM_MODE. (Refer to the details of CMD_MODE.) VER: Set the version: H. COM_TIM: Fixed to. In the following conditions, a warning occurs and the command is ignored. - COM_MODE is outside the setting range Code 9 - COM_TIM is outside the setting range Code 9 - VER is not H Code 9 Bit Bit Bit Bit Bit Bit Bit Bit 0 SUBCMD DTMOD SYNCMOD 0 Bit Name Description Value Status Switch from phase to phase 0 (asynchronous mode). Bit SYNCMOD Setting of switching phase Switch from phase to phase (synchronous mode). Bit / DTMOD Bit SUBCMD Data transfer method Subcommand: Command used 0 Single send mode Other than Reserved (Do not set.) above 0 Subcommand: Command not yet used Subcommand: Command used Communication function

250 - Details of main commands Connection release request command (DISCONNECT: 0FH) Byte Command Response Explanation DISCONNECT DISCONNECT (0FH) (0FH) Processing Network command ALARM category Synchronization Asynchronous STATUS category command Subcommand Not permitted Within communication Processing time cycle Usable phase All OK 9 0 Open the connection. When this command is executed, the following operations take place: Switch to phase. Turn OFF the servo. Disable the reference point setting. Clear deviation and alarm. WDT RWDT Non-volatile parameter read command (PPRM_RD: BH) Communication function Byte Command Response Explanation PPRM_RD (BH) PPRM_RD (BH) ALARM Processing category - Synchronization STATUS - category Subcommand - Processing time - Usable phase - This command is not yet supported. If this command is sent, warning code 9 occurs. 9 0 WDT RWDT -

251 - Details of main commands Non-volatile parameter write command (PPRM_WR: CH) Byte Command Response Explanation PPRM_WR (CH) PPRM_WR (CH) ALARM No. STATUS No. SIZE SIZE 9 0 PARAMETER PARAMETER WDT RWDT Processing category Data communication command Synchronization category Asynchronous command Subcommand Not permitted Processing time Max. s Usable phase, Write the user parameters to EEPROM and RAM. For the contents of parameters of the set value of No., refer to [Parameter No. and size (NO/SIZE)] (P-). In the following conditions, a warning occurs and the command is ignored. In this case, PARAMETER in the response becomes indeterminable: - The command is sent in a phase other than or Code 9 - An out-of-range number is set in No. Code 9 - The SIZE does not match. Code 9 CMDRDY = 0 of STATUS applies while the parameter is being written. Do not turn off the HA-00B during this period. Coordinate system setting command (POS_SET: 0H) Byte Command Response Explanation POS_SET (0H) POS_SET (0H) ALARM STATUS PS_SUBCMD PS_SUBCMD 9 0 POS_DATA POS_DATA WDT RWDT Processing category Data communication command Synchronization category Asynchronous command Subcommand Not permitted Processing time Within communication cycle Usable phase, Set the coordinate system. When REFE of PS_SUBCMD is set to and parameter No. 09: Soft limit enable/disable is set to, the soft limits are enabled. In the following conditions, a warning occurs and the command is ignored. - The command is sent in phase Code 9 - A value other than is set in POS_SEL Code 9 - This command is sent while the motor is operating Code 9 - POS_DATA does not meet the condition of [FWD soft limit > POS_DATA > REV soft limit] Code 9 - An attempt is made to change REFE of PS_SUBCMD to when the condition of [FWD soft limit > POS_DATA > REV soft limit] is not met Code 9 Only 0H (feedback position) can be set in the lower bits of PS_SUBCMD Communication function

252 - Details of main commands PS_SUBCMD details Bit Bit Bit Bit Bit Bit Bit Bit 0 REFE POS_SEL REFE 0: Disable the soft limits. : Enable the soft limits. (The soft limit is effective only during position control.) * This bit is referenced only when parameter [09: Soft limit enable/disable] is set to. POS_SEL Specify H. If a value other than H is specified, a warning (9) occurs. Brake actuation request command (BRK_ON: H) Byte Command Response Explanation BRK_ON (H) BRK_ON (H) ALARM STATUS 9 0 WDT RWDT Processing category Control command Synchronization category Asynchronous command Subcommand Not permitted Processing time Within communication cycle Usable phase, This command is not yet supported. If this command is sent, a warning (code 9) occurs. Brake release request command (BRK_OFF: H) Communication function Byte Command Response Explanation BRK_OFF (H) BRK_OFF (H) ALARM Processing Control command category STATUS Synchronization Asynchronous category command Subcommand Not permitted Within communication Processing time cycle Usable phase, 9 0 This command is not yet supported. If this command is sent, a warning (code 9) occurs. WDT RWDT -

253 - Details of main commands Sensor-ON command (SENS_ON: H) Byte Command Response Explanation SENS_ON (H) SENS_ON (H) ALARM 9 0 STATUS MONITOR MONITOR SEL_MON/ SEL_MON/ IO_MON WDT RWDT Sensor-OFF command (SENS_OFF: H) Processing Control command category Synchronization Asynchronous category command Subcommand Not permitted Within communication Processing time cycle Usable phase, This command is not yet supported, but even if it is received, the operation is not affected and only a response is returned. Byte Command Response Explanation SENS_OFF (H) SENS_OFF (H) ALARM Processing category Control command Synchronization Asynchronous STATUS category command Subcommand Not permitted Within communication Processing time cycle MONITOR Usable phase, This command is not yet supported, but even if it is received, the operation is not affected and only a response 9 is returned. 0 MONITOR SEL_MON/ SEL_MON/ IO_MON WDT RWDT Communication function

254 - Details of main commands Motion stop request command (HOLD: H) Byte Command Response Explanation HOLD (H) HOLD (H) ALARM OPTION (Refer to the section on STATUS common commands.) HOLD_MODE 9 0 MONITOR MONITOR SEL_MON/ SEL_MON/ IO_MON WDT RWDT Bytes to 9 conform to a subcommand. HOLD_MODE details Bytes to 9 conform to a subcommand. Processing category Motion command Synchronization category Asynchronous command Subcommand Permitted Processing time Within communication cycle Usable phase, The actuator comes to a stop from a motion status (operating status). In the following conditions, a warning occurs and the command is ignored: - Issued in phase : Command warning Code 9 Communication function - Movement commands HOLD_MODE set value 0 (Decelerates (Rapid to stop) stop) INTERPOLATE POSING (positioning) FEED (constant-speed feed) Remarks Stop suddenly when this is set to Decelerates to stop. Stop according to parameter No. (AJ) when this is set to Decelerates to stop. Stop according to parameter No. (AJ) when this is set to Decelerates to stop.

255 - Details of main commands HOLD_MODE set value Movement commands 0 (Decelerates (Rapid Remarks to stop) stop) LATCH (latch) Stop suddenly when this is set to Decelerates to stop. EX_POSING (external positioning) Stop according to parameter No. (AJ) when this is set to Decelerates to stop. ZRET (originating) Stop according to parameter No. 0 when this is set to Decelerates to stop. VELCTRL (speed command) Stop according to parameter No. (AJ) when this is set to Decelerates to stop. Decelerate to stop when this is set to Rapid stop. TRQCTRL (torque command) Stop torque free regardless of the setting. Status monitor command (SMON: 0H) Byte Command Response Explanation SMON (0H) SMON (0H) ALARM Processing Data communication category command Synchronization Asynchronous STATUS category command Subcommand Permitted Within communication Processing time cycle MONITOR Usable phase, 9 The servo status is monitored. If this command is sent in phase, a command 0 warning (9) is issued and the command is ignored. MONITOR SEL_MON/ SEL_MON/ IO_MON WDT RWDT 9 0 Bytes to 9 Bytes to 9 conform conform to a to a subcommand. subcommand Communication function

256 - Details of main commands Communication function Servo-ON (SV_ON: H) Byte Command Response Explanation SV_ON (H) SV_ON (H) ALARM OPTION (Refer to the section on STATUS common commands.) MONITOR 9 0 MONITOR SEL_MON/ SEL_MON/ IO_MON WDT RWDT 9 0 Bytes to 9 Bytes to 9 conform conform to a to a subcommand. subcommand. 9-9 Processing category Control command Synchronization category Asynchronous command Subcommand Permitted Processing time Within 0 ms Usable phase, The actuator servo turns ON. In the following conditions, a warning occurs and the command is ignored. - The command is sent in phase : Command warning Code 9 - The command is sent while an alarm is present: Only the STATUS warning bit turns. (The ALARM display shows the present alarm.)

257 - Details of main commands Servo-OFF (SV_OFF: H) Byte Command Response Explanation SV_OFF (H) SV_OFF (H) ALARM STATUS MONITOR 9 0 MONITOR SEL_MON/ SEL_MON/ IO_MON WDT RWDT 9 0 Bytes to 9 Bytes to 9 conform conform to a to a subcommand. subcommand. 9 Processing category Control command Synchronization category Asynchronous command Subcommand Permitted Processing time Within 0 ms Usable phase, The actuator servo turns OFF. In the following conditions, a warning occurs and the command is ignored. - The command is sent in phase : Command warning Code Communication function

258 - Details of main commands Communication function Interpolated feed (INTERPOLATE: H) Byte Command Response Explanation INTERPOLATE (H) INTERPOLATE (H) ALARM OPTION (Refer to the section on STATUS common commands.) TPOS (Interpolated position) VFF (Speed feed forward) MONITOR MONITOR SEL_MON/ SEL_MON/ IO_MON WDT RWDT Bytes to 9 conform to a subcommand. Bytes to 9 conform to a subcommand. Processing category Motion command Synchronization category Synchronous command Subcommand Permitted Processing time Within communication cycle Usable phase Interpolated feed is performed. This is a position control command, and thus, it is not received during an operation executed by the speed control command (VELCTRL: CH) or the torque control command (TRQCTRL: DH). During a speed control or torque control operation, be sure to set VREF or TQREF to 0 and stop the motor (STATUS bit ZSPD = ) before issuing this command. In the following conditions, a warning occurs and the command is ignored. - The command is sent in phase other than : Command warning Code 9 - The command is sent in servo-off: Command warning Code 9 - This command is sent during an operation by the speed command (VELCTRL: CH) (STATUS bit ZSPD = 0). Code 9 - This command is sent during an operation by the torque command (TRQCTRL: DH) (STATUS bit ZSPD = 0). Code 9 Use DEN of STATUS to check if the position command output has completed. VFF (speed feed-forward gain) may be sent from the host controller, but it is ignored by the HA-00B.

259 - Details of main commands Positioning (POSING: H) Byte Command Response Explanation POSING (H) POSING (H) ALARM OPTION (Refer to the section on common commands.) TPOS (Positioning target position) 9 0 TSPD (Positioning speed) STATUS MONITOR MONITOR SEL_MON/ SEL_MON/ IO_MON WDT RWDT Bytes to 9 conform to a subcommand. Bytes to 9 conform to a subcommand. TPOS value Current position TPOS value CCW direction CW direction Processing category Motion command Synchronization category Asynchronous command Subcommand Permitted Processing time Within communication cycle Usable phase, Perform positioning to the position specified by TPOS (unit: pls) at the speed set by TSPD (unit: pls/s). For the acceleration/deceleration time, the time set by parameter No. (AJ) [Acceleration time constant] or No. (AJ) [Deceleration time constant] is applied. This is a position control command, and thus, it is not received during an operation executed by the speed control command (VELCTRL: CH) or the torque control command (TRQCTRL: DH). During a speed control or torque control operation, be sure to set VREF or TQREF to 0 and stop the motor (STATUS bit ZSPD = ) before issuing this command. In the following conditions, a warning occurs and the command is ignored. - In phase : Command warning Code 9 - During servo OFF: Command warning Code 9 - When TSPD reached a value between and or exceeds the maximum speed: Data setting warning Code 9 - When TPOS exceeds the limit: Data setting warning Code 9 - This command is sent during an operation by the speed command (VELCTRL: CH) (STATUS bit ZSPD = 0). Code 9 - This command is sent during an operation by the torque command (TRQCTRL: DH) (STATUS bit ZSPD = 0). Code 9 TPOS is a signed -byte command. (based on absolute position. The setting unit is [pls].) TSPD is an unsigned -byte command. The setting unit is [pls/s]. The target position and target speed can be changed during movement. Use DEN of STATUS to check if the position command output has completed. The maximum permitted positioning distance is (FFFFFFEH). The minimum permitted positioning distance is - (000000H). TPOS is recognized as an absolute value, but if the value is close to the position that has overflown from the current position as shown in the figure to the left, HA-00B operates in the same positional direction (CW direction) after the encoder overflow. (It does not operate in the CCW direction.) Communication function

260 - Details of main commands Communication function Constant-speed feed (FEED: H) Byte Command Response Explanation FEED (H) FEED (H) ALARM OPTION (Refer to the section on common commands.) TSPD (Feed speed) STATUS MONITOR MONITOR SEL_MON/ SEL_MON/ IO_MON WDT RWDT Bytes to 9 conform to a subcommand. Bytes to 9 conform to a subcommand. Processing category Motion command Synchronization category Asynchronous command Subcommand Permitted Processing time Within communication cycle Usable phase, TSPD constant-speed feed is performed at the speed set by TSPD (unit: pls/s). To stop, use HOLD (H). For the acceleration/deceleration time, the time set by parameter No. (AJ) [Acceleration time constant] or No. (AJ) [Deceleration time constant] is applied. This is a position control command, and thus, it is not received during an operation executed by the speed control command (VELCTRL: CH) or the torque control command (TRQCTRL: DH). During a speed control or torque control operation, be sure to set VREF or TQREF to 0 and stop the motor (STATUS bit ZSPD = ) before issuing this command. In the following conditions, a warning occurs and the command is ignored. - During phase : Command warning Code 9 - When the servo is OFF: Command warning Code 9 - When TSPD reaches a value between and or exceeds the maximum value: Data setting warning Code 9 - This command is sent during an operation by the speed command (VELCTRL: CH) (STATUS bit ZSPD = 0). Code 9 - This command is sent during an operation by the torque command (TRQCTRL: DH) (STATUS bit ZSPD = 0). Code 9 TSPD is an unsigned -byte command. The setting unit is [pls/s]. The target speed can be changed during movement. Use DEN of STATUS to check if the command output has completed.

261 - Details of main commands Interpolated feed with position detection function (LATCH: H) Byte Command Response Explanation LATCH (H) LATCH (H) LT_SGN ALARM OPTION (Refer to the section on STATUS common commands.) 9 0 TPOS (Interpolated position) VFF MONITOR MONITOR SEL_MON/ SEL_MON/ IO_MON WDT RWDT Bytes to 9 conform to a subcommand. Bytes to 9 conform to a subcommand. Processing category Motion command Synchronization category Synchronous command Subcommand Permitted Processing time Within communication cycle Usable phase Interpolated feed is performed. If the signal selected by LT_SGN is input during operation, the input position is stored in the latch counter (LPOS). Also, the value of LPOS is forcibly output to MONITOR during one communication cycle. The set value of VFF is ignored. This is a position control command, and thus, it is not received during an operation executed by the speed control command (VELCTRL: CH) or the torque control command (TRQCTRL: DH). During a speed control or torque control operation, be sure to set VREF or TQREF to 0 and stop the motor (STATUS bit ZSPD = ) before issuing this command. In the following conditions, a warning occurs and the command is ignored. - Other than phase : Command warning Code 9 - When the servo is OFF: Command warning Code 9 - This command is sent during an operation by the speed command (VELCTRL: CH). Code 9 - This command is sent during an operation by the torque command (TRQCTRL: DH). Code 9 Use DEN of STATUS to check if the position command output has completed. - LT_SGN: Latch signal selection 0: Encoder phase Z : CN- Latch : CN- Latch Communication function

262 - Details of main commands Communication function Positioning by external input (EX_POSING: 9H) Byte Command Response Explanation EX_POSING (9H) EX_POSING (9H) LT_SGN ALARM OPTION (Refer to the section on STATUS common commands.) TPOS (Positioning target MONITOR position) TSPD (Positioning speed) MONITOR SEL_MON/ SEL_MON/ IO_MON WDT RWDT Bytes to 9 conform to a subcommand. Bytes to 9 conform to a subcommand. TPOS value Current position TPOS value CCW direction CW direction Processing category Motion command Synchronization category Asynchronous command Subcommand Permitted Processing time Within communication cycle Usable phase, The actuator moves at TSPD toward TPOS, and if a latch signal (selected by LT-SGN) is input in the middle, the actuator positions to the position set by parameter No. 0 [Final external positioning distance] based on the position where the latch signal is input. If a latch signal is not input, the actuator positions to the position set by TPOS. For the acceleration/deceleration time, the time set by parameter No. (AJ) [Acceleration time constant] or No. (AJ) [Deceleration time constant] is applied. This is a position control command, and thus, it is not received during an operation executed by the speed control command (VELCTRL: CH) or the torque control command (TRQCTRL: DH). During a speed control or torque control operation, be sure to set VREF or TQREF to 0 and stop the motor (STATUS bit ZSPD = ) before issuing this command. In the following conditions, a warning occurs and the command is ignored. - During phase : Command warning Code 9 - During Servo OFF: Command warning Code 9 - When TSPD reaches a value between and or exceeds the maximum value: Data setting warning Code 9 - When TPOS exceeds the limit: Data setting warning Code 9 - This command is sent during an operation by the speed command (VELCTRL: CH). Code 9 - This command is sent during an operation by the torque command (TRQCTRL: DH). Code 9 TPOS is a signed -byte command. (based on absolute position. The setting unit is [pls].) TSPD is an unsigned -byte command. The setting unit is [pls/s]. Use DEN of STATUS to check if the position command output has completed. - LT_SGN: Latch signal selection 0: Encoder phase Z : CN- Latch : CN- Latch The maximum permitted positioning distance is (FFFFFFEH). The minimum permitted positioning distance is - (000000H). TPOS is recognized as an absolute value, but if the value is close to the position that has overflown from the current position as shown in the figure to the left, HA-00B operates in the same positional direction (CW direction) after the encoder overflow. (It does not operate in the CCW direction.)

263 - Details of main commands Originating (ZRET: AH) Byte Command Response Explanation ZRET (AH) ZRET (AH) LT_SGN ALARM OPTION (Refer to the section STATUS on common MONITOR 9 0 TSPD (Feed speed) MONITOR SEL_MON/ SEL_MON/ IO_MON WDT RWDT Bytes to 9 conform to a subcommand. 0: Originating acceleration/deceleration time Origin Bytes to 9 conform to a subcommand. Processing category Motion command Synchronization category Asynchronous command Subcommand Permitted Processing time Within communication cycle Usable phase, Originating is performed according to the [CN-: ORG] signal and [CN-, : LATCH, ] or encoder phase-z signal. The position is recorded to the latch counter (LPOS) when a latch signal is input after the origin signal changes from ON to OFF during originating, and the LPOS value is forcibly output to Monitor during the communication cycle. This is a position control command, and thus, it is not received during an operation executed by the speed control command (VELCTRL: CH) or the torque control command (TRQCTRL: DH). During a speed control or torque control operation, be sure to set VREF or TQREF to 0 and stop the motor (STATUS bit ZSPD = ) before issuing this command. In the following conditions, a warning occurs and the command is ignored. - During phase : Command warning Code 9 - When the servo is OFF: Command warning Code 9 - When TSPD reaches a value between and or exceeds the maximum value: Data setting warning Code 9 - During originating: Command warning Code 9 - This command is sent during an operation by the speed command (VELCTRL: CH) (STATUS bit ZSPD = 0). Code 9 - This command is sent during an operation by the torque command (TRQCTRL: DH) (STATUS bit ZSPD = 0). Code 9 TSPD is an unsigned -byte command. The setting unit is [pls/s]. - LT_SGN: Latch signal selection 0: Encoder phase Z : CN- Latch : CN- Latch TSPD 0: Originating approach speed Latch signal * *: The latch signal shown in the figure represents the signal specified by LT_SGN. 0: Virtual origin Communication function

264 - Details of main commands Communication function () The actuator accelerates in the direction set by parameter [0: Originating direction] to the speed set by TSPD in the amount of acceleration time set by parameter [0: Originating acceleration/deceleration time], and then operates at the originating speed. () The actuator decelerates to the speed set by parameter [0: Originating approach speed] at origin signal ON. () When the latch signal specified by the first LT_SGN is input after the origin signal is turned OFF, the actuator moves only for the amount set by parameter [0: Virtual origin] and then stops. The current value at that point will be set to 0. Speed command(velctrl: CH) Byte Command Response Explanation VELCTRL (CH) VELCTRL (CH) ALARM Processing category Motion command OPTION Synchronization Asynchronous (Refer to the section category command STATUS on common Subcommand Permitted commands.) Within communication Processing time cycle Usable phase, MONITOR Execute the speed control. A command is issued directly to the speed loop when 9 this command is issued. Warning code 9 is issued, however, if this command is issued when Bit : PSET is set to 0 in the response STATUS during a position 0 control operation (INTERPOLATE: H, POSING: VREF MONITOR H, FEED: H, LATCH: H, EX_POSING: 9H, (speed command) ZRET: AH). For the acceleration/deceleration time, the time set by parameter No. (AJ) [Acceleration time constant] SEL_MON/ SEL_MON/ is applied. Parameter No. (AJ): [Deceleration time constant] is not applied. IO_MON In the following conditions, a warning occurs and the command is ignored. WDT RWDT - During phase : Command warning Code 9 - This command is issued during a positioning operation (INTERPOLATE: H, POSING: H, FEED: H, LATCH: H, EX_POSING: 9H, ZRET: AH) : Warning code Bytes to 9 conform to a subcommand. Bytes to 9 conform to a subcommand. VREF is a signed -byte speed command and is set in [pls/s]. The VREF set value is the maximum speed/ h of the applicable actuator motor shaft. Therefore, the maximum speed is when VREF is set to H. The rotation direction is determined by the sign. When the actuator is combined with a controller by YASKAWA Electric Corporation, the speed specified by VREF may be different from the actual speed.

265 - Details of main commands Torque command (TRQCTRL: DH) Byte Command Response Explanation TRQCTRL (DH) TRQCTRL (DH) ALARM OPTION (Refer to the section STATUS on common commands.) 9 0 TQREF (torque command) MONITOR MONITOR SEL_MON/ SEL_MON/ IO_MON WDT RWDT Bytes to 9 conform to a subcommand. Bytes to 9 conform to a subcommand. Processing category Motion command Synchronization category Asynchronous command Subcommand Permitted Processing time Within communication cycle Usable phase, Execute the torque control. A command is issued directly to the torque loop when this command is issued. Warning code 9 is issued, however, if this command is issued when Bit : PSET is set to 0 in the response STATUS during a position control operation (INTERPOLATE: H, POSING: H, FEED: H, LATCH: H, EX_POSING: 9H, ZRET: AH). In the following conditions, a warning occurs and the command is ignored. - During phase : Command warning Code 9 - This command is issued during a positioning operation (INTERPOLATE: H, POSING: H, FEED: H, LATCH: H, EX_POSING: 9H, ZRET: AH): Warning code 9 TQREF is a signed -byte torque command and is set in [%]. The TQREF setting is the maximum torque/ h of the applicable actuator motor shaft. Therefore, the maximum torque is when TQREF is set to H. The direction is determined by the sign. The speed limit is not enabled during a torque command operation Communication function

266 - Subcommand - Subcommand The following is a list of HA-00B subcommands. Name Command Description NOP 00H Disable command: Processing is not performed. PRM_RD 0H Read user parameters. PRM_WR 0H Write user parameters (change the setting in the RAM). ALM_RD 0H Details of subcommands Disable command (NOP: 00H) Read the present alarms or warnings, or up to most recent alarms. PPRM_WR CH Write multiple parameters to the EEPROM at once. SMON 0H Monitor the servo status. Byte Command Response Explanation NOP (00H) NOP (00H) SUBSTATUS By function Network command Processing time Within the normal processing time Communication function -9

267 - Subcommand Parameter read command (PRM_RD: 0H) Byte Command Response Explanation PRM_RD (0H) PRM_RD (0H) SUBSTATUS 9 0 No. No. SIZE SIZE 9 PARAMETER By function Processing time Data communication command Within ms Read the enabled parameters. For the contents of parameters of the set value of No., refer to P-. In the following conditions, a warning occurs and the command is ignored. In this case, PARAMETER in the response becomes indeterminable: - An out-of-range number is set in No. Code 9 - The SIZE does not match. Code 9 Parameter write command (PRM_WR: 0H) Byte Command Response Explanation PRM_WR (0H) PRM_WR (0H) SUBSTATUS By function Data communication command 9 Processing time Within ms No. No. 0 Tentatively write a user parameter (the EEPROM is not SIZE SIZE written). After setting, offline user parameters will become enabled when a CONFIG command: 0H is executed. In the following conditions, a warning occurs and the command is ignored. - An out-of-range number is set in No. Code 9 - The SIZE does not match. Code 9 PARAMETER - The parameter is out of range Code 9 For the parameter No. and size, refer to P Communication function

268 - Subcommand Communication function Error/warning read command (ALM_RD: 0H) Byte Command Response Explanation ALM_RD (0H) ALM_RD (0H) SUBSTATUS 9 ALM_RD_MOD ALM_RD_MOD ALM_DATA By function Processing time Data communication command Max. s Read the list of present errors/warnings and error history. ALM_RD_MOD 0: Present warnings, errors: The processing time is within the communication cycle. ALM_RD_MOD : Error history* Up to errors: The processing time is within seconds. (0 is written for the th and subsequent errors and in the empty fields of history data.) In the following conditions, a warning occurs and the command is ignored. - Wrong ALM_RD_MOD setting Code 9 * Warning history is not kept. Non-volatile parameter write command (PPRM_WR: CH) Byte Command Response Explanation PPRM_WR (CH) PPRM_WR (CH) SUBSTATUS By function Data communication command 9 Processing time Max. s No. No. 0 Change the contents of the RAM and EEPROM areas SIZE SIZE where the parameter specified by No. is saved, to the value specified by PARAMETER. In the following conditions, a warning occurs and the command is ignored. - An out-of-range number is set in No. Code 9 - The SIZE does not match. Code 9 PARAMETER PARAMETER - The parameter is out of range Code 9 CMDRDY = 0 of (SUB) STATUS applies while the parameter is being written. Do not turn off the HA-00B during this period. 9

269 - Subcommand Status monitor command (SMON: 0H) Byte Command Response Explanation SMON (0H) SMON (0H) SUBSTATUS 9 SEL_MON/ SEL_MON/ 0 MONITOR MONITOR 9 By function Processing time Data communication command Within communication cycle The servo status is monitored. If this command is sent in phase, a command warning (9) is issued and the command is ignored Communication function

270 - Command data field - Command data field Data set in main commands and subcommands are explained. Latch signal selection: LT_SGN Select the latch signal (event signal) to be used with the [Interpolated feed with position detection function (LATCH)], [Positioning by external input (EX_POSING)] and [Originating (ZRET)] commands. The bit assignments are as follows. LT_SGN details Bit Bit 0 Latch signal 0 0 Encoder phase Z 0 CN-: Latch 0 CN-: Latch Option: OPTION OPTION can be used with the following commands: Servo-ON (SV_ON), Motion stop request (HOLD), Interpolated feed (INTERPOLATE), Positioning (POSING), Constant-speed feed (FEED), Interpolated feed with position detection function (LATCH), Positioning by external input (EX_POSING), Originating (ZRET), Speed command (VELCTRL), Torque command (TRQCTRL) Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit 0 Bit 9 Bit N-CL P-CL P-CL FWD torque limit N-CL REV torque limit 0: Torque not limited : Torque limited Communication function -

271 - Command data field Status (STATUS) In the status field, the servo status is monitored using the reserved areas for bytes and of the main command. The bit assignments are as follows. Details of byte Bit Bit Bit Bit Bit Bit Bit Bit 0 PSET V-CMP ZPOINT PON SVON CMDRDY WARNG ALARM Details of byte Bit Bit Bit Bit Bit Bit 0 Bit 9 Bit N-SOT P-SOT NEAR L_CMP T_LMT DEN ZSPD Bit Name Description Value Status 0 ALARM Occurrence of an alarm WARING Occurrence of a warning CMDRDY Command ready SVON Servo-ON PON Main circuit power ON 0 None Occurrence of an alarm 0 None Occurrence of a warning 0 Command cannot be accepted (busy) Command can be accepted (ready) 0 Servo-OFF Servo-ON 0 OFF ON Always 0 Out of origin position range (Parameter No. 0: Origin 0 ZPOINT Origin position * position range) Within origin position range (Parameter No. 0: Origin position range) In-position complete Out of in-position range (Parameter No. : In-position 0 Deviation after command range) PSET output completion (DEN = ) Within in-position range (Parameter No. : In-position (during position control) range) The actuator does not reach the speed specified by the 0 Attained speed (during speed speed command (VELCTRL). V-CMP control) The actuator reached the speed specified by the speed command (VELCTRL). Position command execution 0 Execution in progress DEN complete (during position control) Execution complete At or above the speed set by [Parameter No. : Zero 0 Zero speed detection (during speed judgment value] ZSPD speed control) At or below the speed specified by [Parameter No. : Zero speed judgment value] 0 Torque not limiting 9 T_LMT Torque limit Torque limiting 0 Latch not yet complete Latch complete (When a latch command is executed, this 0 L_CMP Latch complete signal turns upon latching of the feedback position with the latch signal input.) 0 Deviation outside [parameter No. : In-position range] NEAR Positioning near Deviation inside [parameter No. : In-position range] Communication function

272 - Command data field Communication function Bit Name Description Value Status 0 Not exceeding the soft limit in forward direction P-SOT * FWD soft limit Feedback position exceeded the soft limit in forward direction 0 Not exceeding the soft limit in reverse direction N-SOT * REV soft limit Feedback position exceeded the soft limit in reverse direction *: Enable only when PS_SUBCMD REFE of POS_SET (0H) is. *: The signal may not turn ON since some host controllers do not use the ZRET command for originating. Monitor selection (SEL_MON///), monitor information (MONITOR///) The monitor selection and monitor information signals can be used with the following commands: Servo-ON (SV_ON), Servo-OFF (SV_OFF), Interpolated feed (INTERPOLATE), Positioning (POSING), Constant-speed feed (FEED), Interpolated feed with position detection function (LATCH), Positioning by external input (EX_POSING), Originating (ZRET), Sensor-ON (SENS_ON), Sensor-OFF (SENS_OFF), Speed command (VELCTRL), Torque command (TRQCTRL) - Bit Bit Bit Bit Bit Bit Bit Bit 0 SEL_MON SEL_MON Bit Bit Bit Bit Bit Bit Bit Bit 0 SEL_MON SEL_MON Code Symbol Description Unit 0 POS Return data equivalent to MPOS MPOS Command position (Command Counter) pls PERR Position deviation (Error Counter) pls APOS Feedback position (Feedback Counter) pls LPOS Feedback latch position (latch signal input position) pls IPOS Return data equivalent to MPOS TPOS Target position (command-specified target position) pls FSPD Feedback speed Position/torque control: pls/s Speed control: Max. rotational speed/ h 9 CSPD Command speed Position/torque control: pls/s Speed control: Max. rotational speed/ h A TSPD Target speed Position/torque control: pls/s Speed control: Max. rotational speed/ h Position/speed control: % B TRQ Torque command Torque control: Max. torque/ h C D E F

273 - Command data field IO monitor (IO_MON) The I/O statuses of the HA-00B (CN (I/O)) are monitored. This signal can be used with the following commands: Status monitor (SMON) Positioning (POSING) Servo-ON (SV_ON) Interpolated feed with position detection function (LATCH) Servo-OFF (SV_OFF) Positioning by external input (EX_POSING) Motion stop request (HOLD) Originating (ZRET) Interpolated feed (INTERPOLATE Sensor ON (SENS_ON) Constant-speed feed (FEED) Sensor OFF (SENS_OFF) Speed command (VELCTRL) Torque command (TRQCTRL) Bit Bit Bit Bit Bit Bit Bit Bit 0 LATCH LATCH ORG REV-IH FWD-IH Bit Bit Bit Bit Bit Bit 0 Bit 9 Bit 0 READY ALARM NEAR : OFF, : ON Substatus (SUBSTATUS) In the substatus, the status of a subcommand is monitored using the reserved area for byte of the subcommand. Bit Bit Bit Bit Bit Bit Bit Bit SBCMDRDY SBWARNG SBALM Bit Name Description Value Status 0 None 0 SBALM Subcommand alarm occurred Occurrence of an alarm 0 None SBWARING Subcommand warning occurred Occurrence of a warning Subcommand: Command cannot be accepted 0 (busy) SBCMDRDY Subcommand: Command ready Subcommand: Command can be accepted (ready) Description of alarm/warning (ALM_DATA) The description of an alarm/warning is displayed by the error/warning read command (ALM_RD). 9 0 Alarm list Alarm code Alarm name Alarm clear 0 Overspeed Not permitted 0 Overload Permitted 0 IPM error (overcurrent) Not permitted 0 Overvoltage Not permitted Regenerative resistor overheat Not permitted Overregeneration Not permitted Missing phase Not permitted Control power voltage low Not permitted - Communication function

274 - Command data field Warning list Alarm code Alarm name Alarm clear Main circuit voltage low Not permitted Overheated dynamic brake Not permitted Damaged power circuit Not permitted (Permitted) 0 Encoder breakage Not permitted Encoder receiving error Not permitted UVW error Not permitted System failure Not permitted Multi revolution overflow Not permitted Multi revolution data error Not permitted WDT error Not permitted Synchronization error Not permitted 0 Excessive deviation Permitted 0 Memory failure (RAM) Not permitted Memory failure (EEPROM) Not permitted FPGA configuration error Not permitted FPGA setting error Not permitted Processor error Not permitted 0 MEMORY error Not permitted System failure Not permitted Single rotation data error Not permitted Multi revolution data error Not permitted BUSY error Not permitted Overheat error Not permitted Communication error Not permitted Warning code Warning name 90 Overload status 9 Battery voltage low 9 Cooling fan stopped 9 Main circuit voltage low 9 Command data error 9 Command error 9 Communication warning 9 FWD inhibit input effective * 9 REV inhibit input effective * 99 Incorrect actuator used *: Warning is not output to the MECHATROLINK line even when a warning has occurred. Communication function -

275 - Command data field Parameter No. and size (NO/SIZE) Select the parameter to be read/written. This signal can be used with the following commands: Parameter read command (PRM_RD), parameter write command (PRM_WR), and non-volatile parameter write command (PPRM_WR) Parameter No. and size Adjustment parameter No. Parameter name Data size PSF-00 Parameter No. When data becomes available Position loop gain bytes AJ00 While data is being written Speed loop gain bytes AJ0 While data is being written Speed loop integral compensation bytes AJ0 While data is being written Feed-forward gain bytes AJ0 While data is being written In-position range bytes AJ0 While data is being written System reservation bytes AJ0 - System reservation bytes AJ0 - Zero speed judgment value bytes AJ0 While data is being written 9 System reservation bytes AJ0-0 System reservation bytes AJ09 - System reservation bytes AJ0 - System reservation bytes AJ - Acceleration time constant bytes AJ While data is being written Deceleration time constant bytes AJ While data is being written System reservation bytes AJ - System reservation bytes AJ While data is being written Speed monitor offset bytes AJ While data is being written Current monitor offset bytes AJ While data is being written 9 FWD torque limit bytes AJ While data is being written 0 REV torque limit bytes AJ9 While data is being written Feed-forward filter bytes AJ0 While data is being written Load inertia moment ratio bytes AJ While data is being written Torque constant compensation factor bytes AJ While data is being written Spring constant compensation factor bytes AJ While data is being written Automatic positioning gain bytes AJ While data is being written System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - 9 System reservation bytes AJ - 0 System reservation bytes AJ9 - System reservation bytes AJ0 - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ Communication function

276 - Command data field No. Parameter name Data size PSF-00 Parameter No. When data becomes available 9 System reservation bytes AJ - 0 System reservation bytes AJ9 - System reservation bytes AJ0 - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - 9 System reservation bytes AJ - 0 System reservation bytes AJ9 - System reservation bytes AJ0 - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - System reservation bytes AJ - 9 System reservation bytes AJ - 0 System reservation bytes AJ9 - *: For details on parameters, refer to [- Tune mode] and [- System parameter mode]. Communication function -9

277 - Command data field System parameters No. Parameter name Data size PSF-00 Parameter No. When data becomes available CN9-CP output signal setting bytes SP0 When reconnecting the power System reservation bytes SP - System reservation bytes SP - System reservation bytes SP - Electronic gear numerator bytes SP When reconnecting the power Electronic gear denominator bytes SP When reconnecting the power System reservation bytes SP - System reservation bytes SP - 9 Deviation clear upon servo-on bytes SP When reconnecting the power 0 Allowable position deviation bytes SP9 When reconnecting the power Command polarity bytes SP0 When reconnecting the power Speed input factor bytes SP When reconnecting the power System reservation bytes SP - System reservation bytes SP - Status display setting bytes SP When reconnecting the power DB enable/disable setting bytes SP When reconnecting the power System reservation bytes SP - System reservation bytes SP - 9 System reservation bytes SP - 0 Angle compensation enable/disable setting bytes SP9 When reconnecting the power Automatic positioning gain setting enable/disable bytes SP0 When reconnecting the power Encoder pulse output pulses bytes SP When reconnecting the power Input signal logic bytes SP When reconnecting the power Output signal logic bytes SP When reconnecting the power Regenerative resistor selection bytes SP When reconnecting the power FWD/REV inhibit operation bytes SP When reconnecting the power Absolute encoder function setting bytes SP When reconnecting the power System reservation bytes SP - 9 System reservation bytes SP - 90 Feed-forward control function setting bytes SP9 When reconnecting the power 9 System reservation bytes SP0-9 System reservation bytes SP - 9 System reservation bytes SP - 9 System reservation bytes SP - 9 System reservation bytes SP - 9 System reservation bytes SP - 9 System reservation bytes SP - 9 System reservation bytes SP - 99 System reservation bytes SP - 00 System reservation bytes SP9-0 Final external positioning distance bytes NP While data is being written 0 FWD soft limit bytes NP0 While data is being written 0 REV soft limit bytes NP While data is being written 0 Origin position range bytes NP0 While data is being written 0 Originating approach speed bytes NP0 While data is being written Communication function

278 - Command data field No. Parameter name Data size PSF-00 Parameter No. When data becomes available Originating acceleration/deceleration 0 time bytes NP0 While data is being written 0 Virtual origin bytes NP0 When reconnecting the power 0 Originating direction bytes NP0 While data is being written 09 Soft limit enable/disable bytes NP While data is being written 0 System reservation bytes - While data is being written *: For details on parameters, refer to [- Tune mode] and [- System parameter mode]. *: The parameters that require the power to be reconnected need to be written to EEPROM. Use non-volatile parameter write command (PPRM_WR). Parameter write command (PRM_WR) cannot be used. Communication function -

279 - Control mode - Control mode The control mode of the HA-00B is explained. Switching the control mode The following commands are used to switch between the types of control mode for HA-00B. Position control mode VELCTRL command Other motion commands Other motion commands VELCTRL command TRQCTRL command Speed control mode Torque control mode TRQCTRL command A speed limit cannot be applied during torque control. In torque control, the sett values in AJ: FWD torque limit/aj9: REV torque limit are disabled. Notices for switching between control modes UA9: Command error occurs if the control mode is switched between position control and speed control, or between position control and torque control, while the motor is rotating. The motor in this status cannot be stopped. Return the control mode to the mode before UA9 occurred and stop the motor, or stop it by turning the servo OFF. Switch the control mode after making sure that the current speed is at or below the speed specified by parameter [AJ0: Zero speed judgment value]. (Be sure to check the current speed since zero speed detection is not output in the position control mode.) Communication function

280 - Control mode Communication function -

281 Appendix Chapter Appendix This chapter explains the default settings, etc. A- Default settings A- A- Regenerative resistor A- A- List of data retained in the driver A- A- Driver replacement procedures 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 SP9 SP SP0 SP SP9 Actuator model No. SHA0-SG SHA-SG/HP Actuator reduction ratio 0 0 Combined driver HA-00B-D/E-00 HA-00B-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 SP9 SP SP0 SP SP9 Actuator model No. SHA-SG/HP Actuator reduction ratio 0 Combined driver HA-00B-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 Appe Actuator model No. SHA0-SG SHA0-SG Apx Appendix d AJ00 AJ0 AJ0 AJ0 SP9 SP SP0 SP SP9 Actuator reduction ratio 0 0 Combined driver HA-00B-D/E-00 HA-00B-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 Appe A-

283 A- Default settings d AJ00 AJ0 AJ0 AJ0 SP9 SP SP0 SP SP9 Actuator model No. SHA-SG SHA-SG Actuator reduction ratio 0 0 Combined driver HA-00B-D/E-00 HA-00B-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 SP9 SP SP0 SP SP9 d AJ00 AJ0 AJ0 AJ0 SP9 SP SP0 SP SP9 Actuator model No. SHA0-CG SHA-CG SHA-CG Actuator reduction ratio Combined driver HA-00B-D/E-00 HA-00B-D/E-00 HA-00B-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. SHA0-CG SHA0-CG Actuator reduction ratio Combined driver HA-00B-D/E-00 HA-00B-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 付 付 Apx 付 Appendix A-

284 A- Default settings Apx Appendix SHA series (voltage: 00V) d AJ00 AJ0 AJ0 AJ0 SP9 SP SP0 SP SP9 Actuator model No. SHA-SG SHA-CG Actuator reduction ratio Combined driver HA-00B-D/E-00 HA-00B-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-Cmini -wire, wire saving incremental series (voltage: 00V) d AJ00 AJ0 AJ0 AJ0 SP9 SP SP0 SP SP9 Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio Combined driver HA-00B-C-00 HA-00B-C-00 HA-00B-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 -wire, wire saving incremental series (voltage: 00V) d AJ00 AJ0 AJ0 AJ0 SP9 SP SP0 SP SP9 Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio Combined driver HA-00B-C-00 HA-00B-C-00 HA-00B-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 Appe Appe A-

285 A- Default settings FHA-Cmini absolute series (voltage: 00V) d AJ00 AJ0 AJ0 AJ0 SP9 SP SP0 SP SP9 Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio Combined driver HA-00B-D-00 HA-00B-D-00 HA-00B-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) d AJ00 AJ0 AJ0 AJ0 SP9 SP SP0 SP SP9 Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio Combined driver HA-00B-D-00 HA-00B-D-00 HA-00B-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-C -wire, wire-saving incremental series (voltage: 00V) d AJ00 AJ0 AJ0 AJ0 SP9 SP SP0 SP SP9 Actuator model No. FHA-C FHA-C FHA-C FHA-0C Actuator reduction ratio Combined driver HA-00B-C-00 HA-00B-C-00 HA-00B-C-00 HA-00B-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 付 付 Apx 付 Appendix A-

286 A- Default settings FHA-C -wire, wire-saving incremental series (voltage: 00V) d AJ00 AJ0 AJ0 AJ0 SP9 SP SP0 SP SP9 Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio Combined driver HA-00B-C-00 HA-00B-C-00 HA-00B-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) d AJ00 AJ0 AJ0 AJ0 SP9 SP SP0 SP SP9 Actuator model No. FHA-C FHA-C FHA-C FHA-0C Actuator reduction ratio Combined driver HA-00B-A-00 HA-00B-A-00 HA-00B-A-00 HA-00B-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 FHA-C absolute series (voltage: 00V) Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio Appe Apx Appendix d AJ00 AJ0 AJ0 AJ0 SP9 SP SP0 SP SP9 Combined driver HA-00B-A-00 HA-00B-A-00 HA-00B-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 Appe A-

287 A- Default settings RSF -wire, wire-saving incremental series (voltage: 00V) Actuator model No. RSF-A RSF-0A RSF-A RSF-A d AJ00 AJ0 AJ0 AJ0 SP9 SP SP0 SP SP9 Actuator reduction ratio Combined driver HA-00B-B-00 HA-00B-B-00 HA-00B-B-00 HA-00B-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 付 付 Apx 付 Appendix A-

288 A- Regenerative resistor Apx Appendix - 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-00B 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. Power Input voltage 00V specification/00v specification supply: 00V Model HA-00*- HA-00*- HA-00*- HA-00*- 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-repeating cycle) Explanation Terminal for mounting external regenerative resistance provided Regenerative resistor contained Terminal for mounting external regenerative resistance provided - W max. W max. 90W max. 0J (Power supply: 00V) J (Power supply: 00V) *, * 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. 90J (Power supply: 00V) 0J (Power supply: 00V) * 0J (Power supply: 00V) 0J (Power supply: 00V) * 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. Appe Appe 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 Up t a ( cycle) N C Down Time t t t t t t t t (+) () (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 output torque Actuator output energy () T = (Ja + Jm) (π Nc) / E = / (π Nc) / 0 T t 0 ( / t) + Tn + Tf () T = Tn + Tf E = (π Nc) / 0 x T x t () T = - (Ja + Jm) (π Nc) / E = / (π Nc) / 0 T t 0 ( / t) + Tn + Tf (), () T = Tn 0 (Regenerative energy is 0, because the actuator is stopped.) () T = (Ja + Jm) (π Nc) / E = / (π Nc) / 0 T t 0 ( / t) - Tn + Tf () T = -Tn + Tf E = (π Nc) / 0 x T x t () T = - (Ja + Jm) (π Nc) / E = / (π Nc) / 0 T t 0 ( / 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 Appe Appe A-9

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-00B 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-00* Ω - % HA-00*- 0 W max. 0Ω ± % Ω - % HA-00*- W max. Ω ± % Ω - % HA-00*- 90W 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 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-00*- 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-00*- HA-00*- HA-00*- HA-00*- 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. 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 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 pair 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-). Appe Appe Appendix 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-00B 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-00B-/, 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*- R When using a built-in regenerative resistor with the HA-00B-, 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. R R U V W Red White Black External regenerative resistor M AC Servo Actuator Terminal block for motor connection Crimp terminal Screw size outer diameter M φmm Reference Round crimp terminal (R-type).-R.-NS (J.S.T. Mfg. Co., Ltd.) (J.S.T. Mfg. Co., Ltd.) Apx Appendix A-

294 A- Regenerative resistor Connection example of the external regenerative resistor Regenerative power: 00W 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 Black M AC Servo Actuator Appe Appe 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 a regenerative resistor (built-in or external) is used, it should be utilized within its allowable absorption power or allowable absorption energy. SHA series (voltage: 00V) Actuator model No. SHA0A-SG Actuator reduction ratio 0 Combined driver HA-00B-D/E-00 Max. rotational speed r/min Actuator Inertia moment (Without 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-repeating 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 9. kg m..... kgf cm s kg m. (.) (.) (.) (.) kgf cm s (9) (9) (9) () External regenerative resistor RH0BΩJ Actuator model No. SHAA-SG/HP Actuator reduction ratio 0 Combined driver HA-00B-D/E-00 Max. rotational speed r/min Actuator kg m Inertia moment (Without brake) kgf cm s 0.0. Actuator kg m Inertia moment (With brake) kgf cm s 0.. Allowable load inertia moment kg m when a built-in regenerative resistor is used kgf cm s (repeat cycle) Allowable load inertia moment when a built-in regenerative kg m resistor is used (non-repeating cycle) kgf cm s kg m Allowable load inertia moment when an external kgf cm s regenerative resistor is used External regenerative resistor RH0BΩJ Apx Appendix A-

296 A- Regenerative resistor Actuator model No. SHAA-SG/HP Actuator reduction ratio 0 Combined driver HA-00B-D/E-00 Max. rotational speed r/min Actuator Inertia moment (Without 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-repeating cycle) Allowable load inertia moment when an external regenerative resistor is used kg m kgf cm s kg m kgf cm s. 0 9 kg m kgf cm s kg m kgf cm s.. kg m kgf cm s External regenerative resistor RH0BΩJ Apx Actuator model No. SHA0A-SG Actuator reduction ratio 0 0 Combined driver HA-00B-D/E-00 HA-00B-D/E-00 Max. rotational speed r/min Actuator kg m Inertia moment (Without brake) kgf cm s Actuator kg m.. Inertia 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. 9 when a built-in regenerative resistor is used kgf cm s (non-repeating cycle) Allowable load inertia moment kg m 9 () (9) () () () when an external kgf cm s (90) (90) (0) (00) (0) regenerative resistor is used External Connect two RH00_0ΩJ in parallel, or Allowable load regenerative RH0BΩJ connect four RH00_0ΩJ in parallel. inertia moment resistor Appe Appe Appendix A-

297 A- Regenerative resistor Actuator model No. SHAA-SG SHAA-SG Actuator reduction ratio 0 0 Combined driver HA-00B-D/E-00 HA-00B-D/E-00 Max. rotational speed Actuator Inertia moment (Without 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-repeating cycle) Allowable load inertia moment when an external regenerative resistor is used Allowable load inertia moment r/min kg m kgf cm s kg m kgf cm s kg m 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 parallel. Connect two RH00_0ΩJ in parallel, or connect four RH00_0ΩJ in parallel. Actuator model No. SHA0A-CG SHAA-CG Actuator reduction ratio Combined driver HA-00B-D/E-00 HA-00B-D/E-00 Max. rotational speed Actuator Inertia moment (Without 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-repeating cycle) Allowable load inertia moment when an external regenerative resistor is used Allowable load inertia moment r/min kg m kgf cm s kg m kgf cm s kg m kgf cm s kg m kgf cm s kg m. (.) (.) (.) (.).. 0 kgf cm s (9) (9) (9) () 90 0 External regenerative resistor RH0BΩJ RH0BΩJ Apx Appendix A-

298 A- Regenerative resistor Actuator model No. SHAA-CG Actuator reduction ratio Combined driver Max. rotational speed Actuator Inertia moment (Without 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-repeating cycle) Allowable load inertia moment when an external regenerative resistor is used Allowable load inertia moment HA-00B-D/E-00 r/min kg m kgf cm s 99 kg m kgf cm s 0 0 kg m.. 9. kgf cm s 9 kg m kgf cm s kg m kgf cm s External regenerative RH0BΩJ resistor Apx Appendix Actuator model No. SHA0A-CG Actuator reduction ratio Combined driver HA-00B-D/E-00 HA-00B-D/E-00 Max. rotational speed Actuator Inertia moment (Without 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-repeating cycle) Allowable load inertia moment when an external regenerative resistor is used Allowable load inertia moment r/min kg m kgf cm s kg m kgf cm s kg m kgf cm s kg m. 9 9 kgf cm s kg m 9 () (9) () () () kgf cm s (90) (90) (0) (00) (0) External regenerative resistor RH0BΩJ Connect two RH00_0ΩJ in parallel, or connect four RH00_0ΩJ in parallel. Appe Appe A-

299 A- Regenerative resistor SHA series (voltage: 00V) Actuator model No. SHAA-SG SHAA-CG Actuator reduction ratio Combined driver HA-00B-D/E-00 HA-00B-D/E-00 Max. rotational speed Actuator Inertia moment (Without 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-repeating cycle) Allowable load inertia moment when an external regenerative resistor is used Allowable load inertia moment r/min 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 () (90) () () (0) () (90) () () (0) External regenerative resistor RH0BΩJ RH0BΩJ FHA-Cmini series (voltage: 00V/00V) Actuator model No. FHA-C FHA-C FHA-C Actuator reduction ratio Combined driver HA-00B-*-00 HA-00B-*-00 HA-00B-*-00 HA-00B-*-00 HA-00B-*-00 HA-00B-*-00 Max. rotational speed r/min Actuator Inertia moment Allowable load inertia moment when a poorly connected regenerative resistor is used (repeat cycle) Allowable load inertia moment when a poorly connected regenerative resistor is used (non-repeating cycle) Allowable load inertia moment when an external regenerative resistor is used Allowable load inertia moment 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.) (0.90) (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 FHA-C FHA-C FHA-C FHA-0C Actuator reduction ratio Combined driver HA-00B-*-00 HA-00B-*-00 HA-00B-*-00 HA-00B-*-00 Max. rotational speed r/min Actuator inertia moment 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-repeating cycle) Allowable load inertia moment when an external regenerative resistor is used Allowable load inertia moment kg m kgf cm s kg m kgf cm s kg m Kgf cm s kg m (0.) (.) (.) (.) (0) () (.) () () 0 0 kgf cm s (.) () () () (00) (0) () (0) (0) External regenerative resistor RH0BΩJ RH0BΩJ RH0BΩJ RH0BΩJ Apx Appendix FHA-C series (voltage: 00V) Actuator model FHA-C FHA-C FHA-C Actuator reduction ratio Combined driver HA-00B-*-00 HA-00B-*-00 HA-00B-*-00 Max. rotational speed r/min Actuator inertia kg m moment kgf cm s..9. Allowable load inertia moment kg m when a built-in regenerative resistor is used (repeat cycle) kgf cm s Allowable load inertia moment when a built-in regenerative resistor is used (non-repeating cycle) Allowable load inertia moment when an external regenerative resistor is used Allowable load inertia moment kg m Kgf cm s kg m (0.) (.) (.) (.) (0) () (.) () () kgf cm s (.) () () () (00) (0) () (0) (0) External regenerative resistor RH0BΩJ RH0BΩJ RH0BΩJ Appe Appe A-9

301 A- Regenerative resistor Apx Appendix A-0

302 A- List of data retained in the driver - A List of data retained in the driver 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 three types of data that are retained in the non-volatile memory. They are adjustment parameters, system parameters, network parameters. Adjustment parameters AJxx Apx Appendix Symbol Name AJ00 Position loop gain AJ0 Speed loop gain AJ0 Speed loop integral compensation AJ0 Feed-forward gain AJ0 In-position range AJ0 System reservation * AJ0 System reservation * AJ0 Zero speed judgment value AJ0 System reservation * AJ09 System reservation * AJ0 System reservation * AJ System reservation * Acceleration time constant AJ (position control) Acceleration/deceleration time constant (speed control) AJ Deceleration time constant (position control) AJ System reservation * AJ System reservation * AJ Speed monitor offset AJ Current monitor offset AJ FWD torque limit AJ9 REV torque limit 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 * AJ9 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 * AJ9 System reservation * AJ0 to AJ9 System reservation * Main unit display panel Displaying set values Editing set values Displaying set values Editing set values Displaying set values Display, Edit, Save Servo parameter setting Software PSF-00 * 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) MECHATROLINK communication * Displaying set values Parameter read command (PRM_RD:0H) Editing set values Parameter write command (PRM_WR:0H) Non-volatile parameter write command (PPRM_WR:Ch) * Parameter No. to 0 Displaying set values Parameter read command (PRM_RD:0H) Editing set values Parameter write command (PRM_WR:0H) Non-volatile parameter write command (PPRM_WR:Ch) * Parameter No. to 0 Displaying set values Parameter read command (PRM_RD:0H) Appe Appe * Parameter No. to 0 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. *: When editing adjustment parameters using MECHATROLINK communication function, do not execute the parameter write command or non-volatile parameter write command for system reservation. System parameter SPxx * The setting change of the system parameters (SP0 to 9) is enabled by reconnecting the control power supply after changing the setting. Symbol Name Main unit display panel Display, Edit, Save Servo parameter setting Software PSF-00 * MECHATROLINK communication * SP0 CN9-CP output signal setting SP System reservation * SP System reservation * SP System reservation * SP Electronic gear numerator SP Electronic gear denominator Displaying set values Parameter read SP System reservation * command SP System reservation * (PRM_RD:0H) SP Deviation clear upon servo-on Editing set values SP9 Allowable position deviation Displaying set values Displaying set Parameter write Editing set values SP0 Command polarity values command Saving a file SP Speed input factor Editing set values (PRM_WR:0H) (psf extension) SP System reservation * Non-volatile parameter write command SP System reservation * (PPRM_WR:Ch) SP Status display setting SP DB enable/disable setting * Parameter No. to 0 SP System reservation * SP System reservation * SP System reservation * SP9 Angle compensation enable/disable setting SP0 Automatic positioning gain Setting enable/disable setting SP Encoder monitor output pulses SP Input signal logic setting SP Output signal logic setting SP Regenerative resistor selection Displaying set values SP FWD/REV inhibit operation Parameter read SP Absolute encoder function setting command SP System reservation * (PRM_RD:0H) SP System reservation * Editing set values Displaying set values Displaying set Parameter write Feed-forward control function Editing set values SP9 values command setting Saving a file Editing set values (PRM_WR:0H) SP0 System reservation * (psf extension) Non-volatile parameter SP System reservation * write command SP System reservation * (PPRM_WR:Ch) SP System reservation * SP System reservation * * Parameter No. to 00 SP System reservation * SP System reservation * SP System reservation * SP System reservation * SP9 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. *: When editing adjustment parameters using MECHATROLINK communication function, do not execute the parameter write command or non-volatile parameter write command for system reservation. Apx Appendix A-

304 A- List of data retained in the driver Network parameters Symbol Name Main unit display panel Display, Edit, Save Servo parameter setting Software PSF-00 * MECHATROLINK communication * NP 00 System reservation * NP 0 System reservation * NP 0 System reservation * NP 0 System reservation * NP 0 Originating approach speed Displaying set values NP 0 Originating Parameter read acceleration/deceleration time command NP 0 Originating direction (PRM_RD:0H) NP 0 Virtual origin * Editing set values NP 0 Origin position range Displaying set values Parameter write (Cannot be Editing set values NP 09 System reservation * command operated) Saving a file NP 0 FWD soft limit (PRM_WR:0H) (psf extension) NP System reservation * Non-volatile parameter NP REV soft limit write command NP System reservation * (PPRM_WR:Ch) NP Final external positioning distance NP System reservation * * Parameter No. 0 to 0 NP Soft limit enable/disable NP System reservation * NP System reservation * NP 9 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. *: When editing adjustment parameters using MECHATROLINK communication function, do not execute the parameter write command or non-volatile parameter write command for system reservation. *: The setting change of the virtual origin is enabled by reconnecting the control power supply after changing the setting. Appe Appe Apx Appendix A-

305 A- Driver replacement procedures - A Driver replacement procedures The following explains the procedures to replace the HA-00B 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 and combined actuator (ADJ.). Nameplate on the side of the driver main unit TYPE: - Checking items 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 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 bit ) transfer bytes: Rotary switch (SW bit, SW) station address: Save the parameters set in the driver currently used (retained in EEPROM) before the replacement. [Adjustment parameters] [System parameters] [Network parameters] Name of the file to save (psf extension): Front side of the driver main unit, inside of the LED display cover -9 Name and function of each part of a display panel PSF-00 Communication software 0-- Saving set values 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 to 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. *()() By not connecting the actuator wiring, unexpected actuator operation can be avoided if an incorrect operation command is input during the replacement work. *: 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. Apx Appendix A-

306 A- Driver replacement procedures Procedures Description Places to check/manual Turn ON the control power supply Connect the control power (r, s) to the new driver. Check that the driver starts and LED display section ( segment LED) lights up. *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 connecting 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 0. Writing parameters Wire connection Disconnect the power to the new driver. * 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] [Network parameters] After confirming that the CHARGE lamp is turned OFF (or wait until the lamp is turned OFF), connect all the wiring. 9 Switch settings Set the switch status noted in ". Checking the switch settings" to the new driver. Rotary switch (SW bit ) transfer bytes Rotary switch (SW bit, SW) station address This completes the driver replacement work. PSF-00 Communication software 0--. Writing a saved settings file to the driver. Front side of the driver main unit, inside of the LED display cover -9 Display panel CAUTION This work requires wiring changes. Exercise caution to prevent accidents such as electric shock. Appe Appe Apx Appendix A-

307 Index A Absolute encoder function setting Acceleration time constant... - Alarm Alarm history clear Alarm mode... - Allowable position deviation... - Angle compensation enable/disable setting... - Applicable actuator code... - Automatic positioning gain... - Automatic positioning gain setting enable/disable setting... - Auto-tuning , 0- Auto-tuning travel angle setting Auto-tuning level selection B Battery... - Battery replacement method... - Battery voltage low... - BUSY error... - C Cable size... - CN9-CP output signal setting... - Command data error... - Command polarity... - Command pulse display... - Command error... - Command data field... - Communication error... - Communication warning... - Configuration diagram... - Control mode... -, - Control power voltage low... - Cooling fan stopped... - Current monitor offset... - D Damaged power circuit... - DB enable/disable setting... - Deceleration time constant... - Default settings... Deviation clear upon servo-on setting... - Discharge time... - Display panel... - Driver model... - Driver specification... - Driver replacement procedures... E Electronic gear setting... - Encoder breakage... - Encoder combination... - Encoder monitor output pulses... - Encoder receiving error... - Environment... -, 0- Error pulse count display... - Excessive deviation Extension cable combinations... - External drawing... - F Feedback pulse display... - Feed-forward filter... - Feed-forward gain... - Feed-forward control function setting FPGA configuration error FPGA setting error FWD inhibit input effective... - FWD torque limit... - FWD/REV inhibit operation... - G Gain adjustment... - Ground... - I I/O signal monitor In-position range... - Input signal logic setting... - Internal function block diagram... - IO monitor IPM error... - J JOG acceleration/deceleration time constant setting JOG speed setting JOG operation L List of data retained in the driver... Load inertia moment ratio... - M Main circuit power voltage... - Main circuit voltage low... - Main circuit voltage low... - Main command... - Memory failure MEMORY error Missing phase... - Motor code Motor rotation speed indication... - Multi revolution clear Multi revolution overflow... - Multi revolution data error... - Multi revolution data error N Noise... - O Option... -, - Origin setting... -, -, - Output signal logic setting... - Output torque monitor... - Output signal operation Output signal operation... 0-

308 Index Overheat error... - Overheated dynamic brake... - Overload... - Overload rate display... -, - Overload status... - Overregeneration... - Overspeed... - Overvoltage... - P Panel display... - Parameter initialization Parameter setting Periodically replaced part... - Position loop gain... -, - Present alarm/warning display Processor error PSF R Rating... - Regenerative power... - regenerative resistance... - Regenerative resistor selection... - Regenerative resistor overheat... - Regenerative resistor... REV inhibit input effective... - REV torque limit... - S Saving, comparing and copying set values Single rotation data error Specification (MECHATROLINK communication)... - Speed input factor setting... - Speed loop gain... - Speed loop integral compensation... - Speed monitor offset... - Spring constant compensation factor... - Status display... - Status display setting... - Subcommand Synchronization error... - System failure... -, -0 T Test operation Torque constant compensation factor... - Tune mode... - U UVW error... - W Waveform monitoring WDT error... - Wrong actuator... - Z Zero speed judgment value... -

309 Warranty Period The warranty period of the HA-00B 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.

310 Certified to ISO00/ISO900 (TÜV Management Service GmbH) All specifications and dimensions in this manual subject to change without notice. This manual is correct as of October 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 99-0 TEL+(0)--9 FAX+(0)--90 HOTAKA Plant/- Hotakamaki Azumino-shi Nagano, Japan 99-0 TEL+(0)--00 FAX+(0)--90 Harmonic Drive AG/Hoenbergstraβe, Limburg, Germany TEL FAX0-00- Harmonic Drive L.L.C/ Lynnfield Street, Peabody, MA, 090, U.S.A. TEL FAX "HarmonicDrive " is a registered trademark of Harmonic Drive Systems, Inc. "HarmonicDrive " represents the academic concept generally referred to as wave motion gearing. 0-R-THA00B