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AC Servo Driver for 24 VDC Power Supply HA-680 Series Manual (For FHA-8C, 11C, 14C/RSF-3A, and 5A) ● Thank you very much for your purchasing our

Chapter 1 Outlines of the HA-680 driver HA-655_V4 - 4 - 1-5 External drawing of the HA-680 drivers The HA-680 driver model indication and the mar

Chapter 6 Setting up parameters HA-680_V04 - 94 - 42: Reserved for the system This parameter is reserved for the system. Do not change the setting

Chapter 6 Setting up parameters HA-680_V04 - 95 - 46: JOG operation speed (position / speed / torque) ● Function This function sets the motor ma

Chapter 6 Setting up parameters HA-680_V04 - 96 - 6-3 Default parameter list No. Description unit FHA-8C-30 FHA-8C-50 FHA-8C-10000 Position loop

Chapter 6 Setting up parameters HA-680_V04 - 97 - No. Description unit FHA-11C-30 FHA-11C-50 FHA-11C-10000 Position loop gain － 40 40 40 01 Sp

Chapter 6 Setting up parameters HA-680_V04 - 98 - No. Description unit FHA-14C-30 FHA-14C-50 FHA-14C-10000 Position loop gain － 40 40 40 01 Spe

Chapter 6 Setting up parameters HA-680_V04 - 99 - No. Description unit RSF-3A-30 RSF-3A-50 RSF-3A-10000 Position loop gain － 100 100 100 01 Spee

Chapter 6 Setting up parameters HA-680_V04 - 100 - No. Description unit RSF-5A-30 RSF-5A-50 RSF-5A-10000 Position loop gain * － 100 (120) 100 (1

Chapter 7 Troubleshooting HA-680_V04 - 101 -Chapter 7 Troubleshooting 7-1 Alarms and diagnostic tips The HA-680 drivers provide various functions

Chapter 7 Troubleshooting HA-680_V04 - 102 - 1. Clean around the device. Make sure there are no wire chips or tools inside the equipm

Chapter 1 Outlines of the HA-680 driver HA-655_V4 - 5 - 1-6 Names and functions of parts LED display unit Displays the operation state of the H

Chapter 7 Troubleshooting HA-680_V04 - 104 -Deviation counter overflow (Alarm clear: available) ● Description The alarm occurs when the value of t

Chapter 7 Troubleshooting HA-680_V04 - 105 -Encoder break detection (Alarm clear: not available) ● Description This alarm occurs when the encoder

Chapter 7 Troubleshooting HA-680_V04 - 106 -UVW error (Alarm clear: not available) ● Description The alarm occurs when the encoder UVW signals are

Chapter 7 Troubleshooting HA-680_V04 - 107 -Operating temperature error (Alarm clear: not available) ● Description The alarm occurs when the tempe

Chapter 7 Troubleshooting HA-680_V04 - 108 -Over current (Alarm clear: not available) ● Description This alarm occurs when the current detection c

Chapter 7 Troubleshooting HA-680_V04 - 109 -Load short circuit (Alarm clear: not available) ● Description The alarm occurs when excessive current

Chapter 7 Troubleshooting HA-680_V04 - 110 -Memory Error (EEPROM) (Alarm clear: not available) ● Description This alarm occurs when the driver’s E

Chapter 7 Troubleshooting HA-680_V04 - 111 -Over speed (Alarm clear: not available) ● Description The alarm occurs when the motor axis speed excee

Chapter 7 Troubleshooting HA-680_V04 - 112 -7-2 Troubleshooting for improper actuator motions Troubleshooting procedures for problems other than a

Chapter 7 Troubleshooting HA-680_V04 - 113 -  Unstable rotation in position control N Are motor wire connectio

Chapter 1 Outlines of the HA-680 driver HA-655_V4 - 6 - CN3: Serial port connector The connector for connection with a PC. This is used for monito

Chapter 7 Troubleshooting HA-680_V04 - 114 - Is normal temperature in cabinet? Review heat generating devices

Chapter 7 Troubleshooting HA-680_V04 - 115 -  Poor positioning accuracy in position control N Is the encoder

Chapter 7 Troubleshooting HA-680_V04 - 116 - 7-2-2 Improper motions in speed and torque control  No rotation in speed and torque con

Chapter 7 Troubleshooting HA-680_V04 - 117 -  Unstable rotation in speed and torque control Is the power supply

Chapter 7 Troubleshooting HA-680_V04 - 118 - Previous page Is the command voltage normal? Is any noise genera

Chapter 7 Troubleshooting HA-680_V04 - 119 - Previous page N Does rattle or resonance occur in the mechanicalsystem? Y Improve the me

Chapter 8 Options HA-680_V04 - 120 - Chapter 8 Options 8-1 Relay cables ◆ Relay cable 1: FHA-C mini 24VAC type These are relay cables that connect

Chapter 8 Options HA-680_V04 - 121 - 8-2 Connectors Connectors for CN1 and CN2 connectors of HA-680, and terminal blocks for motor connection and po

The HA-680 series servo drivers are warranted as follows: Warranty period Under the condition that the actuator are handled, used and maintai

Head Office／Believe Omori 7F 6-25-3 Minami-Ohi,Shinagawa-ku,Tokyo,Japan 〒140-0013 TEL03(547

Chapter 1 Outlines of the HA-680 driver HA-655_V4 - 8 - 1-7-4 CN3: Serial port connector Pin No. Signal name Description 1 FG Frame ground 2 RXD

Chapter 1 Outlines of the HA-680 driver HA-655_V4 - 9 - 1-8 CN2: Overview of I/O signal The CN2 connector performs input and output of control sig

Chapter 1 Outlines of the HA-680 driver HA-655_V4 - 10 - Torque control Pin No. Signal Symbol I/O 1 Output 1 (Attained speed) HI-SPD Output

Chapter 1 Outlines of the HA-680 driver HA-655_V4 - 11 - 1-9 LED display The 2 LEDs (green and red) indicate the state of the HA-680 driver. State

Chapter 1 Outlines of the HA-680 driver HA-655_V4 - 12 - 0204060801001201401601802000 50 100 150 200 250 300出力トルク　[%]　定格を100%とする検出時間　[s]The followi

Chapter 1 Outlines of the HA-680 driver HA-655_V4 - 13 - ◆ Encoder break detection This alarm occurs when the signal from the encoder is lost. To

SAFETY GUIDE For FHA series, RSF series, HA series manufactured by Harmonic Drive Systems Inc Read this manual thoroughly before designing the

Chapter 2 I/O ports HA-680_V04 - 14 - Chapter 2 I/O ports The HA-680 driver exchanges signals with the host device via the CN2 connector (26-pin hal

Chapter 2 I/O ports HA-680_V04 - 15 - 2-1-2 Assignment of output signals Assignment of output signals varies depending on the setting value of “12:

Chapter 2 I/O ports HA-680_V04 - 16 - 2-2 Position control 2-2-1 I/O port layout The I/O port layout is shown as follows: Pin Signal name Symbol

Chapter 2 I/O ports HA-680_V04 - 17 - 2-2-2 I/O port connections in the position control This section describes the connection between the I/O port

Chapter 2 I/O ports HA-680_V04 - 18 - z Monitor outputs The HA-680 driver provides 6 ports of 3 signals for encoder monitoring as shown in the fig

Chapter 2 I/O ports HA-680_V04 - 19 - (I/O signal functions for position control) CN2-3 Ready: READY (output) ● Function The output turns ON when t

Chapter 2 I/O ports HA-680_V04 - 20 - (I/O signal functions for position control) CN2-5 Phase-Z (OC): Z (output) ● Function The port outputs phase

Chapter 2 I/O ports HA-680_V04 - 21 - Can be set to CN2-8 FWD inhibit: FWD-IH (input) Can be set to CN2-9 REV-inhibit: REV-IH (input) ● Function

Chapter 2 I/O ports HA-680_V04 - 22 - (I/O signal functions for position control) Can be set to CN2-9 or 11 Deviation clear: DEV-CLR (input) ● Fun

Chapter 2 I/O ports HA-680_V04 - 23 - (I/O signal functions for position control) CN2-13 Encoder monitor ground: MON-GND (output) ● Function The c

HA-680 series servo driver manual HA-680_V04 - Contents 1 - Contents Chapter 1 Outlines of HA-680 driver...

Chapter 2 I/O ports HA-680_V04 - 24 - (I/O signal functions for position control) ◆ Connection for open collector commands and +24V power sup

Chapter 2 I/O ports HA-680_V04 - 25 - (I/O signal functions for position control) CN2-21 Phase-A +(LD): A+ (output) CN2-22 Phase-A -(LD): A- (outp

Chapter 2 I/O ports HA-680_V04 - 26 - 2-2-4 Connection examples in the position control ◆ Connection example 1-1: FHA-C mini 24VAC type The figure

Chapter 2 I/O ports HA-680_V04 - 27 - ◆ Connection example 1-2: RSF supermini series The figure below shows a connection example in the position

Chapter 2 I/O ports HA-680_V04 - 28 - Connection example 2-1: FHA-C mini 24VAC type The figure below shows a connection example in the position con

Chapter 2 I/O ports HA-680_V04 - 29 - Connection example 2-2: RSF supermini series The command format is “2 pulse method,” and the setting values of

Chapter 2 I/O ports HA-680_V04 - 30 - 2-3 Speed control 2-3-1 Pin numbers and names of I/O signals The I/O port layout is shown as follows: Pin Si

Chapter 2 I/O ports HA-680_V04 - 31 - 2-3-2 I/O port connections in the speed control This section describes the connections between the I/O ports

Chapter 2 I/O ports HA-680_V04 - 32 - z Monitor outputs: The HA-680 driver provides 6 ports of 3 signals for encoder monitoring as shown in the fi

Chapter 2 I/O ports HA-680_V04 - 33 - (I/O signal functions for speed control) Can be set to CN2-3 Ready: READY (output) ● Function The output tur

HA-680 series servo driver manual HA-680_V04 - Contents 2 - Chapter 3 Installing HA-680 driver...

Chapter 2 I/O ports HA-680_V04 - 34 - (I/O signal functions for speed control) CN2-5 Phase-Z (OC): Z (output) ● Function The port outputs phase-Z

Chapter 2 I/O ports HA-680_V04 - 35 - (I/O signal functions for speed control) CN2-8 FWD enable: FWD-EN (input) CN2-9 REV enable: REV-EN (input) ●

Chapter 2 I/O ports HA-680_V04 - 36 - (I/O signal functions for speed control) Can be set to CN2-10 Alarm clear: ALM-CLR (input) ● Function This s

Chapter 2 I/O ports HA-680_V04 - 37 - (I/O signal functions for speed control) CN2-12 Input signal common: IN-COM (input) ● Function The common fo

Chapter 2 I/O ports HA-680_V04 - 38 - (I/O signal functions for speed control) ◆ Connection Connect the voltage signal to the [CN2-19: speed comman

Chapter 2 I/O ports HA-680_V04 - 39 - (I/O signal functions for speed control) CN2-21 Phase-A +(LD): A+ (output) CN2-22 Phase-A -(LD): A- (output)

Chapter 2 I/O ports HA-680_V04 - 40 - 2-3-4 Connection examples in the speed control ◆ Connection example 1: FHA-C mini 24VAC type The figure belo

Chapter 2 I/O ports HA-680_V04 - 41 - ◆ Connection example 2: RSF supermini series The figure below shows a connection example in the speed contro

Chapter 2 I/O ports HA-680_V04 - 42 - 2-4 Torque control 2-4-1 Pin numbers and names of I/O signals The pin numbers and their names for torque cont

Chapter 2 I/O ports HA-680_V04 - 43 - 2-4-2 I/O port connections in torque control This section describes the connection between the I/O ports and

HA-680 series servo driver manual HA-680_V04 - Contents 3 - Chapter 7 Troubleshooting...

Chapter 2 I/O ports HA-680_V04 - 44 - ● Monitor outputs: The HA-680 driver provides 6 ports of 3 signals for encoder monitoring as shown in the fi

Chapter 2 I/O ports HA-680_V04 - 45 - (I/O signal functions for torque control) CN2-3 Ready: READY (output) ● Function The output turns ON when th

Chapter 2 I/O ports HA-680_V04 - 46 - (I/O signal functions for torque control) CN2-6 Output common: OUT-COM (output) ● Function This is the commo

Chapter 2 I/O ports HA-680_V04 - 47 - (I/O signal functions for torque control) Can be set to CN2-10 Alarm clear: ALM-CLR (input) ● Function This

Chapter 2 I/O ports HA-680_V04 - 48 - (I/O signal functions for torque control) CN2-13 Monitor ground: GND (output) ● Function This is the common

Chapter 2 I/O ports HA-680_V04 - 49 - (I/O signal functions for torque control) ◆ Connection Connect the voltage signal to the [CN2-19: Torque comm

Chapter 2 I/O ports HA-680_V04 - 50 - (I/O signal functions for torque control) CN2-21 Phase-A +(LD): A+ (output) CN2-22 Phase-A -(LD): A- (output

Chapter 2 I/O ports HA-680_V04 - 51 - 2-4-4 Connection examples in torque control ◆ Connection example 1: FHA-C mini 24VAC type The figure below s

Chapter 2 I/O ports HA-680_V04 - 52 - ◆ Connection example 2: RSF supermini series The figure below shows a connection example in torque control.

Chapter 3 Installing HA-680 driver HA-680_V04 - 53 -Chapter 3 Installing HA-680 driver 3-1 Receiving Inspection Check the followings when products a

HA-680 series servo driver manual MEMO

Chapter 3 Installing HA-680 driver HA-680_V04 - 54 -3-2 Notices on handling The HA-680 drivers are electronic devices. Handle them with care and tak

Chapter 3 Installing HA-680 driver HA-680_V04 - 55 -3-3 Location and installation 3-3-1 Environment of location The environmental conditions of the

Chapter 3 Installing HA-680 driver HA-680_V04 - 56 -3-3-3 Installing The HA-680 driver should be mounted on a wall as shown in the figure to the righ

Chapter 3 Installing HA-680 driver HA-680_V04 - 57 -◆ Grounding motor frame When actuators are grounded at driven machine through the motor frame, c

Chapter 3 Installing HA-680 driver HA-680_V04 - 58 -3-4-3 Instructions for cabling In addition to the noise suppression mentioned previously, the fo

Chapter 3 Installing HA-680 driver HA-680_V04 - 59 -3-5 Connecting power cables 3-5-1 Instructions for power supply 3-5-2 Allowable siz

Chapter 3 Installing HA-680 driver HA-680_V04 - 60 -3-5-3 Connecting power cables The terminal block for the power is located on the front panel of t

Chapter 3 Installing HA-680 driver HA-680_V04 - 61 -3-6 Connecting the ground wire Use an electric wire of the following size or more: Terminal/conn

Chapter 3 Installing HA-680 driver HA-680_V04 - 62 -3-8 Connecting regenerative absorption resistance / capacitors HA-680 has a regenerative absorpt

Chapter 3 Installing HA-680 driver HA-680_V04 - 63 -(2) If an external resistance is connected, or the load inertia ratio is 2 or more: The resistan

Chapter 1 Outlines of the HA-680 driver HA-655_V4 - 1 - Chapter 1 Outlines of HA-680 driver The HA-680 driver for 24VDC power supply is a dedicated

Chapter 3 Installing HA-680 driver HA-680_V04 - 64 -3-9 Connecting cables for the encoder and the I/O 3-9-1 Preparing the encoder cable and the I/

Chapter 3 Installing HA-680 driver HA-680_V04 - 65 -◆ Pin layout 2: RSF supermini series The models and the pin layout of the encoder connectors are

Chapter 3 Installing HA-680 driver HA-680_V04 - 66 -3-9-3 Pin-layouts of the I/O signal connector (CN2) The models and the pin layout of the encoder

Chapter 3 Installing HA-680 driver HA-680_V04 - 67 -3-9-4 Connecting cables for the encoder and I/O signals Firmly connect both connectors of the en

Chapter 3 Installing HA-680 driver HA-680_V04 - 68 -3-10 Power ON and OFF sequences 3-10-1 Power ON / OFF sequence circuit Configure the sequence c

Chapter 4 software PSF-520 HA-680_V04 - 69 - Chapter4 Functions of dedicated communication software PSF-520 Dedicated communication software PSF-52

Chapter 5 Operations HA-680_V04 - 70 - Chapter5 Operations Follow these instructions prior to operations. 5-1 Trial run 5-1-

Chapter 5 Operations HA-680_V04 - 71 - ● Procedure of trial run ◆ Power-ON procedure for control circuit of HA-680 Following power supply turning-

Chapter 5 Operations HA-680_V04 - 72 - ◆ Operating the actuator by JOG operation (5) JOG operation can be performed using the host device on which

Chapter 1 Outlines of the HA-680 driver HA-655_V4 - 2 - 1-2 Model of HA-680 driver Model and sign of HA-680 driver are described as follows: Note

Chapter 6 Setting up parameters HA-680_V04 - 74 - Chapter 6 Setting up parameters All operations such as parameter setting, display, and adjustment

Chapter 6 Setting up parameters HA-680_V04 - 75 - 6-2 Function of the parameters 00: Position loop gain (position / speed) ● Function This param

Chapter 6 Setting up parameters HA-680_V04 - 76 - 02: Speed loop integral gain (position / speed) ● Function This parameter specifies the speed l

Chapter 6 Setting up parameters HA-680_V04 - 77 - 04: Speed feed-forward factor (position) ● Function This parameter specifies the factor used to

Chapter 6 Setting up parameters HA-680_V04 - 78 - 07: Speed step correction (position) ● Function This parameter specifies the speed command corr

Chapter 6 Setting up parameters HA-680_V04 - 79 - 09: Step correction switch range (position) ● Function This parameter specifies the amount of p

Chapter 6 Setting up parameters HA-680_V04 - 80 - 11: Input function assignment (The power must be turned on again after setting a change.) (posi

Chapter 6 Setting up parameters HA-680_V04 - 81 - 12: Output function assignment (The power must be turned on again after setting a change.) (pos

Chapter 6 Setting up parameters HA-680_V04 - 82 - 13: Input pin logical setting (The power must be turned on again after setting a change.) (posi

Chapter 6 Setting up parameters HA-680_V04 - 83 - 15: Control input filter time constant (position / speed / torque) ● Function This function se

Chapter 1 Outlines of the HA-680 driver HA-655_V4 - 3 - 1-4 Specifications of HA-680 drivers Driver model Item HA-680-4-24 HA-680-6-24 HA-680-4B-2

Chapter 6 Setting up parameters HA-680_V04 - 84 - 17: FWD current limiting (The power must be turned on again after setting a change.) 18: REV curre

Chapter 6 Setting up parameters HA-680_V04 - 85 - 20: Rotary diection (The power must be turned on again after setting a change.) (position / spee

Chapter 6 Setting up parameters HA-680_V04 - 86 - 22: In-position ready range (position) ● Function When the difference between “command pulse co

Chapter 6 Setting up parameters HA-680_V04 - 87 - 25: Command pulse input form (The power must be turned on again after setting a change.) (position

Chapter 6 Setting up parameters HA-680_V04 - 88 - 27: Servo-on deviation clear (position) ● Function Even when the servo power is OFF, the contro

Chapter 6 Setting up parameters HA-680_V04 - 89 - 29: Auto gain setting at positioning (position) ● Function To get short period for positioning,

Chapter 6 Setting up parameters HA-680_V04 - 90 - 31: Attained speed determination value (speed / torque) ● Function This parameter is set at [sp

Chapter 6 Setting up parameters HA-680_V04 - 91 - 33: Acceleration time constant (speed) ● Function This function sets the time in which the moto

Chapter 6 Setting up parameters HA-680_V04 - 92 - 36: Analog command A/D value (Max) (Speed / torque) ● Function This function sets the offset va

Chapter 6 Setting up parameters HA-680_V04 - 93 - 39: Reserved for the system This parameter is reserved for the system. Do not change the setting