100V/200V power supply

AC Servo Driver
HA-800A series manual
(for SHA, FHA-Cmini, FHA-C, RSF/RKF series)

ISO14001
(Hotaka plant)
This operation manual covers the following software
versions: ISO9001
●Ver 3.x
 Introduction
Thank you very much for your purchasing our HA-800A series servo driver.
Wrong handling or use of this product may result in unexpected accidents or shorter life of the product.
Read this document carefully and use the product correctly so that the product can be used safely for
many years.
Product specifications are subject to change without notice for improvement purposes.
Keep this manual in a convenient location and refer to it whenever necessary in operating or
maintaining the units.
The end user of the driver should have a copy of this manual.
 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.

Safety measures are essential to prevent accidents resulting

in death, injury or damage of the equipment due to
malfunction or faulty operation.
CAUTION

1
SAFETY GUIDE

SAFETY NOTE

 CAUTIONS FOR ACTUATORS AT APPLICATION DESIGNING

Always use under followings conditions:

The actuator is designed to be used indoors. Observe the following
conditions:
CAUTION
・ Ambient temperature: 0℃ to 40℃
・ Ambient humidity: 20% to 80%RH (Non-condensation)
・ Vibration: Max 24.5 m/S2
・ No contamination by water, oil
・ No corrosive or explosive gas

Follow exactly the instructions in the relating manuals to

install the actuator in the equipment.
・ Ensure exact alignment of motor shaft center and corresponding
center in the application.
・ Failure to observe this caution may lead to vibration, resulting in
damage of output elements.

 CAUTION FOR ACTUATORS IN OPERATIONS

Never connect cables directly to a power supply socket.

・ Each actuator must be operated with a proper driver.
・ Failure to observe this caution may lead to injury, fire or damage of
the actuator.
WARNING
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.

Keep limited torques of the actuator.

・ Keep limited torques of the actuator.
・ Be aware, that if arms attached to output element hits by accident an
CAUTION solid, the output element may be uncontrollable.

2
 SAFETY GUIDE

1-1
 CAUTIONS FOR DRIVERS AT APPLICATION DESIGNING

Always use drivers under followings conditions:

・ Mount in a vertical position keeping sufficient distance to other
devices to let heat generated by the driver radiate freely.
CAUTION ・ 0℃ to 50℃, 95% RH or below (Non condensation)
・ No vibration or physical shock
・ No corrosive, inflammable or explosive gas

Use sufficient noise suppressing means and safe grounding.

・ 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 100 ohms)
・ Do not use a power line filter in the motor circuit.

Pay attention to negative torque by inverse load.

・ Inverse load may cause damages of drivers.
・ Please consult our sales office, if you intent to apply products for
inverse load.

Use a fast-response type ground-fault detector designed for

PWM inverters.
・Do not use a time-delay-type ground-fault detector.

Safety measures are essential to prevent accidents resulting

in death, injury or damage of the equipment due to
malfunction or faulty operation.

 CAUTION FOR DRIVERS IN OPERATIONS

Never change wiring while power is active.

Make sure of power non-active before servicing the products. Failure to
observe this caution may result in electric shock or personal injury.
WARNING
Do not touch terminals or inspect products at least 15
minutes after turning OFF power.
・ Otherwise residual electric charges may result in electric shock. In
order to prevent electric shock, perform inspections 15 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.

3
SAFETY GUIDE

Do not make a voltage resistance test.

・ Failure to observe this caution may result in damage of the control
unit.
CAUTION ・ Please consult our sales office, if you intent to make a voltage
resistance test.

Do not operate control units by means of power ON/OFF

switching.
・ Start/stop operation should be performed via input signals.
・ Failure to observe this caution may result in deterioration of
electronic parts.

DISPOSAL OF AN ACTUATOR, A MOTOR, A CONTROL UNIT AND/OR THEIR

PARTS

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
CAUTION parts and dispose them separately.

4
1-2

Structure of this document

Functions and Overviews of driver models, specifications, external dimensions,
Chapter 1 configuration etc., are explained.

Receiving inspection, environment, power wiring, noise suppression

Chapter 2 Installation/wiring
and connector wiring are explained.

Startup procedures to be followed when the driver is used for the

Chapter 3 Startup first time, from receiving inspection to operation of the actual
system, are explained.

The encoder configuration is different depending on the actuator

Chapter 4 Encoder system
model. Details of each actuator are explained.

Chapter 5 I/O signals Details of I/O signal conditions and signal functions are explained.

How to operate the display, operation buttons on the driver's

Panel display and
Chapter 6 operation front panel and overview of operation in each mode is
explained.

Explanation of information displayed in the status display

Status display mode and alarm mode. Operations and details of servo loop
mode/
Chapter 7 Alarm mode/ gains, various judgment criteria and acceleration/deceleration
Tune mode time setting during speed control performed in the tune mode
are explained.

Details of how to assign I/O signals and set their logics, as well as
System parameter
Chapter 8 mode extended functions such as control mode selection, pulse input
system selection and electronic gear setting, etc., are explained.

Details of how to check the system operation by auto-tuning via

Chapter 9 Test mode jogging, monitoring of I/O signals and simulated operation of output
signals are explained.

How you can use the dedicated personal computer software to

Communication check I/O signal statuses, rotation speeds and other servo statuses,
Chapter 10 software (PSF-800) perform auto-tuning, set parameters, assign I/O signals and monitor
servo operation waveforms are explained.

Chapter 11 Troubleshooting Details of how driver alarms and warnings generate are explained.

Chapter 12 Option Options you can purchase as necessary are explained.

The list of default parameters and regenerative resistors are

Appendix
explained.

5
1-2

Table of contents
SAFETY GUIDE ...................................................................................................... 1
NOTATION ............................................................................................................. 1
LIMITATION OF APPLICATIONS............................................................................ 1
SAFETY NOTE ...................................................................................................... 2
Structure of this document ....................................................................................... 5
Table of contents ..................................................................................................... 6
Related manual ..................................................................................................... 12
Related actuator/driver standards ......................................................................... 13
Compatible standards........................................................................................... 14
Conformance to European EC Directives ............................................................. 15

Chapter 1 Functions and configuration

1-1 Overview of drivers .................................................................................... 1-1
Overview of functions .......................................................................................... 1-1
1-2 Function block diagram .............................................................................. 1-2
1-3 Device configuration diagram .................................................................... 1-3
1-4 Driver model .............................................................................................. 1-5
Driver model ........................................................................................................ 1-5
Option ................................................................................................................. 1-5
1-5 Actuator and extension cable combinations............................................... 1-6
1-6 Driver ratings and specifications ................................................................ 1-7
1-7 Function list.............................................................................................. 1-11
1-8 External drawing ...................................................................................... 1-13
1-9 Name and function of each part of a display panel .................................. 1-15

Chapter 2 Installation/wiring
2-1 Receiving inspection .................................................................................. 2-1
Check procedure ................................................................................................. 2-1
2-2 Installation location and installation............................................................ 2-2
Installation environment ....................................................................................... 2-2
Notices on installation.......................................................................................... 2-2
Installation procedure .......................................................................................... 2-3
2-3 Connecting power cables........................................................................... 2-5
Allowable cable sizes .......................................................................................... 2-5
Connecting power cables .................................................................................... 2-6
Protecting power lines ......................................................................................... 2-8
Connecting a ground wire .................................................................................... 2-8
Power ON and OFF sequences ........................................................................... 2-9

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 Table of contents

2-4 Suppressing noise ................................................................................... 2-14

Grounding ......................................................................................................... 2-14
Installing noise filters ......................................................................................... 2-15
2-5 Wiring the driver and motor...................................................................... 2-17
Connecting the motor ........................................................................................ 2-17
Connecting the encoder .................................................................................... 2-18
2-6 Wiring the host device ............................................................................. 2-19
Connecting the host device ............................................................................... 2-19
Connecting the personal computer (PSF-800) ................................................... 2-20

Chapter 3 Startup
3-1 Startup procedures .................................................................................... 3-1
Startup procedures .............................................................................................. 3-2
3-2 Turning ON the power for the first time ...................................................... 3-3
Details on control power supply ON ..................................................................... 3-4
Troubleshooting upon power ON ......................................................................... 3-8
3-3 Operation check with the actuator alone .................................................... 3-9
Troubleshooting at operation check ................................................................... 3-10
3-4 Operation check with the actual system................................................... 3-13
Troubleshooting at actual operation check......................................................... 3-14
3-5 Manual gain adjustment method .............................................................. 3-15
Position control .................................................................................................. 3-15
Speed control .................................................................................................... 3-16
Applied servo gain adjustment function ............................................................. 3-18
3-6 Normal operation ..................................................................................... 3-22
Notices for normal operations ............................................................................ 3-22
Daily maintenance/inspection ............................................................................ 3-22
Periodically replaced parts................................................................................. 3-23
Backup battery .................................................................................................. 3-23
How to replace the backup battery .................................................................... 3-24

Chapter 4 Encoder system

4-1 Overview of encoders ................................................................................ 4-1
4-2 17-bit absolute encoder ............................................................................. 4-4
Features .............................................................................................................. 4-4
Startup ................................................................................................................. 4-6
Origin setting ....................................................................................................... 4-8
Data output .......................................................................................................... 4-9
Remedial actions for errors/warnings ................................................................ 4-13
4-3 13-bit absolute encoder ........................................................................... 4-15
Features ............................................................................................................ 4-15
Startup ............................................................................................................... 4-17
Origin setting ..................................................................................................... 4-18
Data output ........................................................................................................ 4-19
Remedial actions for errors/warnings ................................................................ 4-23

7
Table of contents

4-4 Incremental encoder ................................................................................ 4-25

Startup ............................................................................................................... 4-27
Data output ........................................................................................................ 4-28
Remedial action for error ................................................................................... 4-29

Chapter 5 I/O signals

5-1 I/O signal list .............................................................................................. 5-1
Pin numbers and names of I/O signals ................................................................ 5-1
Models of I/O signal connector CN2 .................................................................... 5-2
5-2 Input signals: System parameter SP00 to SP16 ........................................ 5-3
Input signal connection circuit .............................................................................. 5-4
Input signal list..................................................................................................... 5-6
List of parameter set values................................................................................. 5-7
5-3 Details of input signals ............................................................................... 5-9
5-4 Inputs in each control mode ..................................................................... 5-16
Position command mode ................................................................................... 5-16
Speed command mode...................................................................................... 5-20
Torque command mode ..................................................................................... 5-21
5-5 Output signals: System parameter SP20 to SP26 ................................... 5-23
Output signal connection circuit ......................................................................... 5-24
Output signal list ................................................................................................ 5-25
5-6 Details of output signals ........................................................................... 5-26
5-7 Monitor output .......................................................................................... 5-28
Encoder output .................................................................................................. 5-28
Current value data output .................................................................................. 5-28
Analog waveform monitoring ............................................................................. 5-29
Digital signal monitor ......................................................................................... 5-30
5-8 Connection example in control mode ....................................................... 5-31
Connection example with default settings .......................................................... 5-31
Connection example in position control mode.................................................... 5-32
Connection example in speed control mode ...................................................... 5-33
Connection example in torque control mode ...................................................... 5-34

Chapter 6 Panel display and operation

6-1 Operating display panel ............................................................................. 6-1
Overview of modes .............................................................................................. 6-1
Initial panel display .............................................................................................. 6-2
Panel display hierarchy ....................................................................................... 6-3
Operation outline of status display mode ............................................................. 6-4
Operation outline of alarm mode.......................................................................... 6-5
Operation outline of tune mode ........................................................................... 6-6
Operation outline of system parameter mode ...................................................... 6-8
Operation outline of test mode........................................................................... 6-12

8
 Table of contents

Chapter 7 Status display mode/alarm mode/tune mode

7-1 Status display mode ................................................................................... 7-1
Status display mode list ....................................................................................... 7-1
7-2 Details of status display mode ................................................................... 7-3
d01, 02: Error pulse count display ....................................................................... 7-3
d04: Overload rate display ................................................................................... 7-4
d05, 06: Feedback pulse display ......................................................................... 7-5
d07, 08: Command pulse display......................................................................... 7-5
d11: Speed command voltage.............................................................................. 7-6
d12: Torque command voltage............................................................................. 7-6
d13: Applicable actuator code.............................................................................. 7-7
d16: Regenerative power (HA-800-24 only) ......................................................... 7-8
7-3 Alarm mode ............................................................................................... 7-9
Alarm display ....................................................................................................... 7-9
7-4 Alarm list .................................................................................................. 7-10
AL: Present alarm/warning display .................................................................... 7-10
AHcLr: Alarm history clear ................................................................................. 7-11
7-5 Tune mode ............................................................................................... 7-12
7-6 Details of tune mode ................................................................................ 7-13
AJ00: Position loop gain .................................................................................... 7-13
AJ01: Speed loop gain....................................................................................... 7-13
AJ02: Speed loop integral compensation ........................................................... 7-14
AJ03: Feed-forward gain ................................................................................... 7-14
AJ04: In-position range...................................................................................... 7-14
AJ05: Attained speed judgment value ................................................................ 7-15
AJ06: Attained torque judgment value ............................................................... 7-15
AJ07: Zero speed judgment value ..................................................................... 7-15
AJ08 to 10: Internal speed command 1 to 3 ...................................................... 7-16
AJ11: Torque limit .............................................................................................. 7-16
AJ12: Acceleration time constant ....................................................................... 7-17
AJ13: Deceleration time constant ...................................................................... 7-17
AJ14: External speed command offset .............................................................. 7-18
AJ15: External torque command offset .............................................................. 7-18
AJ16: Speed monitor offset................................................................................ 7-18
AJ17: Current monitor offset .............................................................................. 7-18
AJ20: Feed-forward filter ................................................................................... 7-19
AJ21: Load inertia moment ratio ........................................................................ 7-19
AJ22: Torque constant compensation factor ...................................................... 7-19
AJ23: Spring constant compensation factor ....................................................... 7-20
AJ24: Positioning Automatic Gain ...................................................................... 7-20

Chapter 8 System parameter mode

8-1 System parameter mode............................................................................ 8-1
8-2 Function extension parameter ................................................................... 8-3
SP40: CN9-CP3 output signal setting .................................................................. 8-4
SP41: Control mode switching setting ................................................................. 8-4
SP42: Command pulse input pattern setting ........................................................ 8-5

9
Table of contents

SP43: Multiplication of 2-phase input setting ....................................................... 8-5

SP44 to 47: Electronic gear setting...................................................................... 8-6
SP48: Deviation clear upon servo-ON setting ...................................................... 8-7
SP49: Allowable position deviation ...................................................................... 8-7
SP50: Command polarity ..................................................................................... 8-7
SP51: Speed input factor setting ......................................................................... 8-9
SP52: Zero clamp................................................................................................ 8-9
SP53: Torque input factor setting ......................................................................... 8-9
SP54: Status display setting .............................................................................. 8-10
SP55: DB enable/disable setting ....................................................................... 8-10
SP56: External speed limit enable/disable ......................................................... 8-10
SP57: External torque limit enable/disable ........................................................ 8-10
SP59: Angle compensation enable/disable setting ............................................ 8-11
SP60: Automatic positioning gain setting enable/disable setting ........................ 8-11
SP61: Encoder monitor output pulses ............................................................... 8-11
SP64: Regenerative resistor selection (HA-800-24 only) ................................... 8-12
SP65: FWD/REV inhibit operation ..................................................................... 8-12
SP66: Absolute encoder function setting ........................................................... 8-12
SP67: Output shaft divide function setting ......................................................... 8-13
SP69: Feed-forward control function setting ...................................................... 8-16

Chapter 9 Test mode

9-1 Test mode .................................................................................................. 9-1
9-2 Details of test mode ................................................................................... 9-2
T00: I/O signal monitor ........................................................................................ 9-2
T01: Output signal operation ............................................................................... 9-3
T02: JOG speed setting ....................................................................................... 9-4
T03: JOG acceleration/deceleration time constant setting ................................... 9-5
T04: JOG operation ............................................................................................. 9-6
T05: Parameter initialization ................................................................................ 9-7
T06: Automatic adjustment of speed command offset .......................................... 9-8
T07: Automatic adjustment of torque command offset ......................................... 9-9
T08: Multi revolution clear ................................................................................. 9-10
T09: Auto-tuning ................................................................................................ 9-11
T10: Auto-tuning displacement .......................................................................... 9-13
T11: Auto-tuning level selection ......................................................................... 9-14

Chapter 10 Communication software

10-1 Overview .................................................................................................. 10-1
Setup ................................................................................................................. 10-1
Initial screen ...................................................................................................... 10-4
Status display .................................................................................................... 10-7
10-2 Auto-tuning .............................................................................................. 10-9
10-3 Parameter setting .................................................................................. 10-11
10-3-1. Editing and initializing internal parameters of the driver ....................... 10-11
10-4 Assigning I/O signals ............................................................................. 10-13
10-5 Saving and reading set values ............................................................... 10-16
10-5-1. Saving set parameter values ............................................................... 10-16
10-5-2. Reading saved set value files .............................................................. 10-17

10
 Table of contents

10-5-3. Comparing a saved settings file with internal set values of the driver .. 10-18
10-5-4. Writing a saved settings file to the driver ............................................. 10-20
10-6 Test operation ........................................................................................ 10-22
10-7 Output signal operation .......................................................................... 10-24
10-8 IO monitor .............................................................................................. 10-25
10-9 Waveform monitoring ............................................................................. 10-26
10-10 Alarms.................................................................................................... 10-29

Chapter 11 Troubleshooting
11-1 Alarms and remedial actions.................................................................... 11-1
Alarm list ........................................................................................................... 11-1
Remedial action for alarm .................................................................................. 11-2
11-2 Warnings and remedial actions .............................................................. 11-14
Warning list...................................................................................................... 11-14
Remedial action for warning ............................................................................ 11-15

Chapter 12 Option
12-1 Option ...................................................................................................... 12-1
Extension cables ............................................................................................... 12-1
Dedicated communication cable ........................................................................ 12-2
Connectors ........................................................................................................ 12-2
Servo parameter setting software ...................................................................... 12-3
Backup battery .................................................................................................. 12-4
Monitor cable ..................................................................................................... 12-4

Appendix
A-1 Default settings ..........................................................................................A-1
A-2 Regenerative resistor .................................................................................A-7
Built-in driver regenerative resistor and regenerative power ............................... A-7
External regenerative resistor ............................................................................ A-11
Allowable load inertia........................................................................................ A-14
A-3 List of data retained in the driver ..............................................................A-21
A-4 Driver replacement procedures................................................................A-24
A-5 Notices for using SHA-CG(-S) .................................................................A-26
A-6 Control block diagram ..............................................................................A-32
Position control mode ....................................................................................... A-32
Speed control mode ......................................................................................... A-33
Torque control mode ......................................................................................... A-33

11
1-3

Related manual
The table below lists related manual. Check each item as necessary.

Title Description

AC Servo Actuator The specifications and characteristics of SHA-20A to SHA-65A actuators are
SHA series manual explained.

AC Servo Actuator The specifications and characteristics of FHA-17C to FHA-40C actuators are
FHA-C series manual explained.

AC Servo Actuator The specifications and characteristics of FHA-8Cmini to FHA-14Cmini actuators

FHA-Cmini series manual are explained.

AC Servo Actuator The specifications and characteristics of RSF-17 to RSF-32 and RKF-20 to
RSF/RKF series manual RKF-32 actuators are explained.

12
1-4

Related actuator/driver standards

Function HA-800*-1 HA-800*-3 HA-800*-6 HA-800*-24

Rated current (A) 1.5 3 6 24

Maximum
4.0 9.5 19 55
current (A)
General-purpose I/O HA-800A
MECHATROLINK HA-800B
CC-Link HA-800C
UL/cUL ○
Overseas
CE ○
standard
TUV ○

UL/c
Applicable actuator Voltage CE Encoder type
UL
FHA-8C-xx-E200 200 ○ -1C-200
FHA-11C-xx-E200 200 ○ -1C-200
FHA-14C-xx-E200 200 ○ -1C-200
Wire-saving
FHA-17C-xx-E250 200 ○ ○ -3C-200
incremental
FHA-25C-xx-E250 200 ○ ○ -3C-200
FHA-32C-xx-E250 200 ○ ○ -6C-200
FHA-40C-xx-E250 200 ○ ○ -6C-200
FHA-8C-xx-12S17b 200 -1D/E-200
FHA-11C-xx-12S17b 200 17-bit absolute -1D/E-200
FHA-14C-xx-12S17b 200 -1D/E-200
FHA-17C-xx-S248 200 ○ ○ -3A-200
FHA-25C-xx-S248 200 ○ ○ -3A-200
13-bit absolute
FHA-32C-xx-S248 200 ○ ○ -6A-200
FHA-40C-xx-S248 200 ○ ○ -6A-200
FHA-8C-xx-E200 100 ○ -1C-100
FHA-11C-xx-E200 100 ○ -1C-100
FHA-14C-xx-E200 100 ○ Wire-saving -1C-100
FHA-17C-xx-E250 100 ○ ○ incremental -3C-100
FHA-25C-xx-E250 100 ○ ○ -6C-100
FHA-32C-xx-E250 100 ○ ○ -6C-100
FHA-8C-xx-12S17b 100 -1D/E-100
FHA-11C-xx-12S17b 100 17-bit absolute -1D/E-100
FHA-14C-xx-12S17b 100 -1D/E-100
FHA-17C-xx-S248 100 ○ ○ -3A-100
FHA-25C-xx-S248 100 ○ ○ 13-bit absolute -6A-100
FHA-32C-xx-S248 100 ○ ○ -6A-100

13
Related actuator/driver standards

Function HA-800*-1 HA-800*-3 HA-800*-6 HA-800*-24

Rated current (A) 1.5 3 6 24

Maximum
4.0 9.5 19 55
current (A)
General-purpose
HA-800A
I/O
MECHATROLINK HA-800B
CC-Link HA-800C
UL/cUL ○
Overseas
CE ○
standard
TUV ○

UL/c
Applicable actuator Voltage CE Encoder type
UL
-3D/E
SHA20Axxxx-C08x200-xxS17bA 200 ○ ○
-200
-3D/E
SHA25Axxxx-B09x200-xxS17bA 200 ○ ○
-200
-6D/E
SHA32Axxxx-B12x200-xxS17bA 200 ○ ○
-200
-6D/E -24D/E
SHA40Axxxx-B15x200-xxS17bA 200 ○ ○ 17-bit absolute
-200 -200
-24D/E
SHA58Axxxx-A21x200-xxS17bA 200 ○ ○
-200
-24D/E
SHA65Axxxx-A21x200-xxS17bA 200 ○ ○
-200
-6D/E
SHA25Axxxx-B09x100-xxS17bA 100 ○ ○
-100

Compatible standards

Motor & Actuator

UL 1004-1 (Rotating Electrical Machines - General Requirements)
UL 840 (Insulation Coordination Including Clearances and Creepage Distances for Electrical
Equipment)
CSA-C22.2 No. 100 (Motors and Generators), CSA-C22.2 No. 0.2 (Insulation Coordination)
(UL File No. E243316)
EN60034-1 (Low Voltage Directive)
* The compatible Motor and Actuator standards vary depending on the model.
For details, refer to the individual catalogue.

Driver
<HA-800A-1*, HA-800A-3*, HA-800A-6*, HA-800A-24*>

UL 508C (Power Conversion Equipment)

CSA-C22.2 No.14 (Industrial Control Equipment)
(UL File No. E229163)

EN61800-5-1 (Low Voltage Directive)

EN61800-3 (EMC Directive)

14
 Related actuator/driver standards

Conformance to European EC Directives

We conduct the Low Voltage Directive and EMC Directive conformance check test related to CE
marking for the HA-800 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.
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
EN55011/ Group 1 Class A/ A2: 2007
EN61800-3: 2004
IEC61000-4-2: Electrostatic discharge immunity
IEC61000-4-3: Radio frequency field immunity
IEC61000-4-4: Electrical fast transient/burst immunity
IEC61000-4-5: Surge immunity
IEC61000-4-6: Immunity to conducted disturbances, induced by radio-frequency
IEC61000-2-1: Voltage dip and voltage variations immunity
IEC61000-2-4: Low frequency conducted disturbance
IEC60146-1-1 Class B

Configuration of peripheral devices

Installation environment (conditions): Please observe the following installation environment in
order to use this product safely.
1) Overvoltage category: III
2) Pollution degree: 2

Model configuration diagram

Control board

HA-800
Circuit Noise 1) Actuator,
breaker series driver
filter motor
2)

Surge
protector
3)
Host controller

DC24V
power
supply

: Toroidal core : Ferrite core : Metal clamp

1) Encoder cable 2) Motor cable (motor power and holding brake)

3) Interface cable

15
Related actuator/driver standards

(1) Input power supply

200V input type
Main circuit power: 3 phase/single phase, 200 to 230V (+10%, -15%), 50/60Hz
Control power supply: Single phase, 200 to 230V (+10%, -15%), 50/60Hz
100V input type
Main circuit power: Single phase, 100 to 115V (+10%, -15%), 50/60Hz
Control power supply: Single phase, 100 to 115V (+10%, -15%), 50/60Hz

(2) Circuit breaker

Use a circuit breaker complying with IEC standard and UL standard (UL Listed) for the power
input area.

(3) Noise filter

Use a noise filter complying with EN55011 Group 1 Class A.
(For details, refer to the next page.)

(4) Toroidal core

Install toroidal core in the power input area.
Depending on the noise filter, 4-turn input to L1, L2, L3, and ground or 1-turn input to L1, L2,
and L3, not including ground, may be valid.
(For details, refer to the next page.)

(5) 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-8C/11C/14C or RSF-8B/11B/14B, insert the ferrite core into the motor
cable and encoder cable (near the motor).

(6) Interface cable

If you use the HA-800A driver, use ferrite core for the interface cable.

(7) 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.)

(8) 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 of the AC Servo Driver
together.

16
 Related actuator/driver standards

Recommended parts for compliance with EMC

(1) Noise filter

Model Specifications Manufacturer Remarks
Rated voltage: Line-Line 440
RF3020-DLC to 550V RASMI ELECTRONICS LTD.
Rated current: 20 A
Enable the 4-turn
Rated voltage: Line-Line 440
input to L1, L2, L3,
RF3030-DLC to 550V RASMI ELECTRONICS LTD.
and ground for
Rated current: 30 A
toroidal core.
Rated voltage: Line-Line 440
RF3040-DLC to 550V RASMI ELECTRONICS LTD.
Rated current: 40 A
Rated voltage: AC250V
HF3010A-UN Soshin Electric Co., Ltd.
Rated current: 10A Enable 1-turn input
Rated voltage: AC250V to L1, L2, and L3,
HF3030A-UN Soshin Electric Co., Ltd.
Rated current: 30A not including ground
Rated voltage: AC250V for toroidal core.
HF3040A-UN Soshin Electric Co., Ltd.
Rated current: 40A
Rated voltage: AC250V Okaya Electric Industries Enable the 4-turn
SUP-P5H-EPR input to L1, L2, L3,
Rated current: 5A Co., Ltd.
and ground for
Rated voltage: AC250V Okaya Electric Industries toroidal core.
SUP-P10H-EPR
Rated current: 10A Co., Ltd. Moreover, install
Rated voltage: AC250V Okaya Electric Industries insulation
3SUP-H5H-ER-4 transformer and
Rated current: 5A Co., Ltd.
ferrite core at the
Rated voltage: AC250V Okaya Electric Industries power input area.
3SUP-H10-ER-4
Rated current: 10A Co., Ltd. Refer to (3) and (5).

(2) Toroidal core

Model Outer diameter Inner diameter Manufacturer
MA070R-63/38/25A 65 mm 36 mm JFE Ferrite Corporation
Nippon Chemi-Con
LRF624520MK 66 mm 41 mm
Corporation

(3) Ferrite core

Model Manufacturer
ZCAT3035-1330 TDK Corporation
ZCAT2032-0930 TDK Corporation
ZCAT2132-1130 TDK Corporation

(4) Surge protector

Model Manufacturer
RAV-781BXZ-4 Okaya Electric Industries Co., Ltd.
RAV-781BWZ-4 Okaya Electric Industries Co., Ltd.

(5) Insulation transformer

Model Specifications Manufacturer
Number of phase: Single phase
PT1-20002 Rated current: 2 A Harmonic Drive Systems Inc.
Power capacity: 400VA
Number of phase: Single phase
PT1-20004 Rated current: 4 A Harmonic Drive Systems Inc.
Power capacity: 800VA
Number of phase: Single phase
PT1-20008 Rated current: 8 A Harmonic Drive Systems Inc.
Power capacity: 1600VA

17
Related actuator/driver standards

(5) Insulation transformer

The use of the insulation transformer is recommended in the place thought that the noise
environment is severe though HA-800 series have an enough noise tolerance though it doesn't
use the insulation transformer.
No. of
Driver Model Power capacity (kVA)
phase
FHA-8,11C 0.15
HA-800A-1* 3
FHA-14C 0.25
FHA-17C RSF-17 0.4
HA-800A-3* 3 SHA-20 SHA-25 FHA-25C RSF-20,25 RKF20,25
0.8
MAC08 MAB09
SHA-25 0.8
HA-800A-6* 3 SHA-32 FHA-32C RSF-32 RKF-32 MAB-12 1.5
SHA-40 FHA-40C MAB-15 1.8
SHA-40 MAB-15 2.5
HA-800A-24* 3 SHA-58 SHA-65 3.5
MAA-21 5.5

18
1-5

Chapter 1

Functions and configuration

Outlines of driver models, specifications, external dimensions, etc., are explained in this
chapter.

1-1 Overview of drivers ···························································· 1-1

1-2 Function block diagram ······················································· 1-2
1-3 Device configuration diagram ··············································· 1-3
1-4 Driver model ····································································· 1-5
1-5 Actuator and extension cable combinations ····························· 1-6
1-6 Driver ratings and specifications ··········································· 1-7
1-7 Function list ····································································· 1-11
1-8 External drawing ····························································· 1-13
1-9 Name and function of each part of a display panel ·················· 1-15
 1-1 Overview of drivers

1
1-1 Overview of drivers
Functions and configuration

2 The HA-800 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 harmonic drive for precision control and AC servo motors.
The HA-800 drivers provide many superior functions to allow various actuators to excel in
3 performance.

Overview of functions
4
Shorter positioning stabilization time using original control logic (compared to
5 HA-655)
®
By utilizing the characteristics of HarmonicDrive in the control logic, positioning overshoot and
undershoot are suppressed and the positioning stabilization time is reduced significantly.

6 Adopting an I/O signal function assignment method

Desired functions can be selected from a wide range of functions and assigned to I/O signals
according to specific applications.
7 Also, multiple functions can be assigned to a single input terminal for an input signal, which
adds to usability.

Auto-tuning function
8 The auto-tuning function allows the driver to estimate the load and automatically set an
appropriate servo gain in the test mode.

9 Control mode switching

You can use an input signal to switch the control mode applied to the current operation.
The following switching patterns are supported:
10 Position control mode ↔ Speed control mode
Position control mode ↔ Torque control mode
Speed control mode ↔ Torque control mode

11  Position control mode

The pulse speed and pulse count specified by an external pulse train are used to implement
smooth speed control and high-accuracy positioning control.
Appe  Speed control mode
An external analog speed command (DC±10V) or internal speed command via parameter is
used to smoothly control the rotation speed and direction of the actuator at high accuracy.

 Torque control mode

An external analog torque command (DC±10V) is used for the torque control of the motor.

1-1
 1-2 Function block diagram

1
1-2 Function block diagram

Functions and configuration

An internal function block diagram of this driver is shown. 10
External type

TB1 R1 R3 R2
9
Diode
TB2 *1 Power amplifier
8
bridge TB1
R U
V
S Regenerative
Charge
circuit W
T
lamp
Dynamic
brake
7
r Control Overcurrent Ground
power detection
s Gate drive Current
6
supply Cooling fan
*2 Voltage detection
detection
CN2 Pulse command I/F
CN1
Analog command Control
calculation
5
Encoder I/F
Torque command I/F
Input signal I/F Operation I/F

Output signal I/F Battery option

ENC monitor I/F Operation part
*3
4
CN3 RS-232C I/F

CN9 Analog monitor I/F DA

Digital monitor I/F
Control part
3
*1: The HA-800-1 has no built-in regenerative resistor.
*2: The HA-800-6 and higher models come with a cooling fan.
*3: A battery is required if an absolute encoder is used.
2

Appe

1-2
 1-3 Device configuration diagram

1
1-3 Device configuration diagram
Functions and configuration

2 A basic configuration diagram of this driver is shown.

HA-800A-1,3,6-200
3
Power supply＊1

4
Circuit breaker＊1

6
Surge absorber＊1

Host device＊1
7
Noise filter＊1

9 CN2

10 For I/O signals

Magnetic
switch＊1 TB1

11 Drive cable

Main power
supply＊1 CN1
Encoder cable
Appe
Control power supply＊1
TB2
Power supply cable＊1 Dedicated
CN3 communication
cable

Personal computer*1 Servo actuator

*1: The customer should provide marked devices separately.

*2: The configuration in the case of 3-phase AC200V is
shown here. Depending on the actuator model, the driver
can be used with single-phase AC200V or AC100V.
Refer to P2-6 for the connection example.
⇧ Install
Communication software
(PSF-800)

1-3
 1-3 Device configuration diagram

Functions and configuration

HA-800A-24-200
10
Power supply＊1

8
Circuit breaker＊1

Surge absorber＊1 7

6
Noise filter＊1
Host device*1

4
Magnetic switch＊1

CN2
3
Main power supply＊1

For I/O signals 2

Power supply cable＊1 Drive cable
CN1
Encoder cable
1
Control power supply＊1

Appe
Dedicated
CN3 communication
cable

Personal computer*1 Servo actuator

*1: The customer should provide marked devices separately.

*2: Dedicated to AC200V 3-phase (Main circuit power) ⇧ Install
Communication software
Refer to P2-7 for the connection example. (PSF-800)

1-4
 1-4 Driver model

1
1-4 Driver model
Functions and configuration

2 The following explains how to read the driver model name and symbol, as well as options.

Driver model
3 HA-800A-3A-200-SP
Model: AC Servo Driver HA series
Series: 800 series
4 800A
800B
I/O command type
MECHATROLINK type
800C CC-Link type
Rated output current:
5 1
3
1.5 A
3A
6 6A
24 24 A
6 Available encoder*:
A 13-bit absolute encoder
B 14-wire incremental encoder

7
C 4-wire wire-saving incremental
encoder
D 17-bit absolute encoder
E 17-bit encoding incremental model

8 Input voltage:
200 AC200V
100 AC100V
Custom specification code:

9 Blank Standard
product
SP Special
product

10 *: For details on the available encoders, see Chapter 4.

Option
11
Extension cables (optional)
Refer to [1-5 Actuator and extension cable combinations].
Appe Dedicated communication cables (optional)
Model EWA-RS03
Connectors (optional)
Model CNK-HA80A-S1/CNK-HA80A-S2/CNK-HA80A-S1-A/CNK-HA80A-S2-A
Servo parameter setting software
PSF-800 (Downloadable from our website http://www.hds.co.jp/)
Backup battery for absolute encoder
HAB-ER17/33 (attached to the shipped driver)

1-5
 1-5 Actuator and extension cable combinations

1
1-5 Actuator and extension cable combinations

Functions and configuration

The following explains the combinations of drivers, actuators and extension cables (option). 10
Input Combined driver
9
Model Encoder Extension cables
Actuator series voltage
No. type (option)
(V) HA-800A
20 200 HA-800A-3D/E-200
8
100 HA-800A-6D/E-100 Motor wire
25 EWD-MB**-A06-TN3
200 HA-800A-3D/E-200
Encoder wire
32 200 HA-800A-6D/E-200 EWD-S**-A08-3M14
SHA 40 200 17-bit HA-800A-6D/E-200
series
40 200
Absolute
HA-800A-24D/E-200 Motor wire
Model No.40:EWD-MB**-A06-TMC
7
Model No.58,65:EWD-MB**-D09-TMC
58 200 HA-800A-24D/E-200
Encoder wire
65 200 HA-800A-24D/E-200 Model No.40:EWD-S**-A08-3M14

8 200 HA-800A-1C-200
Model No.58,65:EWD-S**-D10-3M14
6
11 200 HA-800A-1C-200 Motor wire
14 200 4 wires, HA-800A-1C-200 EWC-M**-A06-TN3
8
11
100
100
wire-saving type
Incremental HA-800A-1C-100
HA-800A-1C-100
Encoder wire
EWC-E**-M06-3M14
5
FHA-Cmini 14 100 HA-800A-1C-100
series
4
8 200 HA-800A-1D/E-200
11 200 HA-800A-1D/E-200 Motor wire
14 200 17-bit HA-800A-1D/E-200 EWC-M**-A06-TN3
8 100 Absolute HA-800A-1D/E-100 Encoder wire
11
14
100
100
HA-800A-1D/E-100
HA-800A-1D/E-100
EWD-S**-A08-3M14
3
17 200 HA-800A-3C-200 Motor wire
25 200 4 wires, HA-800A-3C-200 EWC-MB**-M08-TN3
32 200
wire-saving type
Incremental HA-800A-6C-200 Encoder wire
EWC-E**-B04-3M14
2
40 200 HA-800A-6C-200
17 200 HA-800A-3A-200 Motor wire
25
32
200
200
13-bit
Absolute
HA-800A-3A-200
HA-800A-6A-200
EWC-MB**-M08-TN3
Encoder wire 1
FHA-C 40 200 HA-800A-6A-200 EWC-S**-B08-3M14
series
17 100 HA-800A-3C-100 Motor wire
25 100
4 wires,
wire-saving type HA-800A-6C-100
EWC-MB**-M08-TN3
Encoder wire
Appe
32 100 Incremental HA-800A-6C-100 EWC-E**-B04-3M14
17 100 HA-800A-3A-100 Motor wire
13-bit EWC-MB**-M08-TN3
25 100 HA-800A-6A-100
Absolute Encoder wire
32 100 HA-800A-6A-100 EWC-S**-B08-3M14

RSF series 17 200 HA-800A-3B-200 Motor wire

14 wires EWA-M**-A04-TN3
20 200 Incremental HA-800A-3B-200 Encoder wire
RSF/RKF series 25 200 HA-800A-3B-200 EWA-E**-A15-3M14
32 200 HA-800A-6B-200

*1: The maximum torque, allowable continuous torque, and operable range depend on the driver combined with
the SHA40A actuator. Select the option according to your intended application. Refer to "Operable Range" in
the SHA Series Manual.
*2: ** in the extension cable model indicates the cable length. Select a desired length from the following 3 types:
03:3m､05:5m､10:10m

1-6
 1-6 Driver ratings and specifications

1
1-6 Driver ratings and specifications
Functions and configuration

2 The following explains the ratings and specifications of this driver.

Input voltage Power supply: 200V Power supply: 100V

3 Model
HA-800A-1* HA-800A-3* HA-800A-6*
-200 -200 -200
HA-800A-1* HA-800A-3* HA-800A-6*
-100 -100 -100
Driver's rated
*1 1.5 A 3.0 A 6A 1.5 A 3.0 A 6A
current

4 Driver's maximum
current
*1 4.0 A 9.5 A 19.0 A 4.0 A 9.5 A 19.0 A
Main AC200 to 230V AC100 to 115V (single phase), +10 to
circuit (single phase*2 *3/3 phase), +10 to -15% -15%
Input
5 voltage Control
circuit
AC200 to 230V (single phase), +10 to
-15%
AC100 to 115V (single phase), +10 to
-15%
30VA 30VA
Power frequency 50/60Hz

6 Allowed 13-bit
revolution Absolute
— -4,096 to 4,095 — -4,096 to 4,095
(motor 17-bit
-32,768 to 32,767 -32,768 to 32,767
shaft) Absolute

7 Operating temperature: 0 to 50℃ Storage temperature: -20 to 65℃

Operating/storage humidity: below 95%RH (No condensation)
Allowed environment Vibration resistance: 4.9 m/s2 (10 to 55Hz, Tested for 2 hours each in the X, Y, and Z
directions) Shock resistance: 98m/s2 (Tested once each in the X, Y, and Z directions)
8 Ambience: Free from metal powder, powder dust, oil mist and corrosive gases
Forced Forced
Structure Natural air cooling Natural air cooling
air-cooling air-cooling
Installation method Base mount (wall installation)
9 Control modes Position control, speed control, torque control (Switchable using I/Os)
Line collector type: Maximum response frequency
Position command 2-pulse train, 1-pulse train: 1MHz, 2-phase pulse train:
pulse 200kHz
10 Speed command
Open collector type: Maximum response frequency 200kHz
DC ± 10V/max. rotation speed, input impedance approx. 68kΩ
voltage
Torque command DC ± 10V/maximum torque, input impedance approx. 68kΩ
11 voltage
Speed control range 1: 1,000
Emergency stop, reset, clear, FWD inhibit, REV inhibit, FWD enable, REV enable,
FWD selection,
Appe Input signals REV selection, internal speed command 1, internal speed command 2, internal
speed limit 1, internal speed limit 2, torque limit,
electronic gear selection, control mode, INHIBIT
Operation preparation complete, alarm, in-position complete, attained speed,
attained torque, speed limiting, torque limiting,
Output signals zero speed, control mode, DB status, battery voltage low, overload status, cooling
fan stopped,
FWD inhibit input effective, REV inhibit input effective, warning
3 channels, motor rotation speed, current command, general-purpose output
Motor terminals
(parameter selection)
RS-232C/RS-485: Status monitor, various parameters settings (PSF-800)
Digital I/O port
Digital output: Absolute encoder data output
Configuration Display (7-segment LED), 5 digits (red), 4 push-button switches
Operation panel

Rotation speed (r/min), torque command (%), over load rate (%), input signal
Status display
monitor, output signal monitor,
function
alarm history (8 alarms), etc.
Parameter System parameters 1, 2, 3, 4, adjustment parameters 1, 2
adjustment
function

1-7
 1-6 Driver ratings and specifications

Emergency stop, overspeed, overload, IPM error (overcurrent),

regenerative resistor overheat, encoder disconnection, encoder receiving error,
UVW error, system failure, multi revolution overflow, multi revolution data error,
1
Alarms
Protective
functions

error counter overflow, memory failure, FPGA configuration error, FPGA setting error,

Functions and configuration

MEMORY error, Single revolution data error, BUSY error, overheat error,
communication error
Battery voltage low, Overload status, cooling fan stopped, main circuit power voltage
10
Warnings low, FWD inhibit input effective,
REV inhibit input effective
Comes with
an external
Regenerative resistor
Comes with
an external
Regenerative resistor 9
contained contained
Regenerative regenerativ regenerativ
Comes with an external Comes with an external
processing e resistor e resistor
mounting
terminal
regenerative resistor
mounting terminal
mounting
terminal
regenerative resistor
mounting terminal 8
Regenerative resistor
－ 3W max. 8W max. － 3W max. 8W max.
absorption power

Embedded functions
Status display function, self diagnosis, electronic gear, JOG and other operations,
dynamic brake,
7
multi revolution data backup battery
Surge-current Incorporated (CPU control based on monitoring of main circuit voltage)
prevention function
Status display mode (for usual operations), test mode, tune mode, system parameter
6
Operation mode
configuration mode
Mass 1kg 1.2kg 1kg 1.2kg
*1: Set according to the specification of the combined actuator.
*2: If the FHA-Cmini (FHA-8C/11C/14C) or FHA-17C is combined, 3-phase 200V or single-phase 200V input can
5
be used.
*3: If the SHA series or any of FHA-25C/32C/40C is combined, use of 3-phase 200V input is
recommended. Single-phase AC200V 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 100%
4
SHA40A
Actuator SHA20A SHA25A SHA32A FHA-25C FHA-32C FHA-40C
SHA25A SHA32A 51/81/101/121/161

3
reduction 51/81/ 51/81/ 51/81/ 50/100/ 50/100/ 50/100/
11/161 11/161 (Combined with
ratio 101/121/161 101/121 101/121 160 160 160
HA-800A-6)
Derating 100% 40% 70% 60% 80% 30% 60% 80% 40%

Actuator
reduction
SHA25A
50/80/
SHA25A
SHA32A
50/80/
SHA32A
SHA40A
50/80/100/120/160 2
160 160 (Combined with
ratio 100/120 100/120
HA-800A-6)
Derating 40% 70% 60% 100% 30%
1

Appe

1-8
 1-6 Driver ratings and specifications

Input voltage Power supply: 200V

1 Model HA-800A-24
Driver's rated
*1 24 A
current
Functions and configuration

2
Driver's maximum
*1 55 A
current
Main
AC200 to 230V (3 phase), +10 to -15%
Input circuit

3
voltage Control AC200 to 230V (single phase), +10 to -15%
circuit 30VA
Power frequency 50/60Hz
Allowed revolution -4,096 to 4,095 (13 bits, absolute)

4
(motor shaft) -32,768 to 32,767 (17 bits, absolute)
Operating temperature: 0 to 50℃ Storage temperature: -20 to 65℃
Allowed Operating/storage humidity: below 95%RH (No condensation)
2
environment Vibration resistance: 4.9 m/s (10 to 55Hz, Tested for 2 hours each in the X, Y, and Z
5
2
directions) Shock resistance: 98m/s (Tested once each in the X, Y, and Z directions)
Ambience: Free from metal powder, powder dust, oil mist and corrosive gases
Structure Forced air-cooling type
Installation
Base mount (wall installation)
6 method
Control modes Position control, speed control, torque control (Switchable using I/Os)
Line collector type: Maximum response frequency
Position command
2-pulse train, 1-pulse train: 1MHz, 2-phase pulse train: 200kHz
pulse
7 Speed command
Open collector type: Maximum response frequency 200kHz
DC ± 10V/max. rotation speed, input impedance approx. 68kΩ
voltage
Torque command
DC ± 10V/maximum torque, input impedance approx. 68kΩ
8 voltage
Speed control
1: 1,000
range
Emergency stop, reset, clear, FWD inhibit, REV inhibit, FWD enable, REV enable, FWD
9 Input signals
selection,
REV selection, internal speed command 1, internal speed command 2, internal speed
limit 1, internal speed limit 2, torque limit,
electronic gear selection, control mode, INHIBIT

10 Operation preparation complete, alarm, in-position complete, attained speed, attained

torque, speed limiting, torque limiting,
Output signals zero speed, control mode, DB status, battery voltage low, overload status, cooling fan
stopped,

11 Motor terminals
FWD inhibit input effective, REV inhibit input effective, warning,
3 channels, motor rotation speed, current command, general-purpose output (parameter
selection)
RS-232C/RS-485: For monitoring output current, setting various parameters (PSF-800)
Digital I/O port
Appe Configuration
Digital output: Absolute encoder data output
Display (7-segment LED), 5 digits (red), 4 push-button switches
Operation panel

Rotation speed (r/min), torque command (%), over load rate (%), input signal monitor,
Status display
output signal monitor,
function
alarm history (8 alarms), etc.
Parameter
adjustment System parameters 1, 2, 3, 4, adjustment parameters 1, 2
function
Emergency stop, overspeed, overload, IPM error (overcurrent), regenerative resistor
Protective functions

overheat, encoder disconnection, encoder receiving error,

UVW error, system failure, multi revolution overflow, multi revolution data error, error
counter overflow, memory failure,
Alarms
FPGA configuration error, FPGA setting error, MEMORY error, MT error, ST error, PS
error,
BUSY error, overheat error, communication error, 1-phase missing error, main circuit
voltage low error, overregeneration error, excessive regenerative power error
Battery voltage low, Overload status, main circuit power voltage low, FWD inhibit input
Warnings
effective, REV inhibit input effective
Regenerative Regenerative resistor contained
processing Comes with an external regenerative resistor mounting terminal

1-9
 1-6 Driver ratings and specifications

Regenerative
resistor
absorption power
90W max. 1
Status display function, self diagnosis, electronic gear, JOG and other operations,
Embedded

Functions and configuration

dynamic brake,
functions
Surge-current
multi revolution data backup battery 10
prevention Incorporated (CPU control based on monitoring of main circuit voltage)
function
Operation mode
Status display mode (for usual operations), test mode, tune mode, system parameter
configuration mode
9
Mass 5.5kg
*1: Set according to the specifications of the combined actuator.
8

Appe

1-10
 1-7 Function list

1
1-7 Function list
Functions and configuration

2 The following explains a list of functions provided by this driver.

P:Position control S:Speed control T:Torque control

Applicable
3 Function Description control
mode
Reference

Position control mode The driver functions as a position control servo. P

Speed control mode The driver functions as a speed control servo. S P5-16
4 Torque control mode
Position/speed switching
The driver functions as a torque control servo.
A signal input is used to switch between position
T
P/S
mode control and speed control.
Position/torque switching A signal input is used to switch between position
5 mode
Speed/torque switching
control and torque control.
A signal input is used to switch between speed
P/T P8-4

S/T
mode control and torque control.
You can assign the necessary input signal pins
6 Input signal selection
and select changes in their logic.
You can assign the necessary output signal pins
All
Chapter 5
Output signal selection All
and change their logics.
Once the absolute position is set, an actuator
7 Absolute position sensor
equipped with an absolute position encoder will
recognize the current position after each
All
P4-13
P4-23
subsequent reconnection of power.
The HarmonicDrive® characteristics of the
8 Shorter positioning time actuator are utilized in the control logic to shorten
the positioning time.
All P3-15

The driver can estimate the load in the JOG mode

Auto-tuning All P9-11
and automatically set an appropriate servo gain.
9 Regenerative processing
If the regenerated power exceeds the value
permitted by the driver, the excess power is used All P2-17
for the external regenerative resistor.
The descriptions and occurrence times of up to 8
10 Alarm history
Alarm history clear
most recent alarms are displayed.
The alarm history is cleared.
All
All
P7-9
P7-11
When an alarm occurs, its description is displayed
Alarm code output All
and an alarm is output.
11 Warning output
When a warning occurs, its description is
displayed and an alarm is output.
All
P7-10

You can change the weight (multiplier) of pulse

Electronic gear input by setting desired values for the numerator All P8-6
Appe and denominator of electronic gear.
Operation check can be performed to see if the
power supply, motor wire and encoder wiring are
JOG operation All P9-6
normal, regardless of the I/O signals received from
the host.
The servo driver status can be displayed, and
Status display mode All P7-1
monitored if requested.
Functions such as I/O signal monitor, output signal
Test mode operation, JOG operation and auto-tuning are All Chapter 9
available.
Set the servo gain, in-position range and various
Tune mode All Chapter 7
other items relating to the servo system.
Assign I/O signals, electronic gear and other
System parameter mode All Chapter 8
extended functions.
The motor speed and motor current can be
Analog monitor output All P5-28
monitored as voltage levels.
Status monitor output The selected servo status can be monitored. All P8-4

1-11
 1-7 Function list

Output shaft single

revolution absolute
You can control the absolute position information
P8-13
1
accurately even when rotation continues in just All
function * (SHA-CG-S A-5
one direction, for example indexing.

Functions and configuration

only)
Output shaft divide
You can select a setting of 36,000, 360,000, or
3,600,000 divisions for the output shaft and can P
P8-13 10
function * A-5
set operation commands in angle units.
Absolute encoder A 17-bit absolute encoder can be used as an
function setting * incremental encoder.
*: This is available for HA-800 software version 3.x or later.
All P8-12
9

Appe

1-12
 1-8 External drawing

1
1-8 External drawing
Functions and configuration

2 The following shows the external drawing of this driver.

HA-800A-1/3 (Mass: 1 kg)

3

8 Regenerative resistor

9 HA-800A-6 (Mass: 1.2kg)

10
Regenerative resistor
Wind direction

11

Appe

Wind direction

Cooling fan

1-13
 1-8 External drawing

HA-800A-24 (Mass: 5.5 kg)

1

Functions and configuration

10

6
Installation direction Top 5

Appe
Regenerative resistor

Cooling fan

Terminal symbol layout

Wind direction

1-14
 1-9 Name and function of each part of a display panel

1
1-9 Name and function of each part of a display panel
Functions and configuration

2 The following explains the operation part on the front side of this driver as well as each function
provided on the operation part.
HA-800A-1/HA-800A-3/HA-800A-6
3 Device number setting switch (SW5) Cover is open Maintenance connector

Set the device number of each Do not connect.

driver when multiple drivers are
4 connected for communication.
Waveform monitoring connector
(CN9)
Communication setting switch (SW6)
The speed, current waveform and
5 Set the terminating resistance when
multiple drivers are connected for
status signal can be monitored.
[Monitor output] (P5-28)
communication.

6 LED display
The driver status display, alarm
display, data values, etc., can be
checked. Push-button switches
7 4 switches are used to change the
display, set various functions and
perform JOG operation.
[Chapter 6 Panel display and
8 CHARGE lamp
operation]

This lamp turns ON when the main

circuit power is input.
If this lamp remains ON after the
9 power has been turned OFF, the
system is still charged with high
I/O signal connector (CN2)
A connector for command signals
voltage. Do not touch the power and I/O signals.
connector. [Chapter 5 I /O signals]
10 Servo motor connection terminal
(U, V, W)
Connect the servo motor drive
wire.[Wiring the driver and motor]
11 P2-17

Regenerative resistor connection

terminal (R1, R2, R3)

Appe
A terminal for connecting an external
regenerative resistor. Encoder connector (CN1)
Connect an external regenerative resistor if the
regeneration capacity is not enough. A connector between the servo
[ Regenerative resistor] PA-7 actuator and encoder. Take note
that the connection method varies
Main circuit power connection depending on the model.
terminal (T, S, R) [Connecting the encoder] P2-18
A terminal for connecting the main
circuit power supply.
[Connecting power cables] P2-6

Control circuit power connection PSF-800 communication connector

terminal (s, r) (CN3)
A terminal for connecting the control circuit
power supply. A communication connector for
[Connecting power cables] P2-6 dedicated driver communication
software PSF-800. [Chapter 10
Ground terminal Communication software]
A ground terminal for protection
against electric shock. Be sure to
connect this terminal.
[Connecting a ground wire] P2-8

1-15
 1-9 Name and function of each part of a display panel

HA-800A-24 1

Functions and configuration

Device number setting switch (SW5)
Cover is open Maintenance connector
10
Set the device number of each
driver when multiple drivers are Do not connect.
connected for communication.
9
Communication setting switch (SW6) Waveform monitoring connector
(CN9)
Set the terminating resistance when
multiple drivers are connected for
communication.
The speed, current waveform and
status signal can be monitored. 8
[Monitor output] (P5-28)

LED display
The driver status display, alarm 7
display, data values, etc., can be Push-button switches
checked.
4 switches are used to change
Main circuit power connection
terminal (R, S, T)
the display, set various
functions and perform JOG 6
operation.
A terminal for connecting the main [Chapter 6 Panel display and
circuit power supply.
5
operation]
[Connecting power cables] P2-6

I/O signal connector (CN2)

CHARGE lamp
4
A connector for command
This lamp turns ON when the main signals and I/O signals.
circuit power is input. [Chapter 5I /O signals]
If this lamp remains ON after the
power has been turned OFF, the

3
Encoder connector (CN1)
system is still charged with high
voltage. Do not touch the power A connector between the servo
connector. actuator and encoder. Take
note that the connection
Maintenance terminal
method varies depending on
Do not wire the - and P terminals. the model.
[Connecting the encoder] P2-18
2
DC reactor connection terminal
(DL1,DL2)
Terminals between DL1 and DL2
have been short-circuited with a short PSF-800 1
bar as default. Normally this short bar communication connector (CN3)
need not be removed before use A communication connector for

Appe
dedicated driver communication
software PSF-800. [Chapter 10
Regenerative resistor connection Communication software]
terminal (R1,R2,R3)
A terminal for connecting an external
regenerative resistor. Control circuit power connection terminal (r, s)
Connect an external regenerative
resistor if the regeneration capacity is A terminal for connecting the control circuit
not enough. power supply.
[ Regenerative resistor] PA-7 [Connecting power cables ] P2-6

Ground terminal Servo motor connection terminal (U, V, W)

A ground terminal for protection against Connect the servo motor drive wire.
electric shock. Be sure to connect this [Wiring the driver and motor] P2-17
terminal.
[Connecting a ground wire] P2-8

1-16
 1-9 Name and function of each part of a display panel

1
Functions and configuration

10

11

Appe

1-17
1-6

Chapter 2

Installation/wiring
Receiving inspection, environment, power wiring, noise suppression and connector
wiring are explained in this chapter.

2-1 Receiving inspection ·························································· 2-1

2-2 Installation location and installation ········································ 2-2
2-3 Connecting power cables ···················································· 2-5
2-4 Suppressing noise ··························································· 2-14
2-5 Wiring the driver and motor ················································ 2-17
2-6 Wiring the host device ······················································ 2-19
 2-1 Receiving inspection

4
2-1 Receiving inspection
2 After unpacking, check the items described below.
Installation/wiring

2 Check procedure

1 Check for damage.

1 If any damage is found, immediately contact the supplier or store where you purchased your
driver.

2 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] (P1-5).
9 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
8 driver.
Nameplate

7 The driver model is shown.

The applicable power supply is shown.

6 The model and adjustment model code

of the applicable actuator combined
with this driver are shown.

The serial number of each driver

The driver model number is shown.

8
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.
WARNING Wrong combinations of HA-800A 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-800A driver, injury or fire.

2-1
 2-2 Installation location and installation

4
2-2 Installation location and installation
Install this driver in a manner meeting the conditions specified below. 2
Installation environment

Installation/wiring
 0 to 50℃
2
Store the driver in a cabinet. The temperature in the cabinet may be higher than the outside
Operating
air temperature due to power losses of the housed devices, size of the cabinet, etc.
temperature
Consider an appropriate cabinet size, cooling and layout to make sure the temperature 1
around the driver does not exceed 50℃.
 Relative humidity of 95% or less, non-condensing
Operating
humidity
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 Appe
frequently, because these conditions increase the chances of condensation.
2
 4.9 m/s (0.5G) (10 to 55Hz) or less (Tested at 10-55 MHz for 2 hours each in the X, Y, and
Vibration
Z directions)
If there is a source of vibration nearby, install the driver on a base via a shock absorber to 11
prevent the vibration from transmitting directly to the driver.
2
Impact  98 m/s (10G) 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. 10
Others 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.
Appe
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 30mm from a wall or adjacent machine, at
11
least 50mm from the floor, and at least 50mm from the ceiling.

The table below shows the power losses of HA-800A drivers for reference when planning the cooling 7
system.
FHA-C series
Driver
Actuator FHA-8C
HA-800A-1
FHA-11C FHA-14C
HA-800A-3
FHA-17C FHA-25C
HA-800A-6
FHA-32C FHA-40C 6
Power loss 25W 30W 40W 30W 40W 50W 60W
RSF/RKF series
Driver HA-800A-1 HA-800A-3
RSF/RKF RSF/RKF
HA-800A-6
RSF/RKF Air flow Air flow
5
Actuator RSF-17
-20 -25 -32
Power loss 35W 40W 55W 60W Cooling fan
SHA series (200V)
50mm or more

Driver HA-800A-3 HA-800A-3 HA-800A-6

Actuator SHA-20 SHA-25 SHA-32 SHA-40
30mm or more 30mm or more
Power loss 35W 35W 60W 60W 30mm or more
Wall mounted
Driver HA-800A-24
Actuator SHA-40 SHA-58 SHA-65
Power loss 130W 130W 130W

SHA series (100V)

50mm or more

Air flow Driver Air flow

Driver HA-800A-6
Actuator SHA-25
Power loss 40W
Air filter

2-2
 2-2 Installation location and installation

4 Installation procedure
[HA-800A-1, HA-800A-3, HA-800A-6]
2 Install the driver using 2 mounting holes provided at the back. The wall on which to install the driver
should be made of an iron sheet of 2mm or more in thickness.
Installation/wiring

2 1 Screw a M4 screw into the middle of the tapped hole provided at the bottom of the mounting
surface.
2 Hook the mounting hole (cut hole) provided at the bottom of the driver onto the M4 screw
1 installed in 1.
3 Securely tighten a M4 screw through the mounting hole at the top of the driver and hole in
the mounting surface.
4 Securely tighten the M4 screw at the bottom.

9 HA-800A-1/3

8
Wall

9
HA-800A-6

8
Wall

2-3
 2-2 Installation location and installation

[HA-800A-24]
An iron sheet of 5 mm or more in thickness is recommended for the wall on which to install the driver.
4
1 Screw an M5 screw into the middle of the mounting hole (U-shaped) provided at the bottom
of the driver. 2
2 Securely tighten an M5 screw through the mounting hole (U-shaped) at the top of the driver.

Installation/wiring
3 Securely tighten the screw at the bottom of the driver as well. 2
Confirm that all the 8 screws are securely tightened.

HA-800A-24 1

Appe

11

10
Wall

Appe

11

2-4
 2-3 Connecting power cables

4
2-3 Connecting power cables
2 The following explains how to connect the power supply to this driver.
Installation/wiring

2 Before connecting the power cable to the HA-800A driver, completely unplug
the power cable from the main power supply. Failure to do so may result in
electric shock during the connection work.
WARNING
1
(1) Connect the power cable to the HA-800A driver after installing the driver on
the specified wall.
(2) Ground the HA-800A driver to avoid electric shock, malfunctions caused by
CAUTION external noise, and for the suppression of radio noise emissions.

9
Allowable cable sizes
8 The table below lists the minimum allowable wire sizes of power cables, ground cables and other
cables. We recommend the thickest wires possible.
When bundling wires or placing them into ducts, rigid plastic conduits or metal pipes, use wires of the
next larger size.
7 It is recommended to use HIV (special heat-resistant vinyl wires).
[3-phase 200V input]
2
Min. allowable wire size (mm )
6 Driver HA-800A-1 HA-800A-3
SHA20
HA-800A-6
SHA32
HA-800A-24
Combined FHA-8C
FHA-17C SHA25 FHA-32C SHA40 SHA40 SHA58
actuator FHA-11C
FHA-25C MAC08 FHA-40C MAB12 MAB15 SHA65
MAA21
Combined motor FHA-14C
MAB09 MAB15
Main
circuit R,S,T 0.75 1.25 2.0 2.0 3.5 3.5 5.5
power
9 Control
circuit r, s 0.75 1.25 1.25 1.25
power
Motor 2.0 2.0 5.5

8
U,V,W,E 0.5 0.725 0.75 1.25 *2 *2
(3.5) *3
cables *1 (1.25) (1.25)
Ground Ground
3.5 3.5 3.5 3.5 3.5 5.5
(FG) wire mark
Regenera
tive R1,R2 1.25 1.25 1.25 3.5
resistor
Encoder 2 *1
CN1 Twisted pair shield cable of 0.3mm or larger
cable
Control
2
signal CN2 Twisted pair wire or twisted pair whole-shield cable (AWG24, 0.2 mm )
wire
*1: We provide extension cables (3m/5m/10m) for motor cables (including brake cables) and encoder cables.
For the combinations of HA-800A drivers, actuators and extension cables, refer to [Actuator and extension
cable combinations] (P1-6).
2 2
*2: 1.25 mm is used in case of 105℃ heat-resistant wires. If you use HIV cables, 2 mm or thicker cables are
recommended.
2 2
*3: 3.5 mm is used in case of 105℃ heat-resistant wires. If you use HIV cables, 5.5 mm or thicker cables are
recommended.

2-5
 2-3 Connecting power cables

[single-phase100V input]
Min. allowable wire size (mm )
2
4
Driver HA-800A-1 HA-800A-3 HA-800A-6
Combined
actuator
FHA-8C
FHA-11C FHA-17C
FHA-25C
FHA-32C
SHA25
MAB09
2
Combined motor FHA-14C
Main

Installation/wiring
circuit
power
R,S,T 0.75 1.25 2.0 2.0
2
Control
circuit r, s 0.75 1.25 1.25
power
Motor U,V,W,
0.5 0.725 0.75
2.0 1
cables *1 E (1.25) *2
Ground Groun
3.5 3.5 3.5
(FG) wire d mark
Regenera Appe
tive R1,R2 1.25 1.25 1.25
resistor
Encoder
cable
CN1
2
Twisted pair shield cable of 0.3mm or larger
*1
11
Control
Twisted pair wire or twisted pair whole-shield cable
signal CN2 2
(AWG24, 0.2 mm )

*1:
wire
We provide extension cables (3m/5m/10m) for motor cables (including brake cables) and encoder cables.
10
For the combinations of HA-800A drivers, actuators and extension cables, refer to [Actuator and extension
cable combinations] (P1-6).
2 2
*2: 1.25 mm is used in case of 105℃ heat-resistant wires. If you use HIV cables, 2 mm or thicker cables are
recommended.
Appe

Connecting power cables 11

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 3-phase
power supply is used, its phases can be arranged in any order.
7
Terminal block for power connection (for TB2)
Manufacturer
Model
Phoenix Contact
FKC2,5/5-ST-5.08
T
S
6
R
s
r 5
HA-800-1/3/6
 3-phase power supply (200V)
Circuit breaker HA-800A
Magnetic switch
T
NF S
R
Noise filter s
r

 Single-phase power supply (100V, 200V) HA-800A

Circuit breaker Magnetic switch T

NF S
R
Noise filter s
r
2-6
 2-3 Connecting power cables

HA-800-24
4  3-phase power supply (200V)

2 Circuit breaker Magnetic switch

HA-800A

R
Installation/wiring

2 NF S
T
Noise filter r
s
1

Terminal block for power connection

Terminal Screw Crimp terminal
Reference
name size external diameter
9 R,S,T, M4 φ8mm
Round crimp terminal (R-type) 3.5-R4 (J.S.T. Mfg. Co., Ltd)
5.5-4NS (J.S.T. Mfg. Co., Ltd)

8 r,s M4 φ8mm Round crimp terminal (R-type) R1.25-4 (J.S.T. Mfg. Co., Ltd)

7
 The power-receiving part of the driver adopts a surge-current-suppress-circuit.

6 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 Power Main Switch

supply Main Switch supply

9 HA-800
Other
device
Other
device
HA-800
Other
device
Other
device

Good wiring example Bad wiring example

8

2-7
 2-3 Connecting power cables

Protecting power lines 4

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
2
200V 200V 200V 200V 100V 200V 200V 200V
voltage

Installation/wiring
Driver
model
HA-800A
-1-200
HA-800A
-1-200
HA-800A
-3-200
HA-800A
-3-200
HA-800A
-6-100
HA-800A
-6-200
HA-800A
-6-200
HA-800A-24-200 2
SHA20
SHA25
FHA-25C SHA32
1
RSF-20 FHA-32C SHA40
Actuator FHA-8C
FHA-14C
FHA-17C
RSF-25 SHA25 RSF-32 FHA-40C
SHA40 SHA58 MAA
motor FHA-11C RSF-17
RKF-20
RKF-25
RKF-32
MAB12
MAB15
MAB15 SHA65 21
Appe
MAC08
MAB09
Interrupting
current (A)
11
capacity of
3 5 10 15 20 30
circuit
breaker
(MCB)
10
Required
power
capacity per
driver (kVA)
0.15 0.25 0.4 0.8 0.8 1.5 1.8 2.5 3.5 5.5 Appe
*1

Surge-curre
nt upon
main circuit 15 15 15 15 8 15 15 15 15 15
11
power ON
*2
(A)
*1: The values are for allowable continuous output of the actuator.
*2: The values are quoted at ambient temperature of 25℃.
7
The above values are based on the standard input voltage (AC200V, AC100V).
The circuit breaker cutoff capacity is a recommended value for 3-phase AC200V input or single-phase
AC100V input. 6
Connecting a ground wire
Use a ground wire of an appropriate size selected from the table below, or larger.
5
2
Min. allowable wire size (mm )
Cable Symbol
HA-800A-1 HA-800A-3 HA-800A-6 HA-800A-24
Ground
Ground (FG) wire 3.5 3.5 3.5 3.5, 5.5
mark

The HA-800A driver has 2 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

2-8
 2-3 Connecting power cables

4
Power ON and OFF sequences
2 Provide a sequence circuit that cuts off the main circuit power ON/OFF switch in response to an
emergency stop signal, etc. If an alarm signal has been assigned to an output signal, also provide a
sequence circuit that cuts off the main circuit power ON/OFF switch in response to the alarm output.
Installation/wiring

2
 Turn ON/OFF the power after switching the [CN2-2 servo-ON: S-ON] signal of the
1 HA-800A 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 5 times in an hour and 30 times in a
day. Furthermore, the interval between turning OFF and ON the power should keep
more than 30 seconds.

9 Power ON sequence, servo-ON sequence (HA-800A-1, -3, -6)

Create a sequence program for the host device so that the power to this driver will be turned

8 ON at the timings shown below. The chart below shows a power ON sequence based on a
17-bit absolute encoder system.
I/O outputs and monitor output remain indeterminable for approximately 10 seconds after
turning the control power supply ON.
7 Control circuit power ON
OFF 10s (max) *1
0ms (min)

6
Main circuit power ON
OFF
3s (typ) *1
Output signals ON
Servo ON input enable (SREADY) OFF
0ms (min)
Input signals ON
CN2-2 servo-ON (S-ON) OFF

9 Dynamic brake Disable

10ms (typ)

(DB enabled, SP55 = 1) Enable

110ms (typ)

8 Motor excitation
(DB enabled, SP55 = 1)
Excitation ON
Excitation OFF 5ms (typ)
Output signal: Operation ON
preparation complete OFF
(DB enabled, SP55 = 1)

Dynamic brake
(DB disabled, SP55 =0) Disable
Enable
3s (typ) 10ms (typ)
Motor excitation
(DB disabled, SP55 = 0) Excitation ON
Excitation OFF 5ms (typ)
Output signal: Operation
ON
preparation complete
(DB disabled, SP55 = 0) OFF

*1: 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 7 seconds or more after the control circuit power, the servo ON enable
signal will be output after approximately 3 seconds, provided that the capacitor in the main circuit power has
been discharged fully.

2-9
 2-3 Connecting power cables

Servo-OFF sequence (HA-800A-1, -3, -6) 4

Input signal: ON

2
CN2-2 servo-ON (S-ON) OFF
1ms (typ)
Motor excitation Excitation ON
Excitation OFF

Installation/wiring
2ms (typ)
Output signal: Operation
preparation complete
ON
OFF
2
5ms (typ)
Dynamic brake
(DB enabled, SP55 = 1)
Disable
Enable 1
Dynamic brake Disable
(Dynamic brake disabled)
(DB disabled, SP55 = 0) Enable
Appe
Sequence when an alarm generates (HA-800A-1, -3, -6)
Input signal:
11
ON
CN2-2 servo-ON (S-ON) OFF

Alarm
Without alarm
With alarm
10
Motor excitation Excitation ON

Output signal: Operation

Excitation OFF
2ms (typ) Appe
ON
preparation complete
OFF

Output signal: Alarm output

(OFF during alarm)
ON
OFF
11
5ms (typ)
Dynamic brake
(DB enabled, SP55 = 1)
Disable
Enable 7
Dynamic brake Disable
(DB disabled, SP55 = 0) Enable (Dynamic brake disabled)
6

2-10
 2-3 Connecting power cables

4 Power OFF sequence (HA-800A-1, -3, -6)

Create a sequence program for the host device so that the power to this driver will be turned
OFF at the timings shown below.
2 5s (min) *1 ON
Control circuit power ON
OFF
Installation/wiring

0ms (min)

2 Main circuit power ON

OFF 5 minutes (max) *2
Output signal:
ON
Servo ON input enable
1 OFF

*1: After turning OFF the control circuit power, wait for at least 5 seconds before turning it ON.
*2: If the main circuit power is turned OFF while [CN2-2 servo-ON (S-ON)] is OFF (servo OFF), it may take
up to 5 minutes or so before the servo ON input enable signal (SREADY) turns OFF (main circuit DC
voltage drop).
If the main circuit power is turned OFF while servo-ON (during motor excitation), the motor excitation
is continued until the servo ON input enable signal (SREADY) turns OFF (main circuit DC voltage

9 drop).
If the main circuit DC voltage does not drop due to regeneration operation, etc., it takes long until the
motor excitation turns OFF.
Turn the servo OFF first and then cut the main circuit power OFF, except when alarms are being

8 generated.
If the main circuit power and control circuit power are turned OFF simultaneously, the motor excitation
turns OFF in several 10 to 100ms (the time varies depending on the input voltage).
At this point, the servo ON input enable signal (SREADY) also turns OFF, but the capacitor for the

7
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 15 minutes).

Power ON, servo-ON sequence (HA-800A-24)

6 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 17-bit absolute encoder system.
I/O outputs and monitor output remain indeterminable for approximately 10 seconds after
turning the control power supply ON.
ON
Control circuit power 10s (max) *1
OFF

9 Main circuit power ON

0ms (min)

OFF 3s (typ) *1
Output signals
8 Servo ON input enable
(SREADY)
ON
OFF 0ms (min)

Input signal: ON
CN2-2 servo-ON (S-ON) OFF
3s (typ)
Disable
Dynamic brake *3
Enable
110ms (typ)
Motor excitation Excitation ON
(DB enabled, SP55 = 1*2) Excitation OFF
5ms (typ)
Output signal: Operation ON
preparation complete OFF
(DB enabled, SP55 = 1*2)

*1: 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 7 seconds or more after the control circuit power, the servo ON
enable signal will be output after approximately 3 seconds, provided that the capacitor in the main
circuit power has been discharged fully.
*2: Make sure to use HA-800A-24 by setting [SP55: DB enable/disable setting] to 1 (default setting).
*3: The dynamic brake operates interlinked to the main circuit power.

2-11
 2-3 Connecting power cables

Servo-OFF sequence (HA-800A-24) 4

Input signal: ON
CN2-2 servo-ON (S-ON) OFF

Excitation ON
1ms (typ) 2
Motor excitation
Excitation OFF

Installation/wiring
2ms (typ)
Output signal: Operation
preparation complete
ON
OFF
2
Dynamic brake Disable
1
3
(DB enabled, SP55 = 1*2) Enable (Dynamic brake disabled* )

*2: Make sure to use HA-800A-24 by setting [SP55: DB enable/disable setting] to 1 (default setting).
*3: The dynamic brake operates interlinked to the main circuit power.
Appe
Sequence when an alarm generates (HA-800A-24)

Input signal: ON
11
CN2-2 servo-ON (S-ON) OFF

Alarm
Without alarm
With alarm 10
Motor excitation Excitation ON
Excitation OFF

Output signal: Operation ON

2ms (typ)
Appe
preparation complete
OFF
Output signal: Alarm output
(OFF during alarm)
ON
OFF 11
Main circuit power ON

Dynamic brake
OFF
7
Disable
(DB enabled, SP55 = 1*2) 3
Enable (Dynamic brake disabled* )

Main circuit power *4 ON

6
OFF
200ms (typ)
Dynamic brake *4
(DB enabled, SP55 = 1*2)
Disable
Enable
5

*2: Make sure to use HA-800A-24 by setting [SP55: DB enable/disable setting] to 1 (default setting).
*3: The dynamic brake operates interlinked to the main circuit power.
*4: It is possible to use the dynamic brake by using output signal alarm output to cut off the main circuit
power of the driver.
By cutting off the driver's main circuit power, the main circuit discharge function is enabled, which
lowers the main circuit DC voltage and activates the dynamic brake.
However, if regenerative resistances such as regenerative overheat alarm (AL41) and
overregeneration alarm (AL42) are under high load, the discharge function may not operate and the
dynamic brake thus may not be activated.

2-12
 2-3 Connecting power cables

Power OFF sequence (HA-800A-24)

4 Create a sequence program for the host device so that the power to this driver will be turned
OFF at the timings shown below.

2 Control circuit power ON

5s (min) *1 ON

OFF 0ms (min)

Installation/wiring

2 Main circuit power ON

OFF
200ms (typ) *2
Output signal: ON
Servo ON input enable OFF
1 *1: After turning OFF the control circuit power, wait for at least 5 seconds before turning it ON.
*2: If you turn the main circuit power OFF, the servo ON input enable signal (SREADY) turns OFF in
approximately 0.2 seconds due to the main circuit discharge function.
However, if regenerative resistance such as regenerative resistor overheat alarm (AL41) and
overregeneration alarm (AL42) are under high load, the discharge function may not operate and it
takes approximately 10 minutes to discharge.
If the main circuit power is turned OFF while servo-ON (during motor excitation), the motor excitation

9 is continued until the servo ON input enable signal (SREADY) turns OFF (main circuit DC voltage
drop).
If the main circuit DC voltage does not drop due to regeneration operation, etc., it takes long until the
motor excitation turns OFF.

8 Turn the servo OFF first and then cut the main circuit power OFF, except when alarms are being
generated.
If the main circuit power and control circuit power are turned OFF simultaneously, the motor excitation
turns OFF in several 10 to 100ms (the time varies depending on the input voltage).

7
At this point, the servo ON input enable signal (SREADY) also turns OFF, but the capacitor for the
main circuit power is still charged and therefore do not touch the power terminals until the main circuit
charge monitor LED on the front panel turns OFF (approximately 15 minutes).

2-13
 2-4 Suppressing noise

4
2-4 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
2
and grounding are inappropriate, other external devices may malfunction or radio noise may generate.

Installation/wiring
2
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 1
Refer to the figure below when grounding all devices comprising the system.

HA-800A Appe
Circuit Surge Noise Magn *2 HD
Power input break absor Filter etic R U
3 phase er ber *1 switch S V M
11
T W
E
r
CN1 E
s
CN2

10
Wire of 3.5mm2 or larger

・Operation relay sequence, etc.

・User signal generation circuit

3.5mm2 or larger
Grounding to the earth
(must be single-point grounding)
Wire of 3.5mm2 or larger
Appe
*1:
*2:
For information on grounding line filters, refer to [Installing noise filters] P2-15.
FHA-17C to 40C actuators come with a shield connected to the body. 11
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
7
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. 6
Grounding ducts
When the motor cables are housed in a metal conduit or a metal box, be sure to ground their 5
metal parts.
Always connect the ground at a single point.

2-14
 2-4 Suppressing noise

4
Installing noise filters
2 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.
Installation/wiring

2 Select bi-directional noise filters that can suppress both external noise and internal noise.
Recommended noise filters are shown below.
Model Specifications Manufacturer
RF3020-DLC Rated voltage: Line-Line 440 to 550V, rated current: 20A
1 RF3030-DLC Rated voltage: Line-Line 440 to 550V, rated current: 30A RASMI ELECTONICS LTD
RF3040-DLC Rated voltage: Line-Line 440 to 550V, rated current: 40A
HF3010A-UN Rated voltage: 250VAC, rated current: 10A
HF3030A-UN Rated voltage: 250VAC, rated current: 30A Soshin Electric Co., Ltd.
HF3040A-UN Rated voltage: 250VAC, rated current: 40A
SUP-P5H-EPR Rated voltage: 250VAC, rated current: 5A
SUP-P10H-EPR Rated voltage: 250VAC, rated current: 10A Okaya Electric Industries
9 3SUP-H5H-ER-4
3SUP-H10H-ER-4
Rated voltage: 250VAC, rated current: 5A
Rated voltage: 250VAC, rated current: 10A
Co., Ltd.

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.
8 For the measure to comply with EMC Directives, refer to "Conformance to European EC Directives" on
P15.

2-15
 2-4 Suppressing noise

4
 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 2
this driver in the same manner.
In particular, always install noise filters to sources of high-frequency, such as

Installation/wiring
electric welders and electrical-discharge processing machines.
 Incorrect use of noise filters can seriously reduce its effectiveness. Install noise
2
filters by referring to the cautionary information provided below.

• Separate the filtered wires and ○ × 1

unfiltered wires from each other. Do
not place them in the same pipe or
duct, or bundle them together. Filter Filter
Appe
M
Grounding in a control cabinet Grounding in a control cabinet

• Do not place the ground wire and

filtered wires in the same pipe or duct, ○ × 11
or bundle them together.
Filter
10
Filter

Grounding wires
near power lines is
acceptable. Appe
Grounding in a control cabinet Grounding in a control cabinet

• Do not daisy-chain ground wires, but ○ ×

connect one ground wire separately to
each device or to a single point on the
11
E
control cabinet or ground plate. Filter
E
Filter

E
FE E
FE 7
Shield wire Shield wire

Grounding in a control cabinet Grounding in a control cabinet

6
 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 5
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

2-16
 2-5 Wiring the driver and motor

4
2-5 Wiring the driver and motor
2 The following explains how to wire this driver and motor.

Connecting the motor

Installation/wiring

2 Connect the motor by connecting the U, V and W terminals of the TB1 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
1 the phases is missing, alarms, etc., will not generate.

[HA-800A-1/-3/-6]

TB1
Red
U U
V White
9
AC Servo Actuator
W V M
R2 Black
R3 W
R1 R2

8
Regenerative
R3 resistor
R1

7 When using a built-in regenerative resistor with the HA-800C-3/6,

short-circuit the R1 and R3.(On our extension cables, these
terminals are already short-circuited with a short bar.)

Terminal block for motor connection (for TB1)

6 Manufacturer
Model
Phoenix Contact
FKIC2.5/6-ST-5.08

[HA-800A-24] When using a built-in regenerative resistor with the HA800A-24, short-circuit the R1
and R3. (These terminals are already short-circuited with a short bar as default.)
When using an external regenerative resistor, keep R1 and R3 open and connect the
regenerative resistor between R1 and R2. If an external regenerative resistor is not
TB1 used, do not open the short bar. If the short bar is open, the main circuit discharge

9
function will not operate.
R3
R1
Regenerative
R2 resistor
8 U
Red
White
V M
Black
W
AC Servo Actuator

Terminal block for motor connection

Crimp terminal outer
Screw size Reference
diameter
Round crimp terminal (R-type) 3.5-R4 (J.S.T. Mfg. Co., Ltd)
M4 φ8mm
5.5-4NS (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

2-17
 2-5 Wiring the driver and motor

Connecting the encoder 4

To connect the encoder, connect the CN1 connector, as shown below.
2
For the encoder signal wire, use a twisted pair shield cable with a wire size of 0.3mm or larger and
having the necessary number of cores.
2
Shorten the wiring length as much as possible.

Installation/wiring
 If provided by the customer 2
Wiring length: 10m or less Wire conductivity: 0.04Ω/m or less
 We have optional cables of 3m/5m/10m long.
CN1 1
E Encoder
Appe
Encoder connector (CN1)

Manufacturer
Connector
3M
Cover
3M
11
Model 10114-3000PE 10314-52F0-008

10
Pin layout of encoder connector (CN1)
The pin layout shown below is viewed from the soldered side.

4-wire wire-saving incremental encoder 13-bit absolute encoder

Appe
6 4 2 6 4 2

7
NC
5
NC
3
NC
1 7
CLR
5
BAT－
3
BAT＋
1
11
SD SD NC +5V SD SD NC +5V
13 11 9 13 11 9

14
NC
12
NC
10
NC
8 14
NC
12
NC
10
NC
8
7
NC NC NC 0V NC NC NC 0V

17-bit absolute encoder 14-wire incremental encoder 6

6 4 2 6 4 2

5
NC BAT－ BAT＋ Z B B
7 5 3 1 7 5 3 1
SD SD NC +5V A A Z +5V
13 11 9 13 11 9
NC NC NC W V U
14 12 10 8 14 12 10 8
NC NC NC 0V W V U 0V

(*: In the 17-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.

2-18
 2-6 Wiring the host device

4
2-6 Wiring the host device
2 The following explains wiring of this driver and host device.

Connecting the host device

Installation/wiring

2 To connect the host device, connect the CN2 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
2
size of 0.2mm (AWG24) and having the necessary number of cores.
1 CN2

Host device

9
I/O signal connector (CN2)
Connector Cover
8 Manufacturer
Model
3M
10150-3000PE
3M
10350-52F0-008

7
Pin layout of I/O signal connector (CN2)
The pin layout shown below is viewed from the soldered side.
6 24 22 20 18 16 14 12 10 8 6 4 2
OUT- OUT7 OUT5 OUT3 OUT1 IN8 IN- IN5 IN3 IN1
COM COM (S-ON)
25 23 21 19 17 15 13 11 9 7 5 3 1
OUT- Z (OC) OUT6 OUT4 OUT2 IN7 IN6 IN4 IN2 IN-
COM COM
49 47 45 43 41 39 37 35 33 31 29 27
FG Z－ B－ A－ POS- TRQ- SPD- REV+ FWD+
DAT- CMD CMD
50 48 46 44 42 40 38 36 34 32 30 28 26

9
FG MON- Z+ B+ A+ POS- TRQ- SPD- REV- FWD- +24V
COM DAT+ COM COM

8 Assign functions to input signals (IN1 to IN8) and output signals (OUT1 to OUT7) using system
parameters for input/output signals. Refer to [Chapter 5 I/O signals] for the functions that are
assigned by default.

 Keep the I/O signal cable to 3m 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 30cm. 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.

2-19
 2-6 Wiring the host device

Connecting the personal computer (PSF-800) 4

To connect to the personal computer, use dedicated communication cable or refer to the following pin
layout.
Dedicated communication cable: EWA-RS03 (option)
2
Cable length: 1.6m

Installation/wiring
PSF-800 communication connector (CN3) 2
Connector
Manufacturer Hirose Electric Co., Ltd.
Model TM11P-66P(53) 1
Connector on the personal computer side (D-sub 9-pin female)
Socket Hood Jack screw
Manufacturer
OMRON OMRON
OMRON Corporation
Appe
Corporation Corporation
Model XM2D-0901 XM2S-0913 XM2Z-0073

11
Pin layout of PSF-800 communication connector (CN3)

Driver side Personal computer side 10

Symbol Pin No. Pin No. Symbol
TxD 1 1 -
GND
485+
2
3
2
3
TxD
RxD
Appe
485- 4 4 -
GND
RxD
5
6
5
6
GND
-
11
7 -
8 -
9 - 7
The host and the first axis communicate via RS-232C.
The second and subsequent axes perform RS-485 communication.
Prepare commercially available Sanwa Supply TEL-FC-5, etc. for RS-485 communication
6
cables.
Prepare RS Online model No. 186-3082, etc. for RS-485 communication branch connectors.
5

2-20
 2-6 Wiring the host device

2
Installation/wiring

2-21
1-7

Chapter 3

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.

3-1 Startup procedures ···························································· 3-1

3-2 Turning ON the power for the first time ··································· 3-3
3-3 Operation check with the actuator alone ································· 3-9
3-4 Operation check with the actual system ································ 3-13
3-5 Manual gain adjustment method ········································· 3-15
3-6 Normal operation ····························································· 3-22
 3-1 Startup procedures

4
3-1 Startup procedures
3 The following explains the procedures to start up this driver.

3 Shut off the electric power source on the plant side before any
wiring works are carried out. Once the electric power on the
WARNING plant side is supplied to the system, do not perform any wiring
Startup

1 works. Electric shock may result.

(1) Check the wirings again and correct the problems, if any,
before turning ON the power.
・ Are all wirings correct?
CAUTION
9 ・
・
Are there temporarily wired lines?
Are there any loose terminal connections?
・ Are the wires grounded properly?

8 (2) Clean around the devices. In particular, thoroughly inspect

the interior of the system for wire chips, tools and other
objects remaining inside the system.
(3) When 2 or more persons are working together, they should
7 discuss the details of work before turning ON the power and
each person should pay attention to the safety of others.
(4) Do not operate the driver by turning ON/OFF the power.
6 ・ Frequent power ON/OFF operations may cause deterioration of circuit
elements inside the driver.
・ Start/stop the actuator using command signals.

3-1
 3-1 Startup procedures

Startup procedures 4
Key startup procedures are as follows:
3
Check before turning ON the power Refer to: [Turning ON the power for the first
time] (P3-3)
for the first time
3

Startup
Operation check with the actuator Refer to: [Operation check with the actuator 1
alone in the actual control mode alone] (P3-9)

Appe
Operation check with the actual Refer to: [Operation check with the actual
system system] (P3-13)

10
Refer to: [Normal operation] (P3-22)
Normal operation
Appe

11

3-2
 3-2 Turning ON the power for the first time

4
3-2 Turning ON the power for the first time
3 The following explains the startup procedure when turning ON the power for the first time.

(1) Be sure to perform a trial run before commencing the normal

3 operation.
(2) In a trial run, separate the actuator from the machine/system
CAUTION
and operate the actuator alone (under no load).
Startup

1
Check the nameplate attached on the right side
face of the driver to see if the driver and
Receiving inspection actuator combination is correct.
Refer to: [Receiving inspection] (P2-1)
9 Check the installation environment of the driver.
Check the installation location Refer to: [Installation location and installation]
(P2-2)
8 Check the wirings of power source cable, motor
Check the wirings wire, encoder wire and I/O signal cables.
Refer to: [Connecting power cables] (P2-5)
7
Turn ON the control power supply.
Turn ON the control power supply
6 The sequence of the driver's LED display varies
depending on the encoder equipped in the
actuator.
For the absolute encoder, AL53 and AL81 are
generated. Execute [T08: multi revolution clear]
and turn the control power OFF then ON to
reconnect the power.
Refer to: [Details on control power supply ON]
9 (P3-4, P3-5)

Turn ON the main power supply Turn ON the main power supply.

8
Perform rotary operations via JOG operation to
JOG operation with the actuator alone confirm that the power supply, motor, and
in the test mode encoder are wired correctly. Refer to: [Chapter
9 Test mode]

Take note that in rotary operations via JOG, for input signals
other than emergency stop, operations ignore the signal status.
CAUTION

3-3
 3-2 Turning ON the power for the first time

Details on control power supply ON 4

The driver's internal process sequence to be implemented upon power ON varies depending on the
connected actuator. 3
(1) 17-bit absolute encoder (17-bit encoder incremental model) (SHA series, FHA-Cmini series)
combination (P3-4)
(2) When a 13-bit absolute encoder (FHA-C series) is combined (P3-5) 3
(3) When a 4-wire incremental encoder (FHA-Cmini series) is combined (P3-6)
(4) When a 4-wire incremental encoder (FHA-C series) or 14-wire incremental encoder is

Startup
combined (P3-7)
1
(1) When a 17-bit absolute encoder (SHA series, FHA-Cmini series) is
combined
1 Turn ON the control circuit power.
Appe
Check the driver and actuator combination as well as the input voltage and multi revolution
data of the absolute encoder.

Normal Abnormal

10

Appe
MODE UP DOWN SET

11
2 The system switches to the status display mode.
The default setting is to display the motor rotation speed.
7
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] 6
is displayed.
Action to be taken
The combined actuator is specified on the nameplate
attached on the right side face of the driver.
5
Shut off the control circuit power, and exchange the
MODE UP DOWN SET
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

his error occurs when the power is turned ON for the first
time or the actuator has been disconnected from the driver
for an extended period of time (approximately 30 minutes
or more). As shown to the left, [AL 81: System down] is
generated.
Action to be taken MODE UP DOWN SET
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 [T08: Multi revolution clear](P9-10).

3-4
 3-2 Turning ON the power for the first time

4 (2) When a 13-bit absolute encoder (FHA-C series) is combined

1
3 Turn ON the control circuit power.
Check the input voltage and multi revolution data of the absolute encoder.

Normal Abnormal
3
Startup

1
MODE UP DOWN SET

2 The system switches to the status display mode.

9 The default setting is to display the motor rotation speed.

If multiple alarms or warnings have occurred, the applicable alarms/warnings are displayed one
8 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
7 for an extended period of time (approximately 30 minutes
or more).
As shown to the left, [AL 53: System down] is generated.
6 Action to be taken
Issue a multi revolution clear command. After the multi
MODE UP DOWN SET

revolution clear command, reconnect the driver power.

For the method to clear the multi revolution counter, refer
to [T08: Multi revolution clear](P9-10).

3-5
 3-2 Turning ON the power for the first time

(3) When a 4-wire incremental encoder (FHA-Cmini series) is combined

4
1 Turn ON the control circuit power.
Check the driver and actuator combination.
3
Normal Abnormal

Startup
1
MODE UP DOWN SET

2 The system switches to the status display mode.

Appe
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.
10
Action to be taken
The combined actuator is specified on the nameplate
attached on the right side face of the driver. Appe
Shut off the control circuit power, and exchange the
actuator to the correct one. After connecting the correct MODE UP DOWN SET

actuator, turn ON the power again to confirm that the

system starts correctly. 11

3-6
 3-2 Turning ON the power for the first time

(4) When a 4-wire incremental encoder (FHA-C series) or 14-wire incremental

4 encoder is combined

1
3 Turn ON the control circuit power.

Normal Abnormal

3
Startup

1
MODE UP DOWN SET

2 The system switches to the status display mode.

The default setting is to display the motor rotation speed.
9
If multiple alarms or warnings have occurred, the applicable alarms/warnings are displayed one
by one.
8 
 Wrong wiring/faulty wiring 
If there are any problems in wiring the phase A, B, and Z

7
signals, phase U, V, and W and/or power supply, [AL 50:
Encoder disconnection] is generated.

MODE UP DOWN SET

6
 Wrong wiring/faulty wiring 
If there are any problems in wiring of phase U, V, and W
signals and/or power supply of the encoder, [AL 52: UVW
error] is generated.

9 MODE UP DOWN SET

3-7
 3-2 Turning ON the power for the first time

Troubleshooting upon power ON 4

Description
of
Description
Check item Estimated cause Reference
3
of problem
operation
Power ON The situation improves when  Insufficient input voltage or

The LEDs do
the CN1
unplugged.
connector is poor power connection
 Defective driver
3
not turn ON. The situation improves when  Insufficient input voltage or

Startup
the CN2 connector is poor power connection P2-5
unplugged.  Defective driver
The situation does not  Insufficient input voltage or
P2-6 1
improve even after poor power connection
unplugging the CN1 and CN2  Defective driver

An alarm
connectors and wires.
Refer to [Chapter 11 Troubleshooting].
Appe
Chapter 11
generates.
AL53 and Execute the multi revolution clear, then reconnect the power.
AL81 are P9-10
generated.
JOG Does not Is the motor wire connected  Poor motor wire connection
operation rotate. correctly?  Defective driver
The rotation
direction is
 Defective actuator P2-17 10
reversed.
An alarm Refer to [Chapter 11 Troubleshooting].
generates.
Chapter 11
Appe

11

3-8
 3-3 Operation check with the actuator alone

4
3-3 Operation check with the actuator alone
3 The following explains the operation check procedure on the motor alone before the motor is
assembled into the system.

3 (1) Be sure to perform a trial run before commencing the normal operation.
(2) In a trial run, separate the actuator from the machine/system and operate
the actuator alone (under no load).
Startup

1
CAUTION

The position control mode is selected as the

default setting. To use the driver in the speed
Set the control mode control mode or torque control mode, the
setting must be changed.
9 Refer to: [SP-41: Control mode switching
setting] (P8-4)

8 Assign input signals The factory default values of input signals are
shown in Chapter 5. To change other signals
and logics, the signal assignments and logics
must be changed.
7 Refer to: [Input signals: System parameter
SP00 to SP16] (P5-3)

6 Assign output signals The factory default values of output signals are
shown in Chapter 5. To change other signals
and logics, the signal assignments must be
changed.
Refer to: [Output signals: System parameter
SP20 to SP26] (P5-23)

9 As necessary, change the function settings of

Set the function extension mode the driver.
Check the settings for parameters that strongly
8 affect operation.
Refer to: [Function expansion signals] (P8-3)

Check the wirings of driver signals input from

Check the I/O wirings and logics in the host, as well as driver outputs and host
the test mode signal wirings/logics, in the test mode.
Refer to: [Chapter 9 Test mode]

Perform actual operations according to the

Operate from the host controller actual operation commands from the host
controller.

3-9
 3-3 Operation check with the actuator alone

Troubleshooting at operation check 4

Position control mode 3

Description Refere-
Operation Check item Estimated cause
Servo-ON
of problem
The servo Is the motor wire connected Poor motor wire connection
nce
P2-17
3
input does not lock. correctly?
Is the operation preparation 1．The servo-ON signal has not been

Startup
completed? input.
2．Is the DC24V power supplied
P5-9
P5-4 1
correctly to the IN-COM?
Is warning 93 generated? The main circuit voltage is not input or

An alarm
lower than the warning 93 threshold.
Refer to [Chapter 11 Troubleshooting].
P2-5
Chapter
Appe
generates. 11
Command The actuator Is the motor wire connected Wrong motor wire UVW connection
pulse input does not correctly? P2-17
rotate. Check the command pulse in 1．Pulse pattern setting error
the status display mode 2．2-pulse train signal logic error P8-5
explained in Chapter 6.
Is the FWD or REV inhibit
inputs enabled?
The FWD/REV inhibit is enabled.
P5-11
10
Check the CN2 wirings. Wiring error
Rotates only Pulse input pattern setting Pulse input pattern setting and pulse P5-18
in 1 direction.
Is the FWD or REV inhibit
input system do not match.
The inhibit input in non-rotatable
P8-5 Appe
input enabled? direction is enabled. P5-11
Check the CN2 wirings. Wiring error
The rotation
*1
direction is
Check the CN2 wirings. Pulse signal wiring error P5-11 11
reversed. Check the command polarity. Parameter setting error P8-7

7
An alarm Refer to [Chapter 11 Troubleshooting]. Chapter
generates. 11
*1: The rotation polarity varies depending on the actuator model. Refer to the manual of your actuator.

3-10
 3-3 Operation check with the actuator alone

4 Speed control mode

3 Operation
Description
of problem
Check item Estimated cause
Refere-
nce
Servo-ON The servo Is the motor wire connected Poor motor wire connection
input does not lock. correctly? P2-17
3 Is the operation preparation 1．The servo-ON signal has not been
completed? input. P5-9
Startup

2．Is the DC24V power supplied P5-4

1 Is warning 93 generated?
correctly to the IN-COM?
The main circuit voltage is not input or
P2-5
lower than the warning 93 threshold.
An alarm Refer to [Chapter 11 Troubleshooting]. Chapter
generates. 11
FWD The actuator Is the motor wire connected Wrong motor wire UVW connection
P2-17
enable or does not correctly?
REV rotate. Check the d11 speed The speed command voltage is 0V.
9 enable ON command voltage in the
status display mode.
P5-20

Monitor the I/O statuses Input signal is incorrect.

P5-9
using PSF-800 software.
8 Are the internal speed
command value and
Internal speed command setting error or
internal speed command selection
P5-10
related items correctly set (CN2) error
and selected?
7 Is the FWD or REV inhibit
input enabled?
The FWD/REV inhibit inputs are
enabled.
P5-9
Check FWD/REV enable Both the FWD and REV enable inputs
6 status. are turned ON or OFF.
The rotation Is the command voltage The opposite polarity is set.
*1
direction is input correctly?
reversed. Check FWD/REV enable At + (-) command voltage input, the
P5-16
status. FWD (REV) enable inputs are turned
OFF and the REV (FWD) enable inputs
are turned ON.
Check the command Parameter setting error
9 An alarm
polarity.
Refer to [Chapter 11 Troubleshooting].
P8-7
Chapter
generates. 11
*1: The rotation polarity varies depending on the actuator model. Refer to the manual of your actuator.
8

3-11
 3-3 Operation check with the actuator alone

Torque control mode

4
Operation
Description
of problem
Check item Estimated cause
Refere-
nce 3
Servo-ON The servo Is the motor wire connected Poor motor wire connection
input does not lock. correctly? P2-17

Is the operation preparation 1．The servo-ON signal has not been

3
completed? input. P5-9

Startup
2．Is the DC24V power supplied P5-4

Is warning 93 generated?
correctly to the IN-COM?
The main circuit voltage is not input
1
or lower than the warning 93 P2-5
threshold.
An alarm
generates.
Refer to [Chapter 11 Troubleshooting]. Chapter
11
Appe
FWD The actuator Is the motor wire connected Wrong motor wire UVW connection
P2-17
selection does not correctly?
or REV rotate. Check the d12 torque The torque command voltage is 0V.
selection command voltage in the P5-20
ON status display mode.
Monitor the I/O statuses using Input signal is incorrect.
PSF-800 software.
Is the FWD or REV inhibit The FWD/REV inhibit inputs are
P5-9
10
input enabled? enabled.
Check the FWD/REV Both the FWD and REV selections P5-10
selection status. are turned ON or OFF. Appe
The rotation Is the command voltage input The opposite polarity is set.
*1
direction is correctly?
reversed. Check the FWD/REV
selection status.
At + (-) command voltage input, the
FWD (REV) selection inputs are
P5-16 11
turned OFF and the REV (FWD)
selection inputs are turned ON.

7
Check the command polarity. Parameter setting error
P8-7
An alarm Refer to [Chapter 11 Troubleshooting]. Chapter
generates. 11

6
*1: The rotation polarity varies depending on the actuator model. Refer to the manual of your actuator.

3-12
 3-4 Operation check with the actual system

4
3-4 Operation check with the actual system
3 The following explains the operation checking procedure to be performed using the applicable
system assembled with the motor.

3 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.
Startup

1
WARNING

Assemble into the actual system Assemble the system into the ultimate condition
to be used.

9 Perform auto-tuning in the offline test mode to

Perform auto-tuning in the test mode set an appropriate gain.
Refer to: [Chapter 9 Test mode]
8

7 Issue operation commands from the host

Manually adjust the gain controller and check how the machine moves. If
the machine movements must be calibrated
6 further, manually adjust the gain.
Refer to: [Manual gain adjustment method]
(P3-15)

This is necessary only on models equipped with

Set the origin using the absolute
an absolute encoder.
encoder Refer to: [Origin setting] (P4-8, P4-18)
9

8 Operate from the host controller Perform actual operations according to the
actual operation commands from the host
controller.
Refer to: [Chapter 5 I/O signals]

Stop

3-13
 3-4 Operation check with the actual system

Troubleshooting at actual operation check 4

Operation
Description of
problem
Check item Estimated cause Refere-nce 3
Auto-tuning Significant Is the startup or shutdown Host controller setting error
vibration does time too short?
not decrease
even after
P9-11 3
Is the load inertia too big? Actuator selection error
tuning.

Startup
An alarm Refer to [Chapter 11 Troubleshooting].

Manual
generates.
Vibration does Check the servo gain set Servo gain setting error
Chapter 11
1
gain not decrease value.
adjustment even after
adjusting the
gain.
Is the startup or shutdown
time too short?
Host controller setting error
P3-15
Appe
Is the load inertia too big? Actuator selection error

An alarm Refer to [Chapter 11 Troubleshooting].

Chapter 11
generates.

10

Appe

11

3-14
 3-5 Manual gain adjustment method

4
3-5 Manual gain adjustment method
3 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

3
response characteristics using the HA-800 driver monitor software PSF-800 waveform monitoring.
Prepare a measuring instrument to observe monitored output waveforms to CN9.
Startup

1 Position control
A block diagram of position control is shown below.

HA-800A driver Mechanical load

system

9 Position Position Speed control Power

command control part part amplifier

Actuator
8
Position Speed feedback
7 loop
Position feedback Encoder

6 Parameters
The following parameters are used to adjust the position control gain.
Parameter No. Description Default
AJ00 Position loop gain *1
AJ01 Speed loop gain *1
Speed loop integral
AJ02 *1
9 *1:
compensation
The default varies depending on the applicable actuator. Refer to the values of applicable actuator that are
the targets of [Appendix: Default setting] (A-1).

8 Adjustment procedure
1 Perform rough adjustment via auto-tuning. Refer to [T09: Auto-tuning] (P9-11).
2 Set a smaller position loop gain (AJ00) and larger speed loop integral compensation
(AJ02).
3 Gradually increase the speed loop gain (AJ01) 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.
4 Gradually decrease the speed loop integral compensation (AJ02) 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.
5 Gradually increase the position loop gain (AJ00), and once vibration is detected decrease
the gain slightly.
6 Fine-tune the above gains by observing the settling after positioning and condition of
machine operation.

3-15
 3-5 Manual gain adjustment method

Adjustment details
4
 Speed loop gain (AJ01)
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 3
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
3
speed command.

Startup
 Speed loop integral compensation (AJ02)
The speed loop can be integrally compensated to reduce the negative effect of speed 1
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. Appe
 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. 10

Speed control Appe

A block diagram of speed control is shown below.

Speed
HA-800A driver Mechanical load 11
system
command

Position
control part
Speed control
part
Power
amplifier
7
Speed loop Actuator
6
Speed feedback

Position feedback Encoder

5

Parameters
The following parameters are used to adjust the speed control gain.
Parameter No. Description Default
AJ01 Speed loop gain *1
AJ02 Speed loop integral *1
compensation
*1: The default varies depending on the applicable actuator. Refer to the values of applicable actuator that are
the targets of [Appendix: Default setting] (A-1).

Adjustment procedure
1 Perform rough adjustment via auto-tuning. Refer to [T09: Auto-tuning] (P9-11).
2 Set a larger speed loop integral compensation (AJ02).

3-16
 3-5 Manual gain adjustment method

4 3 Gradually increase the speed loop gain (AJ01) 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.
4
3 Gradually decrease the speed loop integral compensation (AJ02) 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.
5
3 Fine-tune the above gains by observing the condition of machine operation under speed
control.
Startup

Adjustment details
1  Speed loop gain (AJ01)
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
9 speed command.
 Speed loop integral compensation (AJ02)
The speed loop can be integrally compensated to reduce the negative effect of speed
8 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.
7

3-17
 3-5 Manual gain adjustment method

Applied servo gain adjustment function 4

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] (P3-15).Only
when these adjustments do not provide satisfactory results you should use the applied adjustment
3
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 3
made smaller to improve the responsiveness.
The feed-forward control function is only effective during position control. It does not operate for

Startup
speed control or torque control.
[SP69: Feed-forward control function setting] allows you to select feed-forward control and the 1
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 (2
relevant parameters) than the previous feed-forward control (5 relevant parameters). Appe
SP69: Feed-forward control function setting
○: Affected by AJxx setting ×: Not affected by AJxx setting
Set Relevant parameters
Function
value AJ03 AJ20 AJ21 AJ22 AJ23
0 Feed-forward control (previous compatible function) ○ ○ ○ ○ ○
1 Feed-forward control
Feed-forward control simple adjustment version (stable
○ ○ ○ ○ ○
10
2 ○ × ○ × ×
operation mode)

Appe
Feed-forward control simple adjustment version (normal
3 ○ × ○ × ×
operation mode)
Feed-forward control simple adjustment version
4 ○ × ○ × ×
(high-speed operation mode)

5
Feed-forward control simple adjustment version (manual
tune mode)
○ ○ ○ × × 11
* [SP69: Feed-forward control function setting] is available for HA-800 software version 3.x or later.
*: Changes to system parameter settings (SP00 to 79) are put into effect by changing the setting, then turning
control power supply OFF, then ON again.
7
 Do not set [SP69: Feed-forward control function setting] to 0 unless you have been
using feed-forward control function with software version 2.08 or earlier, and will use
6
the HA-800A with the same device with software version 3.x or later.
• The feed-forward control function does not operate after switching from
speed control or torque control to position control. 5
 When using the feed-forward control function, it is necessary to set [AJ21: Load
inertia moment ratio] correctly. Set this value correctly using the machine
specifications value or the auto-tuning function.
 Changes to [AJ03: Feed-forward gain] take effect when the motor shaft rotation
speed drops to [AJ07: Zero speed judgment value] or lower.
 Changes to feed-forward function related parameters (AJ20-23) take effect when the
motor stops. Setting values can be changed while the motor is operating.

3-18
 3-5 Manual gain adjustment method

Block diagram of feed-forward control function

4
HA-800A driver
3 Mechanical load
Differen- Feed-forward system
tiation control part

3 Position Position Speed control Power

command control part part amplifier
Actuator
Startup

1 Speed feedback

Position feedback Encoder

Parameters
The following parameters are used for feed-forward control.
9 Parameter No.
SP69
*1
Description
Feed-forward control function setting
Default
*2
AJ03 Feed-forward gain 0
AJ20 Feed-forward filter 1
8 AJ21
AJ22
Load inertia moment ratio
Torque constant compensation factor
100
100
AJ23 Spring constant compensation factor 100
*1: Changes to system parameter settings (SP00 to 79) are put into effect by changing the setting, then
7 turning control power supply OFF, then ON again.
*2: The default varies depending on the applicable actuator. Refer to [Default settings] (Apx-1) in the
appendix.

6 調整内容
 Feed-forward control function setting (SP69)
・Setting details
This sets the responsiveness when [SP69: Feed-forward control function setting] is [2, 3, or
4].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 ([AJ21: Load inertia moment ratio]).
9 When [SP69: Feed-forward control function setting] is [0, 1, or 5], [AJ20: Feed-forward filter]
can be set to any desired value.

8 ・Adjustment method
Normally, set [SP69=3: 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 [AJ03: Feed-forward gain].Also, for a low inertia ratio
(when [AJ21: Load inertia moment ratio] is 20 or less), vibration occurs particularly easily.
When the responsiveness is not satisfactory with [SP69=4: High-speed operation mode], you
can also adjust the feed-forward filter manually with [SP69=5: Manual tune mode].Only use
[SP69=1: Feed-forward control] when [SP69=5: Manual tune mode] cannot produce
satisfactory results.

Vibration Responsiveness
SP69=2: Stable operation mode Small Low speed
SP69=3: Normal operation mode Medium Medium speed
SP69=4: High-speed operation mode Large High speed

3-19
 3-5 Manual gain adjustment method

 Feed-forward gain (AJ03)

・Adjustment method 4
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 [AJ03L Feed-forward gain] in the range [0 to 100].Set the feed-forward gain to around 50
and check the response. Raise and lower the gain about 5 degrees at a time until you have
3
adjusted to a satisfactory response.
When [AJ03: Feed-forward gain] is 0, the feed-forward control function is disabled.
・Effect of electronic gear setting 3
Note that when the electronic gear ratio is high, adequate effects may not be obtained from
feed-forward control and vibration may occur.

Startup
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. 1
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 [AJ21: load inertia moment ratio] is 20 or less) and
Appe
low-speed operation, vibration occurs particularly easily.

 Feed-forward filter (AJ20)

・Setting details
Set the filter frequency to be used in feed-forward control. When [SP69: Feed-forward control
function setting] is 0, 1, or 5, the setting has an effect.
・Adjustment method
10
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. Appe
 Load inertia moment ratio (AJ21)
・Setting details
Set the ratio of the moment of inertia of load relative to the self-inertia moment.100% means 11
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] (P9-11, P10-8).
・Effect of setting
7
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 6
correctly.

 Torque constant compensation factor (AJ22)

・Normal use
5
Variation in the actuator torque constant is compensated for.Feed-forward control is performed
based on the value set here.Set this factor to 100% in normal use.When [SP69: Feed-forward
control function setting] is 0 or 1, the setting has an effect.
・Effect of factor
The reference value of the torque constant compensation factor is 100%. 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
100% in normal use.

3-20
 3-5 Manual gain adjustment method

 Spring constant compensation factor (AJ23)

4 ・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 100% in normal use. When [SP69:
3 Feed-forward control function setting] is 0 or 1, the setting has an effect.
・Effect of factor
Although the reference value of the spring constant compensation factor is 100%, set an
appropriate compensation factor depending on the variation in the actuator's spring constant.
3 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 (AJ21).The feed-forward control part implements
Startup

1 controls to lower the feed-forward gain at these resonance frequencies.

3-21
 3-6 Normal operation

4
3-6 Normal operation
This driver operates according to commands received from the host device. No special procedures
are required in normal operations.
3
The following explains the notices when performing normal operations as well as daily

3
maintenance/inspection.

Notices for normal operations

Startup
1
(1) Do not change wirings while the power is supplied.
Disconnecting wires or connectors while the power is supplied may Appe
cause electric shock or an uncontrollable operation.
(2) Do not touch the terminals for 15 minutes after the power is
turned OFF.
Even after the power is turned OFF, electric charge remains in the driver.
WARNING Do not touch the terminals for 15 minutes after the power-OFF to avoid
electric shock.
(3) Do not operate the driver by turning ON/OFF the power. 10
Frequent power ON/OFF operation may cause deterioration of circuit
elements inside the driver.
Appe
Daily maintenance/inspection
Perform maintenance/inspection according to the maintenance/inspection standards for electronic 11
devices specified by the department introducing the driver.

(1) Be sure to shut down the power before carrying out 7

maintenance/inspection.
Carrying out maintenance/inspection while the power is supplied may
cause electric shock.
(2) Do not touch the terminals for 15 minutes after the power is
6
turned OFF.
WARNING Even after the power is turned OFF, electric charge remains in the driver.
Do not touch the terminals for 15 minutes after the power-OFF to avoid 5
electric shock.
(3) Do not perform megger test or voltage resistance test.
The control circuits in the driver may be damaged and an uncontrollable
operation may occur.

Inspection
Interval Inspection standard Treatment
point
1-year
Terminal screws No loosen screws Tightening screws
inspection
1-year
Unit exterior No dust or metal chips on the case Cleaning
inspection
1-year No discoloration, damage or other Consult Harmonic Drive
Unit interior
inspection abnormalities Systems

3-22
 3-6 Normal operation

4 Periodically replaced parts

A detection circuit is provided for the following replacement parts of this driver so that any part that
3 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.

3
Replacement Replacement
Replacement method
part timing
Replaced by our office. Ship your HA-800A driver to our sales office.
Cooling fan 5 year
The driver will be returned once the part has been replaced.
Startup

1 Battery 1 year
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 40℃ in average
Electrode
5 years temperature throughout the year.
capacitor
It varies depending on the use environment.
100,000 times
Use the relay at the frequency of turning power ON/OFF of 30
Relay (Number of power
times/day or less.
9 ON times)
The life of the cooling fan assumes that this driver is operated 24 hours a day in an environment of 40℃ in
average temperature throughout the year.
The life of the battery assumes that the driver remains unpowered in a condition connected to the actuator.
8
Backup battery
7 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
6 replaced.
All drivers of absolute encoder model come with this battery pre-assembled.

Backup battery
Model code: HAB-ER17/33-2
Battery type Lithium battery
Manufacturer Hitachi Maxell, Ltd.
9 Manufacturer model ER17/33 (3.6V 1,600 mAh)

Data retention time

8 Data retention time
Approx. 1 year after the power
is cut off
Unused power is turned OFF,
ambient temperature: 25℃,
Conditions axis stopped
(The actual life varies
depending on the condition of
use.)

 With a 13-bit absolute encoder or a 17-bit absolute encoder (FHA-Cmini

series), warning 91 will be automatically reset after the battery is replaced.
 With a 17-bit absolute encoder (SHA series), warning 91 will be reset by
resetting the alarm and reconnecting the power after the battery is replaced.

3-23
 3-6 Normal operation

Built-in capacitor of actuator

Data retention time
4
Data retention Approx. 30 min. after the
time power is cut off

Conditions
After 3 h of charging, ambient
temperature 25℃, axis
3
stopped

How to replace the backup battery

3

Startup
If [UA 91: Low battery power] displays, replace the battery by following the procedure below:
1
1 Open the operation panel cover.

Panel cover Appe

2 Remove the battery.

10

Appe

11
Battery holder

7
3 Set the new battery by placing it in the battery holder with the positive side facing down.
4 Push the battery all the way in and close the panel cover.
 With a 13-bit absolute encoder or a 17-bit absolute encoder (SHA20 and FHA-Cmini
6
series)*, UA91 will be automatically reset after the battery is replaced.
 With a 17-bit absolute encoder (SHA series (excluding SHA20)), UA91 will be reset by
resetting the alarm and reconnecting the power after the battery is replaced.
* In Version 2.x and earlier, after the battery is replaced, turning the power back ON releases
5
UA91.

 Exercise caution to prevent the battery cable from getting caught when closing
the panel cover.

3-24
 3-6 Normal operation

3
Startup

3-25
1-8

Chapter 4

Encoder system
The encoder configuration is different depending on the actuator model. Details of each
actuator are explained in this chapter.

4-1 Overview of encoders ························································· 4-1

4-2 17-bit absolute encoder ······················································ 4-4
4-3 13-bit absolute encoder ···················································· 4-15
4-4 Incremental encoder························································· 4-25
 4-1 Overview of encoders

11
4-1 Overview of encoders
10 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.

9 Encoder type Actuator model Driver model Details

17-bit absolute encoder SHA series HA-800A-＊D-100/200
P4-4
17-bit encoder incremental model FHA-Cmini series
4 13-bit absolute encoder FHA-C series HA-800A-＊A-100/200 P4-15
4-wire wire-saving incremental encoder FHA-C series HA-800A-＊C-100/200
4-wire wire-saving incremental encoder FHA-Cmini series HA-800A-＊C-100/200 P4-25
Encoder system

7 14-wire incremental encoder RSF/RKF series HA-800A-＊B-100/200

4-1
 4-1 Overview of encoders

The specifications of encoders that can be connected to the HA-800A driver are shown below. Select 11
an applicable driver model according to the actuator used and the applicable encoder specification.

Item 17-bit absolute encoder *1

13-bit
absolute
4-wire wire-saving
14-wire
incremental
10
incremental encoder
encoder encoder
Actuator SHA series SHA20 and
model (excluding
SHA20)
FHA-Cmini
series
FHA-C
series
FHA-Cmini
series
FHA-C
series
RSF/RKF
series 9
Details P4-4 P4-4 P4-15 P4-25 P4-25 P4-25
Applicable driver HA-800A-3D/ HA-800A-3D/ HA-800A-3A HA-800A-1C- HA-800A-3C HA-800A-3B
model E-100/200
HA-800A-6D/
E-200
HA-800A-1D/
-100/200
HA-800A-6A
100/200 -100/200
HA-800A-6C
-100/200
HA-800A-6B
4
E-100/200 E-100/200 -100/200 -100/200 -100/200
HA-800A-24D/

Encoder system
Sensor type
E-200
Magnetic
sensor
Single
revolution:
Optical sensor Optical sensor Optical sensor Optical sensor 7
Optical sensor
multi
revolution:
Magnetic 6
sensor
Data storage Battery Battery Battery None None None

5
upon power OFF backup backup backup
method method method
Resolution per 17 bits 17 bits 13 bits 8,000 pulses 10,000 8,000 pulses
motor shaft (131,072 (131,072 (8,192 pulses) *2 pulses *2 *2
rotation pulses) pulses)
Maximum motor
shaft rotation
16 bits
(-32768 to
16 bits
(-32768 to
13 bits
(-4096 to
Not limited Not limited Not limited
4
range 32767) 32767) 4095)
Encoder monitor Parameter Parameter Fixed Fixed Fixed Fixed
output pulses setting can be
changed.
setting can be
changed. 3
Up to 8,192 Up to 8,192
pulses are pulses are
output per output per
motor shaft
rotation.
motor shaft
rotation.
2
Max. permissible 6,000 r/min 6,000 r/min 5,000 r/min － － －
rotational speed However, 300 However, 250 (constant
upon power
failure
r/min when
the power is
input/encoder
r/min when
the power is
input/encoder
speed)
1,400 r/min
(accelerating)
1
is started. is started.
Retention time by Approx. 1 year Approx. 1 year Approx. 1 year － － －
driver's built-in (Power not (Power not (Power not
backup battery supplied) supplied) supplied)

Retention time by Approx. 0.5 h Approx. 0.5 h Approx. 0.5 h － － －

actuator's built-in (Fully (Fully (Fully
capacitor charged) charged) charged)
Encoder/driver Line driver Line driver Line driver Line driver Line driver A, B, Z, U, V
communication receiver receiver receiver receiver receiver and W parallel
method method/2.5 method method method method signals
Mbps
Encoder/driver EWD-S**-A08 EWD-S**-A08 EWC-S**-B08- EWC-E**-M06 EWC-E**-B04 EWA-E**-A15
connection cable -3M14 (model -3M14 3M14 -3M14 -3M14 -3M14
No. 25, 32,
40) 2-core twisted 2-core twisted 2-core twisted 2-core twisted 2-core twisted
EWD-S**-D10 wire x 3-pair wire x 4-pair wire x 2-pair wire x 2-pair wire x 7-pair
-3M14 (model shield cable shield cable shield cable shield cable shield cable
No. 58, 65)
2-core twisted
wire x 3-pair
shield cable

4-2
 4-1 Overview of encoders

11 13-bit
4-wire wire-saving
14-wire
Item 17-bit absolute encoder *1 absolute incremental
incremental encoder
encoder encoder

10
Actuator SHA series SHA20 and
FHA-C FHA-Cmini FHA-C RSF/RKF
model (excluding FHA-Cmini
series series series series
SHA20) series
HA-800A current 33-bit data 33-bit data 33-bit data
value data output transmission transmission transmission
9 (for reading initial
position)
output of
signed current
output of
signed current
output of
signed current
― ― ―
value value value
(9,600 bps, (9,600 bps, (9,600 bps,

4
data refresh data refresh data refresh
cycle 100 ms) cycle 100 ms) cycle 100 ms)
Encoder ○ ○ ○ ○ ○ ○
disconnection
Encoder system

7
MEMORY ○ ○ × × × ×
error
System ○ ○ ○ × × ×
failure
Single ○ ○ × × × ×
6 rotation data
error
Multi ○ ○ × × × ×
revolution

5
data error
BUSY error ○ ○ × × × ×
Alarm

Overheat ○ ○ × × × ×
error
4 Communicati
on error
○ ○ × × × ×
Encoder × × ○ ○ ○ ○
counter

3 receiving
error
Multi × × ○ × × ×
revolution
counter
2 overflow
Multi × × ○ × × ×
revolution
data error

1 Safety/ Absolute data Absolute data None None None None

redundancy dual- dual-
redundancy redundancy
matching matching
method metho
*1: The 17-bit encoder incremental model does not perform multi revolution detection and do not require a
backup battery. Otherwise it is the same as a 17-bit absolute encoder.
*2: Quadruplicated pulses

4-3
 4-2 17-bit absolute encoder

11
4-2 17-bit absolute encoder
10
If AL81 (system failure), AL82 (single rotation data error) or AL83 (multi

CAUTION
revolution data error) occurs due to a loss of absolute position or error, be sure
to reset the origin. Failure to do so may result in unexpected operations. 9

Features 4
The SHA series (excluding SHA20) is equipped with a multi revolution-type 17-bit magnetic absolute

Encoder system
encoder.
The SHA20 and FHA-Cmini series is equipped with a multi revolution-type 17-bit optical absolute 7
encoder. (Multi revolution detection is magnetic.)
It consists of a detector (17 bits/revolution) for detecting the position after one motor shaft revolution
and a cumulative counter (16 bits) for detecting the number of motor revolutions.
This encoder constantly detects the absolute machine position and stores it by means of the backup
6
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 5
breakdown.
The SHA-CG output shaft single revolution absolute model (SHA-CG-S) assumes a machine that only
moves the index table in one direction. When the machine continues to rotate in just one direction, the
absolute encoder eventually exceeds the number of revolutions that can be detected with 4
multi-revolution detection and it becomes impossible to manage position information accurately.
Therefore, each time the output shaft turns through single revolution, the cumulative multi revolution
counter is cleared to 0 to achieve the output shaft single revolution absolute function. This is how
position information is accurately managed when the shaft continuously turns in just one direction.
3
With the 17-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 2
occur.
A backup capacitor is also provided in the encoder. (Internal backup. Take note that the retention time
is short.)
The 17-bit encoder incremental model does not perform multi revolution detection and do not require a 1
backup battery. Otherwise it is the same as a 17-bit absolute encoder.

 The backup time is 30 minutes when a new capacitor has been charged for at
least 3 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.

4-4
 4-2 17-bit absolute encoder

11
Actuator HA-800A driver
Data calculation

10
part
Single Communication
revolution control part
detection
part
Backup battery
9
Multi
revolution
detection Communication
part control part
Angle

4
compensation
data

Backup
Encoder system

7
capacitor

Block diagram of actuator/encoder and driver

6 Standard connection
A connection example of an actuator of 17-bit absolute encoder model with a HA-800A driver is
shown.
5
AC Servo Actuator

4 HA-800A-*D U
Red

White
SHA, FHA-Cmini

V M
Black
W

3 R2
R1 and R3 are shorted. When
R3 using an external regenerative
R1 resistor, keep R1 and R3 open and

2
connect the regenerative resistor
Green/Yellow between R1 and R2.

Shield
Be sure to ground
each point.

1 +5V
CN1
1
Red

Black
0V 8 E
Yellow
SD 5 17-bit absolute encoder
Blue
SD 7
Orange
BAT+ 2
Gray
BAT- 4

Shield Use a twisted pair shield cable.

Connector shell Securely connect the shield to the
cable-clamp with grand-brain of the
connector.

4-5
 4-2 17-bit absolute encoder

Startup 11
Parameters that must be set
Parameter
Name Function
10
No.
Set the phase A and B pulses to be output to the encoder monitor

Encoder monitor output

output terminals (CN2-42 to 48) when the motor shaft of the 17-bit
absolute encoder turns one revolution. 9
SP61 Setting range: 1 to 8,192 (Default: 8192)
pulses
If this parameter is set to the maximum value of 8,192, the

4
resolution becomes 32,768 pulses (8,192 x 4). This corresponds to
one-fourth the resolution 131,072 of the 17-bit encoder.
A 17-bit absolute encoder can be set to be used as an incremental
encoder.

Encoder system
7
Setting range: 0, 1
Absolute encoder function
SP66 0: Use as an absolute encoder.
setting
(Default value on HA-800A-*D)
1: Use as an incremental encoder.
(Default value on HA-800A-*E)
When using for position control combined with an SHA-CG series
unit, you can set the actuator resolution.
6
Setting range: 0 to 3 (Default value: 0)
0: According to electronic gear settings (SP14, SP44/SP45,

SP67
Output shaft divide function
SP46/SP47)
1: Division of single output shaft rotation into 36,000 parts
5
setting*
(equivalent to 0.01 degree resolution)
2: Division of single output shaft rotation into 360,000 parts
(equivalent to 0.001 degree resolution)
3: Division of single output shaft rotation into 3,600,000 parts
4
(equivalent to 0.0001 degree resolution)
*: If you change the setting, the origin needs to be set again. Be sure to change the value before setting the
origin. 3
Startup procedures
1 Absolute encoder function setting (checking the backup battery 2
Set [SP66: Absolute encoder function setting] according to the method used, then turn the
power OFF, then ON again. For details, refer to [SP66: Absolute encoder function setting]
(P8-12).
When setting [SP66: Absolute encoder function setting] to 0 (default value on HA-800A-*D) and 1
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] (P3-24).
When setting [SP66: Absolute encoder function setting] to 1 (default value on HA-800A-*E) and
using as an incremental encoder, the backup battery is not required.

2 Initializing the absolute encoder system

When the power supply is turned ON for the first time, [AL81: System failure], [AL82: Single
revolution data error], [AL83: Multi revolution data error] and [UA91: Battery voltage low
warning] generate. It is necessary to initialize (multi revolution data clear) the errors. For details,
refer to [T08: Multi revolution clear] (P9-10).
When setting [SP66: Absolute encoder function setting] to 1 and using as an incremental
encoder, the backup battery is not required.
* UA91 will not occur on the SHA20 and FHA-Cmini series absolute type if the battery is
normal. If UA91 occurs, replace the battery.

4-6
 4-2 17-bit absolute encoder

11 3 Setting the parameters

Set [SP61: Encoder monitor output pulses] and [SP67: Output shaft divide function setting*]
according to the method used, then turn the power OFF, then ON again to put the parameter
into effect. For details, refer to [SP61: Encoder monitor output pulses] (P8-11), [SP67: Output
10 shaft divide function setting] (P8-13), and [Output signal pulses] (P4-11).
*: If you change the setting, the origin needs to be set again. Be sure to change the value
before setting the origin.
9 4 Origin setting
Set the origin in order to link the actuator driver and the mechanical origin.
4 1. Using as an absolute encoder (SP66=0)
For the origin setting method, refer to [Origin setting] (P4-8).
Encoder system

7 2. Using as an incremental encoder (SP66=1)

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.
6  When the control power supply is turned ON
 When the driver has been replaced

5  When the actuator has been replaced

4-7
 4-2 17-bit absolute encoder

Origin setting 11
Perform the following to set the origin (read the current value data at the mechanical origin position) in
order to link the actuator driver and the mechanical origin. 10
(1) Move the actuator to the target mechanical origin position via a JOG operation, manually, or using
the various host controller functions.
(2) Execute T08 (multi revolution clear) by operating the HA-800A panel, and reconnect the HA-800A 9
power supply.
(3) Perform any of the following to read the current absolute encoder value.
(a) Use the current value data output at the pins CN2-40, 41.From the pins CN2-40 and 41,
receive the absolute encoder’s current value with the host controller and check the data.For
4
details, refer to [Data output] (P4-9).

Encoder system
(b) (b) Use the HA-800 driver monitor software PSF-800.Check the PSF-800 status display
value monitor feedback pulses. For details, refer to [Chapter 10 Communication software].
(c) (c) Use the status display panel for the HA-800A driver. You can check the current encoder
7
value from the d05 feedback pulse (Low) and d06 feedback pulse (High) shown on the
display panel in the status display mode. For details, refer to [d05, 06: Feedback pulses
display] (P7-5). 6
(4) Manage the coordinates (set the origin) with the host controller with the read out current value of
the absolute encoder as the origin data.
(5) In operations after setting the origin, use the CN2-40, 41 current value data output to acquire the
current value data and manage the coordinates with the host controller. For details, refer to [Data 5
output] (P4-9).
*: The current HA-800A position display will not usually indicate zero at the mechanical origin.
4
 Do not turn the actuator until the Step (2) Multi revolution clear is executed and Step
(3) Receiving/reading of the current value is completed. If the actuator moves, the
3
origin may become offset.
 Take note that the current value of the 17-bit absolute encoder (10 digits) cannot be
fully displayed (only the last 8 digits are displayed) because only a total of 8 digits are 2
allocated for d05 feedback pulse (Low) and d06 feedback pulse (High) on the display
panel of the HA-800A driver.
1
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
 [AL81: System failure], [AL82: Single revolution data error] or [AL83: Multi revolution data error]
generated due to a loss of absolute position or error.
 When the electronic gear (SP44/SP45, SP46/SP47) or output shaft divide function (SP67) has
been changed

4-8
 4-2 17-bit absolute encoder

11 Data output
Outputting the current value data from the pins CN2-40 and 41
10 This is used to acquire the current value data in order to manage the absolute position with the
absolute encoder. The current value of the 17-bit absolute encoder is constantly output cyclically.
Data of bits 0 to 32 (including the sign) is divided into 9 parts and sent. Data of bits 0 to 32 is
9 sent in 9 transmissions taking 100 ms each, or over a total period of 900 ms.
It is output with a line driver (26LS31), so receive using a line receiver (AM26LS32 or
equivalent).
This data is transmitted cyclically and repeatedly after the driver power supply is turned ON and
4 CPU is started, regardless of the timings of phase A, B and Z output signals.

With the SHA-CG series, operation commands can be set in the actuator in angle units with
Encoder system

7
[SP67: Output shaft divide function setting].In this case, the absolute encoder current value data
is also output equivalent to degree units.
Also, with the SHA-CG output shaft single revolution absolute model, the output range for the
current value is the values for single revolution of the output shaft. For details on the current
6 value data output range, refer to the table below.

* For the current value data reception sequence, sample ladder is available for the Mitsubishi
Electric Q Series and the Keyence KV Series. For details, contact our sales office.
5 * The current value data is unstable immediately after turning the control power supply ON.
Read the current value data after 10 seconds or longer elapsed after turning the control
power supply ON.

4 Output format Start-stop Current value data output+

CN2
40
Communication speed 9600 bps
Current value data output- 41
Stop bit 1 bit
3
26LS31
Data length 8 bit Monitor ground 48
Parity bit Even parity
Format LSB first

2 Refresh cycle (refresh cycle of

each number of divisions 100 ms
data)

1 Output format*
Number Current value data Number of divisions data
of
Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7
divisions
1 Current value data bits 0 to 3 1 0 0 0
2 Current value data bits 4 to 7 0 1 0 0
3 Current value data bits 8 to 11 1 1 0 0
4 Current value data bits 12 to 15 0 0 1 0
5 Current value data bits 16 to 19 1 0 1 0
6 Current value data bits 20 to 23 0 1 1 0
7 Current value data bits 24 to 27 1 1 1 0
8 Current value data bits 28 to 31 0 0 0 1
9 Code data (If positive, all 0. If negative, all 1) 1 0 0 1
*: If the current value data is negative, each bit of the data is output as its 2’s complement

4-9
 4-2 17-bit absolute encoder

Model Setting Output range Unit 11

FHA-C series - -33554432 to 33554431 pls
SHA-SG/HP series
- -4294967296 to 4294967295 pls
FHA-Cmini series
SP67=0 -4294967296 to 4294967295
*1
pls 10
SP67=1 -23592960 to 23592960 pls (×0.01deg equivalent)
SHA-CG *1
SP67=2 -235929600 to 235929600 pls (×0.001deg equivalent)

9
*1
SP67=3 -2359296000 to 2359296000 pls (×0.0001deg equivalent)
*2
SP67=0 0 to 20971519 pls
SP67=1 0 to 35999 pls (×0.01deg equivalent)
SHA-CG-S
SP67=2 0 to 359999 pls (×0.001deg equivalent)
SP67=3 0 to 3599999 pls (×0.0001deg equivalent)
*1: On the SHA=CG, when SP67=1, 2, or 3, the output range depends on the speed reduction range of 4
the actuator and is the range of the calculated angle values of the multi revolution detection range.
32 17 32 17
The output range is from [-2 /(2 x speed reduction ratio) x number of output divisions to (2 -1)/(2

Encoder system
x speed reduction ratio) x number of output divisions].
*2: On the SHA=CG, when SP67=0, the output range depends on the speed reduction ratio of the 7
actuator.
17
The output range is [0～2 x speed reduction ratio – 1].

6
 With the SHA-CG series, the current value data output range depends on the value of
[SP67: Output shaft divide function setting].
5
 With the SHA-CG series, when the power is turned ON, the current value data
becomes a value that occurs in single revolution of the output shaft.
 Note that the directions of increase and decrease for the current value output depend
on [SP50: command polarity] setting.*: With the SHA-SG/HP series, rotation is in the
4
opposite directions from those below.
For 0, 1: Increase with clockwise rotation
For 2: Increase with counter-clockwise rotation 3

4-10
 4-2 17-bit absolute encoder

11 Example: The current value is 1234567 (0012D687h)

First 0 1 1 1 0 1 0 0 0 0
10
Second 0 0 0 0 1 0 1 0 0 0

9 Third 0 0 1 1 0 1 1 0 0 0

Fourth 0 1 0 1 1 0 0 1 0 0
4 Fifth 0 0 1 0 0 1 0 1 0 1
Encoder system

7 Sixth 0 1 0 0 0 0 1 1 0 1

Seventh 0 0 0 0 0 1 1 1 0 1
6 Eighth 0 0 0 0 0 0 0 0 1 1

5 Ninth 0 0 0 0 0 1 0 0 1 0

0 1 2 3 4 5 6 7 p

4 Start bit Current Number of

Stop bit
value data divisions
data Parity bit

3 Encoder phase A, B and Z signal outputs

When the motor shaft equipped with a 17-bit absolute encoder turns, incremental phase A, B
2 and Z signals are output to the pins CN2-42 to 48. The number of pulses per motor shaft
revolution is set by [SP61: System parameter].
Encoder phase A+ signal output 42
CN2-42 Phase output-A+ (LD)
1
Encoder phase A- signal output 43
CN2-43 Phase output-A- (LD) Encoder phase B+ signal output 44
CN2-44 Phase output-B+ (LD) Encoder phase B- signal output 45
CN2-45 Phase output-B- (LD) Encoder phase Z+ signal output 46
CN2-46 Phase output-Z+ (LD) Encoder phase Z- signal output 47
CN2-47 Phase output-Z- (LD)
Monitor ground 48 26LS31
CN2-48 Monitor ground

 Output signal pulses

The output pulses per motor shaft revolution are set by the parameter [SP61: Encoder monitor
output pulses].

Output pulses per motor shaft revolution

Phase A signal output Set value of SP61 ([1] to [8,192])
Phase B signal output Set value of SP61 ([1] to [8,192])
Phase Z signal output 1
For phase Z, 1 pulse is output per motor shaft revolution.
For example, setting the maximum value 8,192 in SP61 causes 8,192 pulses to be output per motor shaft
revolution. Although this corresponds to a resolution of 32,768 pulses, or 4 times 8,192, it is one-fourth the
resolution 131,072 of the 17-bit absolute encoder per motor shaft revolution.
8,192 × 4 = 32,768 (Quadruplicate)

4-11
 4-2 17-bit absolute encoder

11
131,072 ÷ 4 ＝ 32,768

 Phase A, B and Z incremental output 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.
10
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
9
Phase A Phase A

4
signal signal

Phase B Phase B
signal signal

Encoder system
When 8,192 is set in SP61, the values of the 17-bit absolute encoder and phase A, B and Z 7
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. 6

Absolute encoder value

+131076
+131072 5
+12 +131068
+8
+4

-4
0 4
-8
-12
-131068
-131072
-16
3
-131076

Phase A signal output

Phase A pulses
= 8,192 pulses/revolution
2
Phase B signal output Phase B pulses
= 8,192 pulses/revolution
Phase Z signal output Phase Z pulses 1
= 1 pulse/revolution
FWD rotation direction

REV rotation direction

 Signal input method

Each phase signal is output by a line driver (26LS31). Receive the signals using a line receiver
(AM26LS32 or equivalent).

 Use an EIA-422A compliant line receiver to receive the signals.

4-12
 4-2 17-bit absolute encoder

11 Remedial actions for errors/warnings

Remedial action for error
10 Name Description Cause Action
AL50 Encoder signals (1) Disconnected encoder signal (1) Repair the wire.
Encoder have been cut off. wire (2) Connect the connector
9 disconnection (2) Poor contact/connection of
encoder signal connector
properly.
(3) Replace the actuator.
(3) Encoder error (4) Replace the HA-800A driver.
(4) HA-800A driver control circuit

4 AL80 EEPROM memory

error
(1) Encoder error (1) Replace the actuator.
MEMORY error error in encoder (2) HA-800A driver control circuit (2) Replace the HA-800A driver.
error
Encoder system

7 AL81
System failure
Encoder system
shutdown
(1) Turned the power ON for the
first time after the purchase.
(1) Perform [T08: Multi revolution
clear] to reconnect the power.
(2) SHA series (excluding SHA20): (2) Replace the HA-800 driver
Either the voltage of the battery with a new one. After

6 backup capacitor in the

encoder or HA-800 driver
the battery has
replaced, set the origin.
been

battery, whichever is higher, (3) Replace the actuator.

has become 2.85V or below.

5
SHA20 and FHA-Cmini series:
The battery voltage has
dropped to 2.85V or below.
(3) FHA-Cmini series absolute
type: The battery voltage has
4 dropped to 2.85V or below.
(4) Encoder failure
AL82 Encoder single (1) Turned the power ON for the (1) Perform [T08: Multi revolution
Single rotation revolution data first time clear] to reconnect the power.
3 data error error (2) Malfunction due to external
noise
(2) Provide noise suppression
measures to eliminate
(3) Encoder failure negative effects of external
noise.
2 AL83 Encoder multi (1) Turned the power ON for the
(3) Replace the actuator.
(1) Perform [T08: Multi revolution
Multi revolution revolution data first time clear] to reconnect the power.
data error error (2) Malfunction due to external (2) Provide noise suppression
1 noise
(3) Encoder failure
measures to eliminate
negative effects of external
noise.
(3) Replace the actuator.
AL84 When the encoder (1) When the power supply was (1) When the power supply is
BUSY error was started, the turned ON and encoder was turned ON and encoder is
motor shaft rotated started, the motor shaft started, ensure that the motor
at a constant rotated at a constant speed or shaft rotates at a constant
speed or above above. speed or below.
and a position SHA series (excluding SHA20): (2) Replace the actuator.
specification 300 r/min or more
problem occurred. SHA20 and FHA-Cmini series:
250 r/min or more
(2) Encoder failure
AL85 Heated (1) The board temperature in the (1) Remove the cause of
Overheat error actuator/encoder encoder has reached 95℃ or actuator overheat, such as
above. relaxing the actuator drive
(2) The heat sink temperature of conditions or improving the
the driver has reached 106℃ heat radiation conditions for
or above. the heat sink.
(3) Encoder failure (2) Same as above
(3) Replace the actuator.

4-13
 4-2 17-bit absolute encoder

Name Description Cause Action

AL86 Data could not be (1) Disconnected encoder signal (1) Repair the wire. 11
Communication received in at least wire (2) Connect the connector
error 4 consecutive (2) Poor contact/connection of properly.
communications
between the
encoder signal connector
(3) Malfunction due to external
(3) Provide noise suppression
measures to eliminate 10
actuator and this noise negative effects of external
driver. noise.

9
(4) Check the ground line or
other ground.

Remedial action for warning

Name Description Cause Action
4
UA91 The backup (1) Voltage drop due to consumption of (1) SHA series (excluding SHA20):

Encoder system
Battery battery voltage backup battery Replace the battery with a new
voltage low has dropped to
DC3.1V or
(2) Short-circuit the encoder battery
wire
one, input alarm reset and then
reconnect the power supply.
7
below. (3) HA-800A driver control circuit error SHA20 and FHA-Cmini
(4) Encoder failure series*: Replace the battery
with a new one.
* In Version 2.x and earlier,
6
after the battery is replaced,
turning the power back ON
releases UA91.
(2) Repair the wire.
5
(3) Replace the HA-800A driver.
(4) Replace the actuator.
4

4-14
 4-3 13-bit absolute encoder

11
4-3 13-bit absolute encoder
10

9
If AL53 (system failure), AL54 (multi revolution counter overflow) or AL55 (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.
CAUTION

4
Features
Encoder system

7 The FHA-C series is equipped with a multi revolution-type 13-bit optical absolute encoder. It consists
of a detector (13 bits/revolution) for detecting the position after one motor shaft revolution and a
cumulative counter (13 bits) for detecting the number of motor revolutions.
This encoder constantly detects the absolute machine position and stores it by means of the backup
6 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.
5 A backup capacitor is also provided in the encoder. (Internal backup. Take note that the retention time
is short.)

4
 The backup time is 30 minutes when a new capacitor has been charged for at
3 least 3 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.

2
Actuator
1
HA-800A driver
Data calculation
part
Single Communication
revolution control part
detection
part

Multi Backup battery

revolution
detection Communication
part control part

Backup
capacitor

Block diagram of actuator/encoder and driver

4-15
 4-3 13-bit absolute encoder

Standard connection 11
A connection example of an actuator of 13-bit absolute encoder model with a HA-800A driver is
shown.
10
AC Servo Actuator
HA-800A-*A
U
Red

White
FHA-C series
9
V M
Black
W
R2
R1 and R3 are shorted. 4
R3 When using an external
regenerative resistor, keep R1

Encoder system
R1 and R3 open and connect the
Green/Yellow regenerative resistor between
R1 and R2.
7
Shield If you are not using an
Be sure to ground external regenerative
each point.
6
CN resister, and R1 and R3 are
Green kept open, the built-in
CLR 6
regenerative resister will not
White
operate. Make sure to short
Red R1 and R3 if there is no
+5V
0V
1
8
Black E
external regenerative
resistance. 5
Yellow
SD 5 13-bit absolute encoder

4
Blue
SD 7
Orange
BAT+ 2
Gray
BAT- 4

Connector shell
Shield Use a twisted pair shield cable. 3
Securely connect the shield to
the cable-clamp with

2
grand-brain of the connector.

4-16
 4-3 13-bit absolute encoder

11 Startup
Startup procedures
10 1 Setting the backup battery
Open the operation panel cover, and confirm that the backup battery is set.

9 If not, set one by referring to [How to replace the backup battery] (P3-24).

2 Initializing the absolute encoder system

4
When the power supply is turned ON for the first time, [AL53: System failure] generates. It is
necessary to initialize (multi revolution data clear) the errors. For details, refer to [T08: Multi
revolution clear] (P9-10).
Encoder system

7 3 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] (P4-18).
6

4-17
 4-3 13-bit absolute encoder

Origin setting 11
Perform the following to set the origin (read the current value data at the mechanical origin position) in
order to link the actuator driver and the mechanical origin. 10
(1) Move the actuator to the target mechanical origin position via a JOG operation, manually, or using
the various host controller functions.
(2) Execute T08 (multi revolution clear) by operating the HA-800A panel, and reconnect the HA-800A 9
power supply.
(3) Perform any of the following to read the current absolute encoder value.
(a) Use the current value data output at the pins CN2-40, 41.From the pins CN2-40 and 41,
receive the absolute encoder’s current value with the host controller and check the data. For
4
details, refer to [Data output] (P4-19).

Encoder system
(b) Use the HA-800 driver monitor software PSF-800.Check the PSF-800 status display value
monitor feedback pulses. For details, refer to [Chapter 10 Communication software].
(c) Use the status display panel for the HA-800A driver. You can check the current encoder
7
value from the d05 feedback pulse (Low) and d06 feedback pulse (High) shown on the
display panel in the status display mode. For details, refer to [d05, 06: Feedback pulses
display] (P7-5). 6
(d) The current value output data from the pins CN2-42 to 47 (HA-655 driver mode) is used. For
customers who have been using the HA-655 driver, position data is output from the phase A,
B and Z output ports similar to those of the HA-655 driver. Receive the data with the host
controller and check it. For details, refer to [Outputting the current value data from pins 5
CN2-42 to 47 (HA-655 driver mode] (P4-19).
(4) Manage the coordinates (set the origin) with the host controller with the read out current value of
the absolute encoder as the origin data.
(5) In operations after setting the origin, use the CN2-40, 41 current value data output to acquire the
4
current value data and manage the coordinates with the host controller. For details, refer to [Data
output] (P4-9).
*: The current HA-800A position display will not usually indicate zero at the mechanical origin. 3

2
 Do not turn the actuator until the Step (2) Multi revolution clear is executed and Step
(3) Receiving/reading of the current value is completed. If the actuator moves, the
origin may become offset.
1
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
 [AL53: System failure], [AL54: Multi revolution counter overflow] or [AL55: Multi revolution data
error] generated due to a loss of absolute position or error.
 When the electronic gear (SP44/SP45, SP46/SP47) has been changed

4-18
 4-3 13-bit absolute encoder

11 Data output
Outputting the current value data from pins CN2-40 and 41
10 The current value data is output with the same technique as for a 17-bit absolute encoder. For
details, refer to [Data output] (P4-9).

9 Outputting the current value data from the pins CN2-42 to 47 (HA-655 driver
mode)
Position data is output from the encoder phase A, B and Z signal output ports as with any
4 HA-655 series driver.
Following the powering sequence, the output ports of the [CN2-42 phase-A: A+] through
[CN2-47 phase-Z: Z-] automatically output multi revolution data and absolute data as the current
Encoder system

value data just for once.

7 In normal operation, pulse train signals are output following the transmission of position data
and implement similar operations to an incremental encoder.
Encoder phase A+ signal output
CN2-42 Phase output-A+ (LD)
6
42
CN2-43 Phase output-A- (LD) Encoder phase A- signal output 43
CN2-44 Phase output-B+ (LD) Encoder phase B+ signal output 44
CN2-45 Phase output-B- (LD) Encoder phase B- signal output 45

5 CN2-46 Phase output-Z+ (LD)

CN2-47 Phase output-Z- (LD)
Encoder phase Z+ signal output

Encoder phase Z- signal output

46
47
CN2-48 Monitor ground Monitor ground 48 26LS31

4  Multi revolution data

"Multi revolution data" is output by 2 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
3 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°
2 relative to the phase B signal. The pulse frequency is 100kHz. Have the host device
discriminate the positive/negative polarities of multi revolution data based on the advance/delay
relationships of these 2 phase signals.
For the count, use the leading edge of phase A.
1 Multi revolution:
Positive
Multi revolution:
Negative

Phase A Phase A
signal signal
90° 90°

Phase B Phase B
signal signal

Count 0 +1 +2 +3 Count 0 -1 -2 -3

4-19
 4-3 13-bit absolute encoder

 Absolute position
The absolute position is output using 2 phase signals having a phase difference of 90°. If the 11
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 100kHz.
Since pulses are output in the quadrupled form, count the leading edges and trailing edges of
10
both phase A and B signals. In the example shown below, the absolute position is 12.

9
Absolute position when the multi Absolute position when the multi
revolution data is positive revolution data is negative

Phase A Phase A
signal signal
90° 90°
4
Phase B Phase B
signal signal

Encoder system
Count
0
+1 +3
+2 +4
+5
+6
+7
+8
+9 +11
+10 +12
Count
0
-1
-2
-3
-4
-5
-6
-7 -9 -11
-8 -10 -12
7
 Encoder phase A, B and Z incremental signals
Once multi revolution data and absolute position have been output, 2-phase pulse signals are
output in the incremental method. For FWD rotation, the phase A signal is output with an
6
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.
Incremental output signal for FWD Incremental output signal for REV
5
rotation rotation

4
Phase A Phase A
signal signal

Phase B Phase B
signal signal

Phase Z
signal
Phase Z 3
signal

 Output signal sequence

An example of signal output where the multi revolution data is +8, absolute value is +25, and 2
when REV rotation is started after output of position data, is shown below.

Control circuit
power
ON
0 ms (min)
1
OFF

Main circuit ON
6 s (max)
power OFF
Servo ON input ON
enable OFF
(: SREADY output)

2.5 s (min)

Phase Z signal output

Phase A signal output

Phase B signal output 7 ms (min) 1 ms

90 ms (max.) 1.1 ms 90 ms (max.)

Incremental
Multi revolution Data per motor
signal for REV
data shaft revolution
rotation
4-20
Absolute position data
 4-3 13-bit absolute encoder

11 Encoder phase A, B and Z signal outputs

When the motor shaft equipped with a 13-bit absolute encoder turns, incremental phase A, B
10 and Z signals are output to the pins CN2-42 to 48.

 Number of output pulses

When the motor shaft turns one revolution, 2,048 pulses are output.
9 For phase Z, 1 pulse is output per motor shaft revolution. Note that, for phase Z signal, 1 pulse
is output per motor shaft rotation, but the width is indeterminable.

4 CN2-42 Phase output-A+ (LD) Encoder phase A+ signal output 42

CN2-43 Phase output-A- (LD) Encoder phase A- signal output 43
CN2-44 Phase output-B+ (LD) Encoder phase B+ signal output 44
Encoder system

7 CN2-45 Phase output-B- (LD)

CN2-46 Phase output-Z+ (LD)
Encoder phase B- signal output
Encoder phase Z+ signal output
45
46
CN2-47 Phase output-Z- (LD) Encoder phase Z- signal output 47
CN2-48 Monitor ground
6
Monitor ground 48 26LS31

5 Output pulses per motor shaft revolution

Phase A 2,048

4 Phase B
Phase Z
2,048
1

4-21
 4-3 13-bit absolute encoder

 Phase A, B and Z output signal waveforms 11

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. 10
Incremental output signal for FWD rotation Incremental output signal for REV rotation

Phase A Phase A 9
signal signal

Phase B Phase B
signal signal
4
Phase Z Phase Z
signal signal

Encoder system
The values of the 13-bit absolute encoder and phase A and B waveforms are shown below. 7
+8193
Absolute encoder value
+3
+8192
+8191 6
+2
+1

-1
0
5
-2
-3

4
-8191 -4
-8192
-8193

Phase A signal output

Phase A pulses
= 2,048 pulses/revolution 3
Phase B signal output Phase B pulses
= 2,048 pulses/revolution

FWD rotation direction

2

1
REV rotation direction

 Signal input method

Each phase signal is output by a line driver (26LS31). Receive the signals using a line receiver
(AM26LS32 or equivalent).

 Use an EIA-422A compliant line receiver to receive the signals.

4-22
 4-3 13-bit absolute encoder

11 Remedial actions for errors/warnings

Remedial action for error
10 Name Description Cause Action
AL50 Encoder signals (1) Disconnected encoder signal (1) Repair the wire.
Encoder have been cut wire (2) Connect the connector properly.
9 disconnection off. (2) Poor contact/connection of
encoder signal connector
(3) Review the actuator installation
location and cooling system.
(3) Encoder malfunction due to rise (4) Replace the actuator.
in actuator temperature (5) Replace the HA-800A driver.

4
(4) Defective encoder
(5) HA-800A driver control circuit
error
AL51 Encoder serial (1) Electrical discontinuity of encoder (1) Repair the wire.
Encoder system

Encoder data could not be signal wire (2) Connect the connector properly.

7 counter
receiving error
received
accurately.
(2) Non-connection or poor
connection of encoder connector
(3)
(4)
Replace the actuator.
Replace the HA-800A driver.
CN1 (5) Check the ground line or other
(3) Defective encoder ground.
(4) HA-800A driver control circuit
6 error
(5) Communication problem due to
noise, etc.
AL53 Encoder multi (1) The purchased driver was (1) Execute test mode T08 to perform

5 System failure revolution data

has been lost.
connected and power supply was
turned ON for the first time.
(2) The HA-800A driver and actuator
multi revolution clear and then
reconnect the power.
(2) Execute test mode T08 to perform
have been disconnected for multi revolution clear and then
many hours. reconnect the power.
4 (3) Either the voltage of the backup
capacitor in the encoder or
(3) Replace the HA-800 driver battery
with a new one. After the battery
HA-800 driver battery, whichever has been replaced, set the origin.
is higher, has become 2.3V or (4) Replace the actuator.

3
below.
(4) Encoder error
AL54 The value in the (1) The actuator has turned in one (1) Execute T08 in the test mode to
Multi encoder multi direction in excess of the multi clear the multi revolution data.
revolution revolution revolution counter range of (2) Replace the actuator.

2 counter
overflow
counter has
exceeded the
-4,096 to +4,095 revolutions
(motor shaft).
(3) Replace the HA-800A driver.

range of -4,096 (2) Defective encoder

to +4,095 (3) HA-800A driver control circuit
revolutions error
1 AL55
(motor shaft).
The angular (1) The actuator operated at an (1) Execute T08 in the test mode to
2
Multi acceleration and acceleration of 5,000 rad/s or clear the multi revolution data.
revolution data rotation speed of more or speed of 1,300 rpm or (2) Replace the actuator.
error the motor have more, as an equivalent value on (3) Replace the HA-800A driver.
exceeded the the motor shaft, when the driver
allowable power supply was cut off.
response range (2) Defective encoder
when the (3) HA-800A driver control circuit
encoder power error
supply was cut
off and data was
backed up by the
battery.

4-23
 4-3 13-bit absolute encoder

Remedial action for warning

11
Name Description Cause Action
UA91
Battery
The backup
battery voltage
(1) Voltage drop due to consumption
of backup battery
(1)
(2)
Replace with a new battery.
Repair the wire. 10
voltage low has dropped to (2) Short-circuit the encoder battery (3) Replace the HA-800A driver.
DC2.8V or wire (4) Replace the actuator.
below. (3) HA-800A driver control circuit
error
(4) Encoder failure
9

Encoder system
7

4-24
 4-4 Incremental encoder

11
4-4 Incremental encoder
10 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.
9
Standard connection
 4-wire wire-saving incremental encoder model
4
Encoder system

7
AC Servo Actuator
FHA-C series
HA-800A-*C Red FHA-Cmini series
U
White

6
V M
Black
W R1 and R3 are shorted.
R2 When using an external
regenerative resistor, keep R1

5
R3 and R3 open and connect the
R1 regenerative resistor between
Green/Yellow R1 and R2.
If you are not using an
external regenerative
4
Shield
Be sure to ground resistor, and R1 and R3 are
each point. kept open, the built-in
CN1 regenerative resistor will not
Red operate. Make sure to short

3
+5V 1 R1 and R3 if there is no
0V 8
Black external regenerative
E
resistance.
Yellow
SD 5 4-wire wire-saving
Blue incremental encoder
2 SD 7

Shield
Connector shell Use a twisted pair shield cable.

1 Securely connect the shield to

the cable-clamp with
grand-brain of the connector.

4-25
 4-4 Incremental encoder

14-wire wire-saving incremental encoder model

11
AC Servo Actuator

HA-800A-*B
U
Red
RSF/RKF series
10
White
V M

W
R2
Black
9
R1 and R3 are shorted.
R3 When using an external

4
regenerative resistor, keep
R1 R1 and R3 open and
Green/Yellow connect the regenerative
resistor between R1 and
Shield

Encoder system
R2.

CN1
Be sure to ground
each point.
If you are not using an
external regenerative 7
resistor, and R1 and R3 are
Red
+5V 1 kept open, the built-in
Black regenerative resistor will not
0V

A
8

5
Green
operate. Make sure to short
R1 and R3 if there is no
6
Green/white external regenerative
A 7 resistance.
Gray
B

B
2

4
Gray/white 5
Yellow
Z 3
Yellow/white E

4
Z 6
Brown 14-wire incremental encoder
U 9
Brown/white
U 10
Blue

3
V 11
Blue/white
V 12
Orange
W 13
Orange/white
W 14

Connector shell
Shield Use a twisted pair shield cable. 2
Securely connect the shield to
the cable-clamp with

1
grand-brain of the connector.

4-26
 4-4 Incremental encoder

11 Startup
Parameters that must be set
10 Nothing in particular.

Startup procedures
9 1 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.
4
2 Checking originating operation
Encoder system

In order to link the actuator driver and the mechanical origin to each other, either perform
7 originating using the originating function of the host controller, or manage the coordinate data at
the host controller.

6 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
5

4-27
 4-4 Incremental encoder

Data output 11
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 10
output to the pins CN2-42 to 48.

 Number of output pulses

The numbers of phase A and B signal output pulses per motor shaft revolution vary depending
9
on the encoder resolution.
For phase Z, 1 pulse is output per motor shaft revolution.
4
CN2-42 Phase output-A+ (LD) Encoder phase A+ signal output 42
CN2-43 Phase output-A- (LD) Encoder phase A- signal output 43

Encoder system
CN2-44 Phase output-B+ (LD) 44
7
Encoder phase B+ signal output
CN2-45 Phase output-B- (LD) Encoder phase B- signal output 45
CN2-46 Phase output-Z+ (LD) Encoder phase Z+ signal output 46
CN2-47 Phase output-Z- (LD)
47
6
Encoder phase Z- signal output
CN2-48 Monitor ground
Monitor ground 48 26LS31

5
Output pulses per motor shaft revolution
Phase A (Encoder resolution) / 4 *1 4
Phase B (Encoder resolution) / 4 *1
Phase Z 1

*1: For example, assume that the encoder resolution is 10,000 pulses. 3
In this case, 2,500 pulses (10,000 / 4) are output.

 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
2
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.
1
Incremental output signal for FWD rotation Incremental output signal for REV rotation

Phase A signal Phase A signal

output output
Phase B signal Phase B signal
output output
Phase Z signal Phase Z signal
output output

 Signal input method

Each phase signal is output by a line driver (26LS31). Receive the signals using a line receiver
(AM26LS32 or equivalent).

 Use an EIA-422A compliant line receiver to receive the signals.

4-28
 4-4 Incremental encoder

11 Remedial action for error

10 Name Description Cause Action

AL50 Encoder (1) Disconnected encoder signal (1) Repair the wire.
Encoder signals have wire (2) Connect the connector properly.
9 disconnection been cut off. (2) Poor contact/connection of
encoder signal connector
(3) Review the actuator installation
location and cooling system.
CN1 (4) Replace the actuator.
(3) Encoder malfunction due to (5) Replace the HA-800A driver.

4 rise in actuator temperature

(4) Defective encoder
(5) HA-800A driver control circuit
error
Encoder system

7 AL51
Encoder
Encoder serial
data could not
(1) Electrical discontinuity of
encoder signal wire
(1) Repair the wire.
(2) Connect the connector properly.
counter be received (2) Poor contact/connection of (3) Replace the actuator.
receiving accurately. encoder signal connector (4) Replace the HA-800A driver.

6
error CN1 (5) Check the ground line or other
(3) Defective encoder ground.
(4) HA-800A driver control circuit
error
(5) Communication problem due
5 AL52 Encoder phase
to noise, etc.
(1) Electrical discontinuity of (1) Repair the wire.
UVW error U/V/W signal encoder signal wire (2) Connect the connector properly.
error (2) Poor contact/connection of (3) Replace the actuator.
4 encoder signal connector
CN1
(4) Replace the HA-800A driver.

(3) Defective encoder

(4) HA-800A driver control circuit
3 error

4-29
1-9

Chapter 5

I/O signals
Details of I/O signal conditions and signal functions are explained in this chapter.

5-1 I/O signal list····································································· 5-1

5-2 Input signals: System parameter SP00 to SP16 ······················· 5-3
5-3 Details of input signals ························································ 5-9
5-4 Inputs in each control mode ··············································· 5-16
5-5 Output signals: System parameter SP20 to SP26 ··················· 5-23
5-6 Details of output signals ···················································· 5-26
5-7 Monitor output································································· 5-28
5-8 Connection example in control mode ··································· 5-31
 5-1 I/O signal list

1
5-1 I/O signal list
2 This unit communicates with the host device via the CN2 connector. The following explains the I/O
signals used in this communication.

3 Pin numbers and names of I/O signals

The CN2 pin numbers and corresponding signal names are shown in the table below. Functions can
be set and assigned to input signals (pins 3 to 7, 9 and 10) and output signals (pins 16 to 22) using
4 system mode parameters 1 and 2.
The parentheses after each signal name indicate the function assigned by default setting.
Pin Input Pin Input
5
Signal Symbol Signal Symbol
No. Output No. Output
1 Input signal common IN-COM Input 26 +24V +24V Input
2 Servo-ON S-ON Input 27 FWD pulse+ FWD+ Input
3 Input 2 (alarm reset) IN2 Input 28 FWD pulse- FWD- Input
I/O signals

6 4
Input 3 (deviation
counter clear)
IN3 Input 29 REV pulse+ REV+ Input
5 Input 4 (FWD inhibit) IN4 Input 30 REV pulse- REV- Input
Speed command
7 6 Input 5 (REV inhibit)
Input 6 (FWD
IN5 Input 31
input
Speed command
SPD-CMD Input

7 IN6 Input 32 SPD-GND Input

enable/selection) ground
Torque command
8 8 Input signal common
Input 7 (REV
IN-COM Input 33
input
Torque command
TRQ-CMD Input

9 IN7 Input 34 TRQ-GND Input

enable/selection) ground
Input 8 (control
9 10
11
mode selection)
―
IN8
―
Input
―
35
36
―
―
―
―
―
―
12 ― ― ― 37 ― ― ―
13 ― ― ― 38 ― ― ―
10 14 ― ― ― 39 ―
Current value data
― ―
15 ― ― ― 40 POS-DAT+ Output
output+ (LD)
Output 1(operation
11 16 preparation
complete)
OUT1 Output 41
Current value data
output- (LD)
POS-DAT- Output

Output 2(servo-ON
17 OUT2 Output 42 Phase output-A+ (LD) A+ Output
Appe 18
input enable)
Output 3 (alarm) OUT3 Output 43 Phase output-A- (LD) A- Output
Output 4
19 (in-position OUT4 Output 44 Phase output-B+ (LD) B+ Output
complete)
Output 5 (torque
20 OUT5 Output 45 Phase output-B- (LD) B- Output
limiting)
Output 6 (zero
21 OUT6 Output 46 Phase output-Z+ (LD) Z+ Output
speed output)
22 Output 7 (warnings) OUT7 Output 47 phase output-Z- (LD) Z- Output
Phase Z open
23 Z (OC) Output 48 Monitor COM MON-COM Output
collector output
Output signal
24 OUT-COM Output 49 Ground FG Output
common
Output signal
25 OUT-COM Output 50 Ground FG Output
common
OC indicates open collector, while LD indicates line driver.
Do not connect the pins marked "-". These pins are connected to internal circuits, so connecting them may result
in failure.

5-1
 5-1 I/O signal list

Models of I/O signal connector CN2 1

The models of CN2 connector are shown below:

Connector Cover
2
Manufacturer 3M 3M
Model 10150-3000PE 10350-52F0-008
3

I/O signals
6

10

11

Appe

5-2
 5-2 Input signals: System parameter SP00 to SP16

1
5-2 Input signals: System parameter SP00 to SP16
2 The following explains the input signals.

The input signals are explained in the order of pin numbers of CN2. Signals corresponding to system

3
parameters SP00 to SP16 can be assigned to pin numbers 3 to 7, 9 and 10.

 CN2 connector (input)

4 Pin
No.
Signal
1 Input signal common
2 Servo-ON
5 3 Input 2 (alarm reset)
Input 3 (deviation counter
4
clear) SP00 to 16
5 Input 4 (FWD inhibit)
I/O signals

can be
6 6 Input 5 (REV inhibit)
Input 6 (FWD
assigned.
7
enable/selection)
8 Input signal common
7 9
Input 7 (REV
SP00 to 16
enable/selection)
Input 8 (control mode can be
10 assigned.
8
selection)
26 +24V
27 FWD pulse+
28 FWD pulse-

9 29
30
REV pulse+
REV pulse-
31 Speed command input
32 Speed command common

10 33
34
Torque command input
Torque command common
35 ―

11

Appe

5-3
 5-2 Input signals: System parameter SP00 to SP16

Input signal connection circuit 1

The following explains how to connect the input signal port to the host device.
This driver has 8 input signal ports as shown below. 2
Specifications of input ports
Voltage: DC24V ± 10%
Current: 20 mA or less (per port) 3
IN-COM 1/8

4
DC24V
External power supply 2.2k
0V
S-ON 2
Servo-ON 2.2k

IN2(RESET) 3
Input 2 (alarm reset)

5
2.2k

IN3(CLEAR) 4
Input 3 (deviation counter clear) 2.2k

IN4(FWD-IH) 5
Input 4 (FWD inhibit)

I/O signals
2.2k

Input 5 (REV inhibit)

IN5(REV-IH)
IN6(FWD-EN)
6
2.2k
6
Input 6 (FWD enable)/ /(FWD-SEL) 7
(REV selection) 2.2k

7
IN7(REV-EN)
Input 7 (REV enable)/ /(FWD-SEL) 9
(REV selection) 2.2k

Input 8 (control mode selection) IN8(CON-SEL) 10

The default setting is shown in parentheses.

8

9
 The driver has no built-in input signal power supply. Connect the +24V side of
the external power supply for input signals, to [CN2-1: Input signal common].
The required current capacity is calculated by multiplying the minimum number
of ports used by 20 mA. 10

11
External IN-COM 1/8 2.2kΩ 0.01μF

DC24V CN2-1 510Ω

IN

Appe

5-4
 5-2 Input signals: System parameter SP00 to SP16

1 Input signal function (logic)

Input signal status from host

2 Opt-isolator ON Opt-isolator OFF

HA-800 HA-800

3
IN-COM IN-COM
Circuit status

4 Logic
0:Normally open (contact A)
Logic NO
Enable Disable
setting 1:Normally closed (contact B)
Disable Enable
Logic NC
5 Enable: The function of the selected signal is enabled.
Disable: The function of the selected signal is disabled.
I/O signals

10

11

Appe

5-5
 5-2 Input signals: System parameter SP00 to SP16

Input signal list 1

The input signals to which 3 to 7, 9 and 10 pins of CN2 can be assigned are as shown below.
Set the values on the following page to the input signals to be used (Parameter Nos. SP00 to 16) and
specify the input pins to be assigned and the corresponding signal logic.
2
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
3
Default set value
Display Applicable
Input signal Parameter Detail
parameter Abbreviation control
4
name Assigned *1 page
No. mode Logic set value
pin
(PSF-800)
– Servo-ON S-ON P.S.T CN2-2 NO --- P5-9
(fixed) (fixed)
SP00 Emergency
stop
ESTOP P.S.T － NO 0000(0) P5-9
5
SP01 Alarm reset RESET P.S.T CN2-3 NO 0002(2) P5-9
(AL-RES)

I/O signals
SP02 Deviation
counter clear
CLEAR
(ERR-CLR)
P CN2-4 NO 0003(3) P5-9
6
SP03 FWD inhibit FWD-IH P.S.T CN2-5 NC 0104(260) P5-10
SP04 REV inhibit REV-IH P.S.T CN2-6 NC 0105(261) P5-10
SP05 FWD enable FWD-EN S CN2-7 NO 0006(6) P5-11 7
SP06 REV enable REV-EN S CN2-9 NO 0007(7) P5-11
SP07 FWD selection FWD-SEL T CN2-7 NO 0006(6) P5-12
SP08
SP09
REV selection
Internal speed
REV-SEL
SPD-SEL1
T
S
CN2-9 NO
NO
0007(7) P5-12
P5-12
8
－ 0000(0)
command
selection 1
SP10 Internal speed
command
SPD-SEL2 S － NO 0000(0) P5-12 9
selection 2
SP11 Internal speed SPD-LMT1 P － NO 0000(0) P5-13

SP12
limit selection 1
Internal speed SPD-LMT2 P － NO 0000(0) P5-13
10
limit selection 2
SP13 Torque limit TRQ-LMT P.S － NO 0000(0) P5-14
SP14 Electronic gear G-SEL
selection
P － NO 0000(0) P5-14 11
SP15 Control mode CON-SEL P.S.T CN2-10 NO 0008(8) P5-15
selection (MOD-SEL)
SP16 Position
command
INHIBIT P － NO 0000(0) P5-15 Appe
disable
*1: Logic NO: Logical setting 00 (normally open), Logic NC: Logical setting 01 (normally closed)

Setting example）
Setting details: Use the torque limit
(Limit the output torque using the torque limit AJ-11 when the opt-isolator of the CN2-10
pin turns ON.)
Parameter setting method: Torque limit SP13 = 0008 (8)
Control mode selection SP15 = 0000 (0)

* If the control mode selection SP15 = 0008 (8) remains unchanged from the default setting, the torque
will be limited and control mode switched when the opt-isolator of the CN2-10 pin turns ON.

5-6
 5-2 Input signals: System parameter SP00 to SP16

1
 Multiple input signals can be assigned to one pin. Unnecessary signals should
2 be deleted from the pin assignments. If unnecessary signals are assigned, the
system will not operate as expected.
 For the input signal servo-ON, the assigned pin or the logic cannot be changed.
 With signals that are not assigned to pins, their functions are enabled. For
3 example, setting the normally closed (contact B) logic without assigning the
emergency stop signal to a pin will cause the system to remain in an emergency
stop state. The functions of all other input signals are also enabled. So, exercise
4 caution that setting the normally closed (contact B) logic will enable the
functions of these other signals at all times.

5 List of parameter set values

1,2
Set value* Operation example
I/O signals

6 Front PSF- Setting details Set to the signal

[FWD inhibit (SP03)]
Set to the signal
[Electronic gear selection
panel 800
(SP14)]
0000 0 Input signal is always FWD inhibit is always disabled Electronic gear selection is
7 disabled. (FWD inhibit is cancelled). always disabled
(Select electronic gear 1).
0100 256 Input signal is always FWD inhibit is always ON Electronic gear selection is
enabled. always enabled

8 0001 1 If IN1 (CN2-2) = ON, FWD rotation is inhibited when

(Select electronic gear 2).
Electronic gear selection is
input signal is enabled. IN1 = ON (opt-isolator ON). enabled when IN1 = ON.
0101 257 If IN1 (CN2-2) = OFF, FWD rotation is inhibited when Electronic gear selection is

9 0002 2
input signal is enabled.
If IN2 (CN2-3) = ON,
IN1 = OFF (opt-isolator OFF).
FWD rotation is inhibited when
enabled when IN1 = OFF.
Electronic gear selection is
input signal is enabled. IN2 = ON (opt-isolator ON). enabled when IN2 = ON.
0102 258 If IN2 (CN2-3) = OFF, FWD rotation is inhibited when Electronic gear selection is

10 0003 3
input signal is enabled.
If IN3 (CN2-4) = ON,
IN2 = OFF (opt-isolator OFF).
FWD rotation is inhibited when
enabled when IN2 = OFF.
Electronic gear selection is
input signal is enabled. IN3 = ON (opt-isolator ON). enabled when IN3 = ON.
0103 259 If IN3 (CN2-4) = OFF, FWD rotation is inhibited when Electronic gear selection is

11 0004 4
input signal is enabled.
If IN4 (CN2-5) = ON,
IN3 = OFF (opt-isolator OFF).
FWD rotation is inhibited when
enabled when IN3 = OFF.
Electronic gear selection is
input signal is enabled. IN4 = ON (opt-isolator ON). enabled when IN4 = ON.
0104 260 If IN4 (CN2-5) = OFF, FWD rotation is inhibited when Electronic gear selection is

Appe 0005 5
input signal is enabled.
If IN5 (CN2-6) = ON,
IN4 = OFF (opt-isolator OFF).
FWD rotation is inhibited when
enabled when IN4 = OFF.
Electronic gear selection is
input signal is enabled. IN5 = ON (opt-isolator ON). enabled when IN5 = ON.
0105 261 If IN5 (CN2-6) = OFF, FWD rotation is inhibited when Electronic gear selection is
input signal is enabled. IN5 = OFF (opt-isolator OFF). enabled when IN5 = OFF.
0006 6 If IN6 (CN2-7) = ON, FWD rotation is inhibited when Electronic gear selection is
input signal is enabled. IN6 = ON (opt-isolator ON). enabled when IN6 = ON.
0106 262 If IN6 (CN2-7) = OFF, FWD rotation is inhibited when Electronic gear selection is
input signal is enabled. IN6 = OFF (opt-isolator OFF). enabled when IN6 = OFF.
0007 7 If IN7 (CN2-9) = ON, FWD rotation is inhibited when Electronic gear selection is
input signal is enabled. IN7 = ON (opt-isolator ON). enabled when IN7 = ON.
0107 263 If IN7 (CN2-9) = OFF, FWD rotation is inhibited when Electronic gear selection is
input signal is enabled. IN7 = OFF (opt-isolator OFF). enabled when IN7 = OFF.
0008 8 If IN8 (CN2-10) = ON, FWD rotation is inhibited when Electronic gear selection is
input signal is enabled. IN8 = ON (opt-isolator ON). enabled when IN8 = ON.
0108 264 If IN8 (CN2-10) = OFF, FWD rotation is inhibited when Electronic gear selection is
input signal is enabled. IN8 = OFF (opt-isolator OFF). enabled when IN8 = OFF.
*1: The values of the front panel items shows the values displayed on the driver’s front display panel (refer to
the figure below).For details on operation of the driver’s front display panel, refer to [Operation outline of
system parameter mode] (P6-8).

5-7
 5-2 Input signals: System parameter SP00 to SP16

*2: The values of PSF-800 items show the values displayed in the PSF-800 communication software parameter
window. For details on the method for setting input signals using the PSF-800, refer to [Assigning I/O
signals] (P10-13).
1

2
MODE UP DOWN S E T

Logical set value Assign to one of IN1 to 3

00: Normally open IN8 of CN2.
01: Normally closed

I/O signals
6

10

11

Appe

5-8
 5-3 Details of input signals

1
5-3 Details of input signals
2 The following explains the details of input signals.
For the signal logic, refer to P5-5.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
3 P: Position control S: Speed control T: Torque control
Applicable
Parameter Signal name Default
Function control
No. (Abbreviation) setting
4
mode
－ Servo-ON When the servo ON signal is enabled while the － P.S.T
(S-ON) following conditions are satisfied, the driver's servo
circuit turns ON and the driver becomes ready:

5
1. No servo alarm is present.
2. [UA93: Main circuit voltage low] is not
present.
Disabling the servo-ON signal turns OFF the servo
circuit.
I/O signals

6 If the system parameter mode [SP55: DB

enable/disable setting] is set to 1, the built-in dynamic
brake turns ON.

7 Caution
The pin assignment of this signal is fixed. It is
assigned to pin 2 and the logic is set to normally
open.
8 SP00 Emergency
stop
When this input signal is enabled, the servo is turned
OFF and [AL01: Emergency stop] is generated.
0000 P.S.T

(ESTOP) If this signal is assigned to an input pin of CN2, the

system operates according to the operation set by the
9 ON/OFF state of the signal.
If [SP55: DB enable/disable setting] is set to 1 when
the emergency stop signal is enabled, the built-in
dynamic brake turns ON.

10 Caution
The emergency stop function is enabled even
when the signal is not assigned to an input pin.

11 If the signal logic is set for the normally closed

without assigning emergency stop to an input pin,
an emergency stop alarm generates when the
driver power is turned ON and the alarm will

Appe
remain active.
SP01 Alarm reset If a driver alarm generates, the alarm can be reset by 0002 P.S.T
(RESET) the edge of this input signal.
The alarm reset signal is effective only when the
applicable alarm is resettable and the corresponding
alarm condition has already been reset. For the
resettable alarms, refer to [Alarms and remedial
actions] (P11-1).
The servo-ON signal must be input again before the
system becomes ready.
SP02 Deviation If the driver is operating in the position control mode, 0003 P
counter clear the value of the deviation counter is added to the
(CLEAR) command counter at the edge of this input signal to
clear the deviation counter to 0.

5-9
 5-3 Details of input signals

P: Position control S: Speed control T: Torque control 1

Applicable
Parameter Signal name Default
Function control
No. (Abbreviation) setting
SP03 FWD inhibit This parameter sets the limit of moving in forward and 0104
mode
P.S.T 2
(FWD-IH) reverse directions.
When the FWD/REV inhibit signal is input, either

3
forward or reverse rotation, whichever corresponds to
the input signal, stops.
SP04 REV inhibit The rotary drive corresponding to the input inhibit 0105
(REV-IH) signal is turned OFF. If pulse signals continue to be
input in the inhibited direction, an [AL60: Excessive
deviation alarm] will be generated. 4
REV inhibit FWD inhibit

Motion range 5

I/O signals
Also, for the position control and speed control, you
can change the operation during the inhibit status to
lock the servo using [SP65: FWD/REV inhibit
6
operation].
It is also possible to reverse the inhibited direction
with [SP50: Command polarity] (This is available for
HA-800 software Version 3.x or later).
7

10

11

Appe

5-10
 5-3 Details of input signals

P: Position control S: Speed control T: Torque control

1 Parameter Signal name Default
Applicable
Function control
No. (Abbreviation) setting
mode

2
SP05 FWD enable This parameter determines the rotary operation status 0006 S
(FWD-EN) of the actuator relative to the speed command value
according to the input status of FWD/REV enable
signals when the actuator is operating in the speed
control mode.
3 The SP05 and SP06 statuses, speed command
polarities (operation directions), and the operating
statuses are shown in the table below. (The table
below is for when [SP50: Command polarity] is 0;
4 when SP50=1 or 2, the polarities are the reverse of
those in the table below.)
Signal input Selected speed command Operation

5 SP06 REV enable FWD REV SP09 and SP10 external direction 0007
enable enable (analog) speed command Operating
(REV-EN) input status
SP05 SP06
External speed command
(positive voltage)
I/O signals

6 Enabled Enabled
External speed command
(negative voltage)
Internal speed command
Zero speed*

1, 2 and 3
External speed command FWD

7
(positive voltage) rotation
External speed command REV
Enabled Disabled
(negative voltage) rotation
Internal speed command FWD
1, 2 and 3 rotation

8
External speed command REV
(positive voltage) rotation
External speed command FWD
Disabled Enabled
(negative voltage) rotation
Internal speed command REV

9
1, 2 and 3 rotation
External speed command
(positive voltage)
External speed command
Disabled Disabled Zero speed*
(negative voltage)
Internal speed command

10 1, 2 and 3
*: One of two statuses can be selected for zero speed.
Select one of the two operations for zero speed by
enabling or disabling [SP52: Zero clamp setting].

11 When zero clamp (SP52) is enabled: In the same

way as the system switches to the position control
mode, the actuator is forcibly stopped so that the
position deviation becomes zero (current value is

Appe maintained). (Perform position control (positioning)

at the position where the speed command value is
zero.)
When zero clamp (SP52) is disabled: The actuator
stops when the speed command value is zero in the
speed control mode. If external torque is input, the
actuator may rotate because of the torque.

5-11
 5-3 Details of input signals

P: Position control S: Speed control T: Torque control

Parameter Signal name Default
Applicable 1
Function control
No. (Abbreviation) setting
mode

2
SP07 FWD selection This parameter determines the operating status of the 0006 T
(FWD-SEL) actuator relative to the torque command value
according to the input status of FWD/REV selection
signals while the actuator is operating in the torque
control mode.
If FWD/REV selection is assigned to a CN2 input pin
with [SP07: FWD selection input setting] or [SP08:
3
SP08 REV selection REV selection input setting], the operating status of 0007
the actuator is determined according to the set
(REV-SEL)
operation or whether the signal is enabled or
disabled. (The table below is for when [SP50:
4
Command polarity] is 0; when SP50=1 or 2, the
polarities are the reverse of those in the table below.)

Signal input External (analog) Operation

5
FWD REV torque command directions
selection selection input Operating

I/O signals
SP07 SP08
External torque command
status
6
(positive voltage) Zero
Enabled Disabled
External torque command torque

7
(negative voltage)
External torque command FWD
(positive voltage) rotation
Enabled Disabled
External torque command REV
(negative voltage) rotation
External torque command
(positive voltage)
REV
rotation
8
Disabled Enabled
External torque command FWD
(negative voltage) rotation
External torque command
(positive voltage) Zero
9
Disabled Disabled
External torque command torque
(negative voltage)

SP09 Internal speed The driver lets you select a rotation speed command 0000 S 10
command input proportional to an external command voltage
selection 1 value or one of three internal speed command values
(SPD-SEL1) that have been set.
For internal speed commands, set desired motor 11
shaft rotation speeds (r/min) in [AJ8, 9 and 10:
internal speed commands 1, 2 and 3].
SP10 Internal speed 0000
command
selection 2
In the speed control mode, one of the external speed
command and internal speed commands 1, 2 and 3 Appe
shown in the table below is selected according to the
(SPD-SEL2) input status of internal speed command selections 1
and 2.

Internal speed Internal speed Selected

command command speed
selection 1 selection 2 command
External speed
Disable Disable
command
Internal speed
Enable Disable
command 1
Internal speed
Disable Enable
command 2
Internal speed
Enable Enable
command 3

5-12
 5-3 Details of input signals

P: Position control S: Speed control T: Torque control

1 Parameter Signal name Default
Applicabl
Function e control
No. (Abbreviation) setting
mode

2
SP11 Internal speed When the actuator is operating in the position control 0000 P
limit selection mode, the speed can be limited to the speed specified
1 by an external speed command voltage or the speeds
(SPD-LMT1) set in [AJ8, 9 and 10: Internal speed commands 1, 2
and 3].
3 The speed limit value is selected by internal speed
limit selections 1 and 2.

Selected statuses of internal speed limit selections 1

4 SP12 Internal speed
and 2 and internal speed commands 1, 2 and 3
Internal Internal 0000
limit selection Selected speed
speed limit speed limit
2 command
selection 1 selection 2
5 (SPD-LMT2) The speed is limited
according to the
Disable Disable
external speed
command value.*
I/O signals

6 Enable Disable
The speed is limited
according to internal
speed command 1.
The speed is limited
7 Disable Enable according to internal
speed command 2.
The speed is limited
Enable Enable according to internal
8 speed command 3.
*: This is the operation when [SP56: External speed
limit enable/disable] is set to 1 (enable).If this
parameter is set to 0 (disable), speed limit is not
9 performed.

10

11

Appe

5-13
 5-3 Details of input signals

P: Position control S: Speed control T: Torque control

Parameter Signal name Default
Applicable 1
Function control
No. (Abbreviation) setting
mode

2
SP13 Torque limit The driver can limit the output torque to the value set 0000 P.S
(TRQ-LMT) in [AJ11: Torque limit value] or less.
If this signal is assigned to CN2, the actuator's output
torque is limited according to the set operation based
on whether the signal is enabled or disabled.
Torque limit
input
Control
modes
Operation 3
Disable The torque is limited to
Position
the external torque
control
limit.*
The torque is limited to
4
Speed
the external torque
control
limit.*
Torque
control
The torque is not
limited.
5
Enable The torque is limited to
Position

I/O signals
the set torque limit
control
value.
The torque is limited to
6
Speed
the set torque limit
control
value.
Torque
The torque is limited to
the set torque limit
7
control
value.
*: This is the operation when [SP57: External torque
limit enable/disable] is set to 1 (enable).If this
parameter is set to 0 (disable), torque limit is not
8
performed.
SP14 Electronic gear The driver has 2 types of built-in electronic gear 0000 P
selection
(G-SEL)
functions to allow the actuator resolution to be
changed electrically during position control. If this
9
signal is assigned to CN2, you can select one of 2
built-in electronic gears according to the set operation
or whether the signal is ON or OFF. The electronic
gear selection function is enabled even when the 10
signal is not assigned to CN2.

Electronic gear
selection input
Operation 11
Disable Electronic gear 1 is selected.
Enable Electronic gear 2 is selected.

Electronic gear 1 is determined by the values set in Appe

system parameters SP44 and SP45.
Electronic gear 2 is determined by the values set in
system parameters SP46 and SP47.
For details, refer to [SP44 to 47: Electronic gear
setting](P8-6).
* With the SHA-CG series, [SP14: Electronic gear
selection] is only enabled when [SP67: Output
shaft divide function setting] is 0 (default value).For
details, refer to [SP67: Output shaft divide function
setting] (P8-13).

5-14
 5-3 Details of input signals

P: Position control S: Speed control T: Torque control

1 Parameter Signal name Default
Applicable
Function control
No. (Abbreviation) setting
mode

2
SP15 Control mode The driver can operate in one of three control modes 0008 P.S.T
selection of position control, speed control, and torque
(CON-SEL) control.With the control mode selection, you can
switch between the 2 control modes that have been
selected from the 3 control modes with [SP41: Control
3 mode switching setting].
The control mode selection function is enabled even
when the signal is not assigned to CN2.

4 SP41
Set value of control
Control
modes Operation
mode selection selection
0 Position
5 Disable
control
Speed
Enable
control
1 Position
I/O signals

6 Disable
control
Torque
Enable
control
2 Speed
7 Disable
control
Torque
Enable
control

8 Caution
To switch the operation to the position control
mode and other control mode, after the control
9 mode signal has been input, the zero speed
judgment value is enabled first and then the actual
operation mode is switched.
SP16 Position While the driver is operating in the position control 0000 P
10 command
disable
mode, the command pulse currently input becomes
disabled when the INHIBIT signal input is enabled.
(INHIBIT)

11

Appe

5-15
 5-4 Inputs in each control mode

1
5-4 Inputs in each control mode
The following explains the input signals corresponding to pins 26 to 34 of the CN2 connector for each
control mode (position command mode, speed command mode, and torque command mode).
2
Position command mode 3
Pulse train input connection pattern and power supply voltage
This parameter selects line driver connection, +24V input voltage or +5V open collector.
The driver has no internal power supply built in for input signals. Provide an external power supply. 4
 Line collector type
Terminal voltage (Vin): Set to 3.5V or
more.
CN2 5
26 2.2k

FWD+ 27 75Ω 2.2k

I/O signals
Forward command pulse
signal input FWD- Vin 28 130 6
REV+ 29 75Ω

7
Reverse command pulse
signal input REV- Vin 30 130
Am26LS31 (EIA422A) or
equivalent

8
 Use a line driver conforming to the EIA-422A standard. If a line driver
conforming to other standard is used, the system may not operate correctly. In 9
such cases, consult us on technical details.

 Open collector type 10

24V
Supply voltage: +24V ± 10%
Input current (I): 16 mA, standard (20 mA or less) 11
Provided by CN2
the customer
+24V
Appe
Forward command
pulse signal input

Reverse command
pulse signal input

5-16
 5-4 Inputs in each control mode

1 5V
Supply voltage: +5V ± 10%
Input current (I): 16 mA, standard (20 mA or less)
2 Provided by
CN2
the customer
+5V 26 2.2k

3 Forward command
FWD+
FWD-
27 75Ω
28 130
2.2k

pulse signal input

REV+ 29 75Ω
4 Reverse command REV- 30 130
pulse signal input

5
I/O signals

6  If necessary, provide an external-current limiting resistor for each input signal

(FWD- and REV-).
 With drivers of open collector type, the maximum response frequency is 200kHz
and duty is 50% ± 10%. Since the noise resistance drops compared to drivers
7 of line collector type, use of drivers of line collector type is recommended
whenever possible.

8
Pulse input system
9 3 input command signal patterns of 2-pulse train, single-pulse train and 2-phase pulse train are
available.
Set a desired pattern according to [SP42: Command pulse input pattern setting] (P8-5).

10
 Even when a command pulse is input, the pulse will be ignored if the actuator's
11 servo is OFF.

Appe (1) 2-pulse train (FWD/REV pulse train)

The FWD command is input to the FWD port, while the REV command is input to the REV port.

CN2
FWD command REV command FWD+ 27 75Ω

Opt-isolator: OFF FWD- 28 130

REV+ 29 75Ω

Opt-isolator: OFF REV- 30 130

5-17
 5-4 Inputs in each control mode

1
 Use the negative logic for command pulse signals. A negative logic circuit
determines a condition of low voltage level (OFF) as 1 and that of high voltage 2
level (ON) as 0. If [2-pulse train] is selected, the opt-isolator to which no pulse is
input should be in OFF state. In ON status, pulses are ignored.
3
(2) Single-pulse train (code + pulse train)
Command pulses are input to the FWD port only, and only the code indicating the rotation
direction is input to the REV port. 4
CN2
FWD command REV command FWD+ 27 75Ω

FWD- 28 130
5
REV+ 29 75Ω

I/O signals
6
Opt-isolator: OFF Opt-isolator: ON REV- 30 130

(3) 2-phase pulse train (2-phase pulse train with 90° phase difference)
For the FWD command, the pulse input to the FWD port has a phase advanced by 90° relative 7
to the pulse input to the REV port.
For the REV command, the pulse input to the REV port has a phase advanced by 90° relative to
the pulse input to the FWD port.
8
FWD command REV command CN2
FWD+ 27 75Ω

90° 90°
FWD- 28 130
9
REV+ 29 75Ω

REV- 30 130

10
Input signal multiplication
With 2-phase pulse train input signals, the input signal can be multiplied to double or quadruple the
11
number of movement pulses relative to 1 input signal pulse. Set a desired multiplication using [SP43:
Multiplication of 2-phase input setting] (P8-5).
Appe
FWD

REV

Input signals 1 2 3 4

Double 1 2 3 4 5 6 7 8

Quadruplicate 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

5-18
 5-4 Inputs in each control mode

1 Pulse time condition

For command pulses, input those satisfying the following conditions.

2  The maximum response frequency of the HA-800A's command pulse input circuit is 1MHz (or
200kHz if the 2-phase pulse train or open collector is selected). Input command pulses within a
duty range of 50 ± 10%.

3
400 ns or 400 ns or
4 more more

1 μs or more

5  If the single-pulse train is selected, command pulses in the specified direction should be input at
least 400 ns after the direction discrimination signal has been input.
I/O signals

6
Command pulse

7 Direction
discrimination
400 ns or

8 more

9
 The time in the above figure is based on the line-driver method. Under the open
collector method, assume that the time will be five times longer.
10

11

Appe

5-19
 5-4 Inputs in each control mode

Speed command mode 1

Example of speed command input circuit
Input impedance: 68kΩ 2
◆ Example of command using a variable resistor ◆ Example of command using an operation

1kΩ
amplifier
3
CN2
12V CN2

10kΩ
SPD-CMD 31 68kΩ
SPD-CMD 31 68kΩ 4
12V SPD-GND 32 SPD-GND 32
1kΩ

5
Setting

I/O signals
Input speed commands using voltage values. The motor rotation speed and speed command
voltage are determined according to the value set in [SP51: Speed input factor].
6
Speed input factor
Motor rotation speed = Speed command voltage × 10.0V 7
The motor rotation direction is specified with the polarity of the speed command voltage and
[SP51: Forward start input setting] and [SP06: Reverse start input setting] and [SP50:
Command polarity]. 8

9
 The default setting for the value of [SP51: Speed input factor] is set according to
the max. rotational speed of the actuator combined with the driver.
 The permissible max. rotational speed depends on the actuator. The default
setting for [SP51: Speed input factor] is set to the maximum value permitted by
10
the motor shaft. For details, refer to [Appendix-1 Factory settings] (PA-1).

11
FWD enable is enabled REV enable is enabled

Appe
(r/min)
Rotation speed
(r/min)
Rotation speed

FWD
rotation
FWD
-speed command rotation +speed command
voltage (V) voltage (V)
0 +speed command -speed command 0
REV voltage (V)
voltage (V)
rotation

REV
rotation

5-20
 5-4 Inputs in each control mode

1 Torque command mode

2
Torque commands control the motor torque. The output torque of the actuator
is subject to a harmonic speed reducer loss of 20 to 30%. If the actuator's

3 CAUTION
torque must be controlled accurately, provide a control system that uses a
torque sensor on the output shaft.

4
Example of torque command input circuit
Input impedance: 68kΩ
5
◆ Example of command using a variable resistor ◆ Example of command using an operation
amplifier
I/O signals

6 1KΩ
CN2 CN2
12V
TRQ-CMD 33 68KΩ 68KΩ
TRQ-CMD 33
7 12V
10KΩ
TRQ-GND 34
TRQ-GND 34
1KΩ

8
Setting
9 Input torque commands using voltage values. The motor output torque and torque command
voltage are determined according to the value set in [SP53: Torque input factor].

Torque input factor

Output torque (%) = Torque command voltage ×
10 10.0V

The motor torque direction is specified with the polarity of the torque command voltage and
[SP07: Forward select input setting] and [SP08: Reverse select input setting] and [SP50:
11 Command polarity].

Appe
 The default setting for the value of [SP53: Torque input factor] is set according
to the maximum torque of the actuator combined with the driver.
 Be sure to pay full attention to the operating speed as the torque control mode
does not include a speed limiting function.

5-21
 5-4 Inputs in each control mode

FWD selection is enabled REV selection is enabled

1

Torque (%)
Torque (%)
FWD 2
torque

-command FWD +command

voltage (V) torque voltage (V)
3
0 -command 0
+command
voltage (V) voltage (V)

REV REV
4
torque torque

I/O signals
6

10

11

Appe

5-22
 5-5 Output signals: System parameter SP20 to SP26

1
5-5 Output signals: System parameter SP20 to SP26
2 The following explains the details of output signals.

The output signals are explained in the order of pin numbers of CN2. Desired output signals can be

3
set to pin No. 16 to 22 using the settings of system parameters SP20 to SP26. For details, refer to
[Details of output signals] (P5-26).
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
4  CN2 connector (output)

Available parameter No.

5 Pin
No.
Signal parameter No. Default setting
(PSF-800) *
Output 1 (operation SP20 0001(1)
16
preparation complete)
I/O signals

6 17
Output 2 (servo-ON input
enable)
SP21 0002(2)
One of 22
18 Output 3 (alarm output) SP22 0103(259) signals can

7 Output 4 (in-position SP23 0004(4) be assigned

19 as desired.
complete)
Output 5 (torque limiting SP24 0008(8)
20
output)

8 21 Output 6 (zero speed output) SP25 0009(9)

22 Output 7 (warning output) SP26 0021(21)
Phase Z open collector ―
23
output
9 24
25
Output signal common
Output signal common
―
―
Current value data output+ ―
40
(LD)
10 41
Current value data output-
(LD)
―

42 Phase output-A+ (LD) ―

43 Phase output-A- (LD) ―
11 44
45
Phase output-B+ (LD)
Phase output-B- (LD)
―
―
46 Phase output-Z+ (LD) ―
47 Phase output-Z- (LD) ―
Appe 48 Monitor COM ―
49 Ground ―
50 Ground ―
* Values in parentheses ( ) are ones when PSF-800 parameters are displayed.

5-23
 5-5 Output signals: System parameter SP20 to SP26

Output signal connection circuit 1

Specifications of output ports
Open-collector output opt-isolator insulation 2
Voltage: DC24V or less
Current: 40 mA or less/port
Output 1 OUT1 16 3
Output 2 OUT2 17

Output 3 OUT3 18
4

5
Output 4 OUT4 19

Output 5 OUT5 20

I/O signals
Output 6 OUT6 21
6
Output 7 OUT7 22

Phase output-Z (OC) Z (OC) 23 7

OUT COM 24/25

8
How to connect
Connect an output signal between each output port and [CN2-24/25: Output signal common
OUT-COM].
9
CN2-16 to 23 HA-800A

Ry
PS2802 10
CN2-24/25
OUT-COM 11
Output signal function (logic) Appe
 Function (logic) definition
Transistor output signal status
Transistor ON Transistor OFF
Logic setting 00 Enable Disable
01 Disable Enable
Enabled: The function of the output signal is enabled.
Disabled: The function of the output signal is disabled.

 How to change function (logic)

Input signal functions can be changed using system parameters or servo parameter setting
software PSF. For the operation method of the setting software PSF, refer to [Chapter 10
Communication software].

5-24
 5-5 Output signals: System parameter SP20 to SP26

1 Output signal list

The output signals that can be assigned to outputs 1 to 7 are explained below.
2 The signals that can be used are limited by the number of connector pins. Accordingly, select desired
signals and assign them to output pins if you wish to use signals other than signals set as default.
When setting with the driver’s front display panel, refer to [Operation outline of system parameter
mode] (P6-8). When setting with the PSF-800 communication software, refer to [Assigning I/O signals]
3 (P10-13).
For the output signal logic, refer to P5-24.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
4 power supply after changing the setting.

Set value Applicable Default setting

5 Logic Signal
specification specification
Signal name Abbreviation control
mode
Assigned
pin
Logic
00 / 01 00 No assignment
Operation READY P.S.T 16 Normally
I/O signals

6 00 / 01 01 preparation
complete
open

Servo ON input S-READY P.S.T 17 Normally

00 / 01 02
enable open
7 00 / 01 03
Alarm ALARM P.S.T 18 Normally
closed
In-position IN-POS P 19 Normally
00 / 01 04
complete open
8 00 / 01
00 / 01
05
06
Attained speed
Attained torque
HI-SPD
HI-TRQ
P.S.T
P.S.T
－
－
－
－
00 / 01 07 Speed limiting SLMT-OUT P － －
Torque limiting TLMT-OUT P.S 20 Normally
9 00 / 01 08
Zero speed ZERO-SPD P.S.T 21
open
Normally
00 / 01 09
open
00 / 01 10 Control mode CNT-MOD P.S.T － －
10 00 / 01 11 DB status output DB-OUT P.S.T － －
00 / 01 12 Alarm code 1 ALM-COD1 P.S.T － －
00 / 01 13 Alarm code 2 ALM-COD2 P.S.T － －

11 00 / 01
00 / 01
14
15
Alarm code 3
Battery voltage
ALM-COD3
BAT-LOW
P.S.T
P.S.T
－
－
－
－
low
00 / 01 16 Overload status OVL-OUT P.S.T － －
Appe 00 / 01 17
Cooling fan
stopped
FAN-STP P.S.T － －

Main circuit PWR-LOW P.S.T. － －

00 / 01 18
voltage low
FWD inhibit FIB-OUT P.S.T － －
00 / 01 19
input effective
REV inhibit input RIB-OUT P.S.T － －
00 / 01 20
effective
Warning P.S.T 22 Normally
00 / 01 21
open

 The cooling fan stop output function is available only for HA-800A-6.
 The DB status output function is available only for HA-800A-1/3/6.

5-25
 5-6 Details of output signals

1
5-6 Details of output signals
The following explains the output signals assigned to outputs 1 to 7 (pins 16 to 22 of CN2).
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
2
power supply after changing the setting.

Set Signal name

Applicable 3
Function control
value (Abbreviation)
mode

4
Operation This is an operation preparation complete signal output of the driver. P.S.T
preparation When the driver's servo-ON signal input is enabled without any
complete causes of alarm, the operation preparation complete signal is also
01 (READY) enabled.

5
If the servo-ON signal is disabled, this signal is also disabled.
When an alarm generates, this is disabled and the servo becomes
free.
Servo ON input This signal indicates that the driver is free from alarms and the P.S.T

I/O signals
02 enable servo-ON signal can be input.
(S-READY)
Alarm
This signal is disabled when an alarm is present.
This signal is output in an alarm condition where the driver has P.S.T
6
03 (ALARM) detected an error.
The servo becomes free.
In-position
complete
This signal indicates that the deviation counter value is inside the
values set in [AJ04: In-position range] (+set value to - set value).
P 7
04
(IN-POS) The driver only monitors the status of deviation counter and this
signal does not affect the servo control directly.
Attained speed
(HI-SPD)
This signal indicates that the motor rpm has reached or exceeded
the value set in [AJ05: Attained speed judgment value].
P.S.T 8
05
The driver only monitors the status of attained speed and this signal
does not affect the servo control directly.
Attained torque
(HI-TRQ)
This signal indicates that the actuator's output torque has reached or
exceeded the value set in [AJ06: Attained torque judgment value].
P.S.T 9
06
The driver only monitors the attained torque status and this signal
does not affect the servo control directly.
07
Speed limiting
(SLMT-OUT)
This signal indicates that the motor speed is limited to the speed
limit selected by [SP11, SP12: Internal speed limits 1 and 2 inputs].
P 10
Torque limiting This signal indicates that the actuator's torque is limited by an P.S
08
(TLMT-OUT) internal torque limit input or external torque limit input.
Zero speed
(ZERO-SPD)
This signal indicates that the motor rpm has dropped to or below the
speed set in [AJ07: Zero speed judgment value].
P.S.T
11
09 Control mode change from position control to other control, or from
other control mode to position control, is prohibited unless the zero

10
Control modes
speed output is enabled.
The signal that has been input as the control mode input signal is P.S.T Appe
(CNT-MOD) output.
Dynamic brake When [SP55: Dynamic brake enable/disable] is set to 01: Enable, P.S.T
actuated this signal indicates that the dynamic brake is operating .
11 (DB-OUT) This is actuated when the power is cut OFF, the servo is turned OFF,
or an alarm or warning [UA93: Main circuit voltage low] is generated.
In the HA-800A-24, this function is disabled (output indeterminate).
Alarm code 1 When a driver alarm or warning is present, whether it is an alarm or P.S.T
12
(ALM-COD1) warning is output using a 3-bit code. Alarm code output 1 outputs the
Alarm code 2 LSB of this 3-bit code.
13
(ALM-COD2) For details on alarm codes, refer to [Alarm List] (P11-1) and
Alarm code 3 [Warning List] (P11-14).
14
(ALM-COD3)

5-26
 5-6 Details of output signals

1 Set Signal name

Applicable
Function control
value (Abbreviation)
mode

2
Battery voltage When an absolute encoder is combined, this signal indicates that the P.S.T
low multi revolution data backup voltage is low. For details, refer to the
(BAT-LOW) table below.

Voltage low
3 Encoder detection
condition
Recovery condition

13-bit The backup battery

The backup battery voltage
absolute voltage is 2.8V or
4 encoder less.
SHA series
has become 3.00V or more.
SHA series (excluding
15 (excluding SHA20): SHA20): When the voltage
The voltage of the of the encoder's multi
5 encoder’s multi
revolution data
revolution data backup
circuit was 3.1V or more,
17-bit
backup circuit is alarms are cleared and the
absolute
3.1V or less encoder power supply has
I/O signals

6 encoder
SHA20 and
FHA-Cmini series:
been reconnected.
SHA20 and FHA-Cmini
The voltage of the series: The voltage of the
backup battery is backup battery is 3.1V or
7 3.1V or less. more.

Overload status This signal indicates that the actuator is operating in an overload P.S.T
(OVL-OUT) status and that if the operation is continued in this condition, an
8 16
overload alarm may generate.
The overload status output indicates that the overload rate is 50% or
more where 100% indicates a condition where an overload alarm is
present. The alarm will be reset automatically when the overload
9 Cooling fan
rate drops to 50% or below.
This signal indicates that the cooling fan is stopped for some reason. P.S.T
stopped If operation is continued with the cooling fan stopped, the HA-800
(FAN-STP) driver temperature may rise and the product life will decrease or an
17
10 unexpected accident may occur. Remove the cause of stopping as
soon as possible.
This function is available only for HA-800-6.
Main circuit This signal indicates that the main circuit voltage has dropped to the P.S.T

11 18
voltage low
(PWR-LOW)
level specified below:
Input voltage specification = 200V: DC190V or below (DC220V or
less for Ver. 2.02 or older)
Input voltage specification = 100V: DC70V or below (DC100V or less

Appe FWD inhibit input

for Ver. 2.02 or older)
This signal indicates that the FWD inhibit input is enabled and FWD P.S.T
in effect rotation is inhibited.
19
(FIB-OUT) The FWD inhibit input in effect output will be disabled once the
cause that enabled the FWD inhibit input is removed.
REV inhibit input This signal indicates that the REV inhibit input is enabled and REV P.S.T
in effect rotation is inhibited.
20
(RIB-OUT) The REV inhibit input in effect output will be disabled once the cause
that enabled the REV inhibit input is removed.
Warning It is output in warning status. P.S.T
(WARNING) The warning output will be disabled once the cause of the warning
21
status is removed.

Phase Z (OC) The encoder's phase Z pulse signal is output in via an open P.S.T
(Z) collector. This signal is output only by 1 pulse per motor revolution.
22
The signal may be used with the origin sensor signal of an automatic
mechanism to recognize the accurate origin position, etc.

5-27
 5-7 Monitor output

1
5-7 Monitor output
The following explains how to output the encoder signal monitor output and current value data output
signals from the CN2 connector and to output the speed, current analog monitor and status digital
2
monitor signals from the CN9 connector.

Encoder output 3
The encoder's phase A, B, and Z signals are output via a line driver (26LS31).
Receive the signals by a line receiver (AM26LS32 or equivalent).
For details on signals, refer to the following according to the actuator model you use.
4
Encoder type Actuator model Driver model Details
17-bit absolute encoder
(17-bit encoder incremental model)
SHA series
FHA-Cmini series
HA-800A-*D/E-100/200 P4-11 5
13-bit absolute encoder FHA-C series HA-800A-*A-100/200 P4-21

I/O signals
4-wire wire-saving incremental encoder FHA-C series HA-800A-*C-100/200
4-wire wire-saving incremental encoder
14-wire incremental encoder
FHA-Cmini series
RSF/RKF series
HA-800A-*C-100/200
HA-800A-*B-100/200
P4-28 6
CN2
Encoder phase A+ signal output

Encoder phase A- signal output

42 7
43
Encoder phase B+ signal output 44
Encoder phase B- signal output
Encoder phase Z+ signal output
45
46
8
Encoder phase Z- signal output 47

9
Monitor ground 48 26LS31
49/50

Current value data output 10

This is used to acquire the current value data when the servo is ON in order to manage the absolute
position with the absolute encoder.
The current value is sent divided into 9 times and output with the line collector (26LS31), so receive
11
using a line receiver (AM26LS32 or equivalent).
For details, refer to [Outputting the current value data from the pins CN2-40 and 41] (P4-9).
CN2
Appe
Output format Start-stop
Current value data output+ 40
Communication 9,600 bps
speed Current value data output- 41
Stop bit 1 bit 26LS31
Monitor ground 48
Data length 8 bits
Parity bit Even parity
Format LSB first

5-28
 5-7 Monitor output

1 Analog waveform monitoring

Monitored analog speed/current waveforms can be output from the CN9 connector.
2 An optional monitor cable is available for observing waveforms using an oscilloscope.
Model code: EWA-MON01-JST4

Speed monitor: SPD-MON

3 The port outputs a voltage signal proportional to the motor rotation speed (speed input factor
per 10V). The relationship of output voltage and rotation speed is determined by the value set in
[SP51: Speed input factor] (For details, refer to P8-9). Take note that the output remains
4 unstable after the power is input until the [Servo-ON input enable: S-READY] signal is output. (A
maximum of approx. ±15V may be output.)
Speed input factor
×
5
Motor rotation speed (r/min) = Speed monitor output voltage
10.0V

 Specifications
I/O signals

6 Output voltage range: -10 to +10V

Output impedance: 1kΩ
CN9
Ω
SPD-MON 1

4
7 GND

 Connection method
8 Plug the connector for the optional monitor cable (EWA-MON01-JST4) into CN9 and check the
waveform between [CN9-1 speed monitor: SPD-MON] and [CN9-4 monitor ground: GND] using
an oscilloscope.

9
Current monitor: CUR-MON
The motor current is output as voltage. The voltage is output based on the maximum motor
10 current being +10V. Take note that the output remains unstable after the power is input until the
[Servo-ON input enable: S-READY] signal is output. (A maximum of approx. ±15V may be
output.)

11 Current monitor output voltage (V) = Actuator current × 10.0V

Max. current

 Specifications
Appe Output voltage range: -10 to +10V
Output impedance: 1kΩ CN9
Ω
CUR-MON 2

4
GND

 How to connect
Plug the supplied connector into CN9 and check the waveform between [CN9-2 current monitor:
CUR-MON] and [CN9-4 monitor ground: GND] using an oscilloscope.

5-29
 5-7 Monitor output

Digital signal monitor 1

The signal waveform set in [SP40: CP3 output signal setting] (For details, refer to P8-4) is output. The
output voltage is 0V for Low and 3.3V for High. Take note that the output remains unstable after the
power is input until the [Servo-ON input enable: S-READY] signal is output.
2
Signal monitor: SIG-MON
 Specifications
Output voltage range: 0 or 3.3V
3
Output impedance: 1kΩ SIG-MON

CN9-3
Ω
4
CN9-4
GND

5
 How to connect

I/O signals
Plug the supplied connector into CN9 and check the waveform between [CN9-3 signal monitor:
SIG-MON] and [CN9-4 monitor ground: GND] using an oscilloscope.
6

10

11

Appe

5-30
 5-8 Connection example in control mode

1
5-8 Connection example in control mode
2
Connection example with default settings
3 Terminal voltage (Vin): Set to 3.5V or more.
CN2 2.2k
HA-800A

Am26LS31 (EIA422A) or equivalent 26 2.2k

FWD+ 27 75

4 FWD command pulse

signal input
FWD- Vin 28
29
130
TB2
REV+ 75

REV command pulse r

REV- Vin 30 130
signal input

5 s
Noise filter Power input

R AC200V
IN-COM 1/8
External DC24V
2.2k
(50/60Hz)
I/O signals

6
power supply 0V or
S-ON 2 S N/F
Servo-ON AC100V
2.2k
T (50/60Hz)
RESET 3
Reset 2.2k
Magnetic switch Circuit breaker
7 Clear
CLEAR 4
2.2k TB1
FWD-IH 5 R2
FWD inhibit 2.2k
R3
REV-IH
8 REV inhibit
6 R1
2.2k AC Servo Actuator
FWD-EN 7 U
Red FHA-**C
FWD enable 2.2k
White M
REV-EN V
9
9
REV enable Black
2.2k W
Control modes
MOD-SEL 10 Green/
Yellow
Operation preparation
complete READY 16 Shield

10 Servo-ON input enable S-READY 17

Alarm output ALARM 18

11
Be sure to ground each point.

In-position complete IN-POS 19 Note:

The encoder wiring varies depending
Torque limiting output TLMT-OUT

Appe
20 on the actuator model. Refer to
[Chapter 4 Encoder system].
Zero speed output ZERO-SPD 21
CN1
Warning output WARNING 22 Red
+5V 1
Black
0V 8 E
Z (OC) output Z (OC) 23 Yellow
SD 5 Incremental encoder
Output signal common OUT-COM 24/25 Blue
SD 7

Current value data output+ Shield

40 26LS31
Current value data output- 41 Connector
Use a twisted pair shield cable.
Encoder phase A+ signal output 42 shell
Encoder phase A- signal output 43 Securely connect the shield to
Encoder phase B+ signal output 44 the cable-clamp with
Encoder phase B- signal output 45 grand-brain of the connector.
Encoder phase Z+ signal output 46
Encoder phase Z- signal output 47
48
Shield 49/50

5-31
 5-8 Connection example in control mode

Connection example in position control mode 1

The line driver command pattern in the position control mode is shown in the connection
example for 2-pulse train. 2
CN2 2.2k HA-800A
Terminal voltage (Vin): Set to 3.5V or more.
26 2.2k

3
Am26LS31 (EIA422A) or equivalent
FWD+ 27 75

FWD command pulse FWD- Vin 28 130

signal input TB2
REV+ 29 75
r
REV- Vin
4
REV command pulse 30 130
signal input
s
Noise filter Power input
AC200V
5
1/8 R
External power DC24V
IN-COM (50/60Hz)
2.2k
supply 0V or
S-ON 2 S N/F
Servo-ON 2.2k
AC100V
T (50/60Hz)

I/O signals
6
Reset RESET 3
2.2k
Magnetic switch Circuit breaker
Clear CLEAR 4
2.2k TB1
FWD-IH 5 R2
7
FWD inhibit
2.2k
R3
REV-IH 6 AC Servo Actuator
REV inhibit R1
2.2k
Red
FHA-**C
FWD-EN 7 U
8
FWD enable 2.2k
White M
V
REV-EN 9
REV enable Black
2.2k W
Control modes
MOD-SEL 10 Green/

Operation preparation
complete
READY 16
Yellow

Shield
9
Servo-ON input enable S-READY 17

Alarm output ALARM 18 Be sure to ground each point.

10
In-position complete
Note:

11
IN-POS 19
The encoder wiring varies
Torque limiting output
depending on the actuator model.
TLMT-OUT 20
Refer to[Chapter 4 Encoder
system].
Zero speed output ZERO-SPD 21
CN1
Appe
Warning output WARNING 22 Red
+5V 1
Black
Z (OC) output
Z (OC) 0V 8 E
23
Yellow
SD 5 Incremental encoder
Output signal common OUT-COM 24/25 Blue
SD 7

Shield
Current value data output+ 40 26LS31
Current value data output- 41 Connector Use a twisted pair shield cable.
Encoder phase A+ signal output 42 shell
Encoder phase A- signal output 43 Securely connect the shield to
Encoder phase B+ signal output 44 the cable-clamp with
Encoder phase B- signal output
grand-brain of the connector.
45
Encoder phase Z+ signal output 46
Encoder phase Z- signal output 47
48
Shield 49/50

5-32
 5-8 Connection example in control mode

1 Connection example in speed control mode

A connection example in the speed control mode is shown.
2 HA-800A
CN2
Speed command signal SPD-CMD 31 68k

3
input
Speed command signal
SPD-GND 32
input ground TB2

IN-COM 1/8 r

4
External DC24V 2.2k
power supply 0V
S-ON 2 s
Servo-ON 2.2k Power input
Noise filter
RESET 3 AC200V
R
5
Reset 2.2k (50/60Hz)
CLEAR 4 or
Clear 2.2k
S N/F
AC100V
(50/60Hz)
FWD inhibit FWD-IH 5 T
I/O signals

6
2.2k
Magnetic switch Circuit breaker
REV-IH 6
REV inhibit
2.2k TB1

FWD enable FWD-EN 7 R2

7
2.2k

REV-EN 9 R3
REV enable
2.2k
R1 AC Servo Actuator
Control modes MOD-SEL 10 Red FHA-**C
U

8 V White

Black
M
W
Operation preparation Green/
READY 16

9
complete Yellow

Servo-ON input enable S-READY 17 Shield

Alarm output ALARM

10
18

In-position complete IN-POS 19 Be sure to ground each point.

11 Note:
Torque limiting output TLMT-OUT 20
The encoder wiring varies
Zero speed output ZERO-SPD 21
depending on the actuator model.
Refer to [Chapter 4 Encoder
Appe Warning output WARNING 22
CN1 system].
Red
+5V 1
Black
Z (OC) output Z (OC) 23 0V 8 E
Yellow
Output signal common OUT-COM 24/25 SD 5 Incremental encoder
Blue
SD 7

Current value data output+ 40 26LS31 Shield

Current value data output- 41
Encoder phase A+ signal output 42 Connector Use a twisted pair shield cable.
shell
Encoder phase A- signal output 43 Securely connect the shield to
Encoder phase B+ signal output 44 the cable-clamp with
Encoder phase B- signal output 45 grand-brain of the connector.
Encoder phase Z+ signal output 46
Encoder phase Z- signal output 47
48
Shield 49/50

5-33
 5-8 Connection example in control mode

Connection example in torque control mode 1

A connection example in the torque control mode is shown.

HA-800A
2
CN2

Torque command TRQ-CMD 33

68k
TB2
r
3
signal input
Torque command
TRQ-GND 34
s
4
signal input ground
Noise filter Power input

IN-COM 1/8 R AC200V

External power DC24V 2.2k (50/60Hz)
supply 0V
or

5
S-ON 2 S N/F
Servo-ON 2.2k AC100V
(50/60Hz)
RESET 3 T
Reset 2.2k
Magnetic switch Circuit breaker
CLEAR 4

I/O signals
6
Clear 2.2k

FWD inhibit
FWD-IH 5
2.2k

REV-IH 6 TB1
REV inhibit

FWD selection
FWD-SEL 7
2.2k

2.2k
R2
R3
7
REV-SEL 9 R1 AC Servo Actuator
REV selection FHA-**C
8
2.2k Red
U
MOD-SEL 10 White
Control modes
V M
Black
W

9
Operation preparation
READY 16 Green/
complete
Yellow

Servo-ON input enable S-READY 17 Shield

Alarm output ALARM 18 10

In-position complete IN-POS 19 Be sure to ground each point.

Torque limiting output TLMT-OUT 20 Note:

11
The encoder wiring varies
Zero speed output ZERO-SPD
Appe
21 depending on the actuator model.
Refer to [Chapter 4 Encoder
Warning output WARNING 22 system].
CN1
Z (OC) output 23
Z (OC) Red
+5V 1
Black
Output signal common OUT-COM 24/25 0V 8 E
Yellow
SD 5 Incremental encoder
Current value data output+ 40 26LS31 Blue
SD 7
Current value data output- 41
Encoder phase A+ signal output 42 Shield
Encoder phase A- signal output 43 Connector
Encoder phase B+ signal output 44 Use a twisted pair shield cable.
shell
Encoder phase B- signal output 45 Securely connect the shield to
Encoder phase Z+ signal output 46 the cable-clamp with
Encoder phase Z- signal output 47 grand-brain of the connector.
48
Shield 49/50

5-34
 5-8 Connection example in control mode

5
I/O signals

10

11

Appe

5-35
1-10

Chapter 6

Panel display and operation

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

6-1 Operating display panel ······················································ 6-1

 6-1 Operating display panel

11
6-1 Operating display panel
10 The front display panel has a 5-digit LED display and 4 operation keys. You can perform all display,
tuning, setting and other operations on this display panel.

9 Overview of modes
The display panel is operated in the 5 modes specified below.
4
Status display mode (d00 to d15)
Position/speed commands to the driver, current position information from the motor encoder,
7 condition of cumulative pulses in the deviation counter and code number of the actuator to be
combined are shown.
For details, refer to [Status display mode] (P7-1).

6 Alarm mode (AL, A1 to A8, AHcLr)

Present alarms and up to 8 most recent alarm histories are shown. Also, the alarm history can
Panel display and operation

be deleted in the alarm mode. We recommend to clear the alarm history after the system is
5 complete.
When an alarm occurs, the display panel switches to the alarm mode, regardless of the present
mode, and shows the present alarm code.
Various parameters can be displayed or changed even when an alarm is present.
4 For details, refer to [Alarm mode] (P7-9).

Tune mode (AJ00 to AJ59)

3 You can display or change the parameters for servo gains, internal speed commands, etc.
Tune mode parameters can be changed even when the actuator is operating. Changes are
reflected in real time.
For details, refer to [Chapter 7 Tune mode].
2
System parameters
 Input signals (SP00 to SP19)
1 These parameters set the functions associated with the driver's input signals and their
assignments to CN2. The set values will become effective when the driver power supply is
reconnected.
For details, refer to [Input signals: System parameter SP00 to SP16] (P5-3).

 Output signals (SP20 to SP39)

These parameters set the functions associated with the driver's output signals and their
assignments to CN2. The set values will become effective when the driver power supply is
reconnected.
For details, refer to [Output signals: System parameter SP20 to SP26] (P5-23).

 Function extension signals (SP40 to SP79)

These parameters set switching in the control mode, electronic gear, extension of functions, etc.
The set values will become effective when the HA-800A driver power supply is reconnected.
For details, refer to [Function extension parameter] (P8-3).

Test modes (T00 to T11)

In the test mode, you can monitor I/O signals, operate output signals, initialize parameters, and
perform multi revolution clear and auto-tuning. You can also check the connection with the host
controller and operating status without having to drive the actuator.
For details, refer to [Chapter 9 Test mode].

6-1
 6-1 Operating display panel

Initial panel display 11

The following explains the panel display shown when the driver is started normally and while an alarm
is present. 10
Display upon control power supply ON
When the driver's control power supply is
turned ON, the driver model HA-800 is shown
9
at the far right of the panel display.

MODE UP DOWN S E T 4

7
The display software version is shown for
approx. 1 second.
6
MODE UP DOWN S E T

Panel display and operation

5
The control software version is shown for
approx. 1 second. 4

3
MODE UP DOWN S E T

Normal Alarm

1
MODE UP DOWN S E T MODE UP DOWN S E T

The status data set by [SP54: The driver starts in the alarm mode and
Status display setting] is shown. shows the present alarm.
If multiple alarms or warnings are present,
they are shown one by one at an interval
of approx. 500 ms.

The decimal point in the fifth digit indicates

the servo-ON
Lit: Servo-ON
Unlit: Servo-OFF
MODE UP DOWN S E T

6-2
 6-1 Operating display panel

11 Panel display hierarchy

The display hierarchy of the display panel is shown below.
10 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.

9 Status display mode

Details of each mode UP or
DOWN

UP or

4
DOWN

MODE UP DOWNS E T

MODE
MODE

Details of each mode

7 Alarm mode UP or
DOWN

UP or
DOWN

6
MODE UP DOWN S E T

MODE
MODE

Tune mode 1
Panel display and operation

5 MODE
UP or
DOWN Details of each

MODE

Tune mode 2
4 UP or
DOWN Details of each
MODE
MODE

3 Tune mode 3
Note: Do not change the tune mode 3 parameters.
MODE

2
MODE

System parameter mode 1(Input signals)

UP or
DOWN Details of each

1 MODE
MODE

System parameter mode 2(Output signals)

) UP or
DOWN Details of each
MODE
MODE

System parameter mode 3(Function extension signals)

UP or
DOWN Details of each
MODE
MODE

System parameter mode 4(Function extension signals)

UP or
DOWN Details of each
MODE
MODE

Details of each mode

Test mode UP or
DOWN

UP or
DOWN
MODE UP DOWN S E T

MODE
MODE

6-3
 6-1 Operating display panel

Operation outline of status display mode 11

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 0.1 second and 1
second or less.
10
* For details on data displayed, refer to Chapter 7.

9
MODE
Status display mode Alarm mode Tune mode 1

4
MODE MODE

MODE UP DOWNS E T MODE UP DOWNS E T MODE UP DOWN UP

UP
DOWN 7

MODE UP DOWNS E T
6

Panel display and operation

UP DOWN
Status data is shown. 5
SET

MODE UP DOWNS E T MODE UP DOWNS E T

4

3
UP DOWN
UP DOWN

MODE UP DOWNS E T
2

UP DOWN
1

MODE UP DOWNS E T

UP

6-4
 6-1 Operating display panel

11 Operation outline of alarm mode

An overview of operations in the alarm mode is shown below.
10 To prevent malfunction, a button is recognized as enabled when it has been pressed for at least 0.1 second and 1
second or less.
* For the overview on alarms, refer to P7-9.
* For details on alarms, refer to [Chapter 11 Troubleshooting].
9
Status display mode Alarm mode Tune mode 1

4 MODE MODE MODE

MODE UP DOWNS E T MODE UP DOWNS E T MODE UP DOWN UP

E

7 DOWN
UP

6
MODE UP DOWNS E T
Panel display and operation

5 UP DOWN

Total operating
4 Alarm history (most recent)

SET

3 MODE UP DOWNS E T

Alarm code No.

MODE UP DOWNS E T

UP DOWN
2 UP DOWN

Alarm history (second most recent)

1
MODE UP DOWNS E T

UP DOWN

The alarm history can be cleared.

For details, refer to [Alarm history clear]
(P7-11).
MODE UP DOWNS E T

UP

6-5
 6-1 Operating display panel

Operation outline of tune mode 11

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 0.1
second and 1 second or less.
10
* For details on the tune mode, refer to [Tune mode] (P7-12).

9
Tune mode 1 Tune mode 2 Tune mode 3

MODE MODE MODE 4

MODE UP DOWN SET MODE UP DOWN SET MODE UP DOWN SET

7
UP UP
UP

DOWN AJ20 to 39 AJ40 to 59

AJ00 to 19
6

Panel display and operation

5
MODE UP DOWN SET

UP DOWN

Set value
4
Refer to the next page for
SET the setting method.
MODE UP DOWN SET MODE UP DOWN SET
3
UP DOWN UP DOWN

MODE UP DOWN SET 1

UP DOWN

MODE UP DOWN SET

UP

6-6
 6-1 Operating display panel

How to change set value

11
Press the SET button and release it before the flickering stops
(within approx. 1 second), and the change will be cancelled.

10

9 Parameter set value

UP

4
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 Press the UP or DOWN

7
the set value of the button to change the set
parameter is shown, and the value. (Press and hold each
set value will flicker. button to change the value
faster.)

6 SET

Press the SET button and release it while

the button is flickering (1 second or more)
Panel display and operation

to make the set value effective.

5
MODE UP DOWN S E T

6-7
 6-1 Operating display panel

Operation outline of system parameter mode 11

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 0.1
second and 1 second or less.
10
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
9
MODE

System parameter 1 System parameter 2 System parameter 3 System parameter 4

4
MODE MODE MODE

7
MODE UP DOWN S E T MODE UP DOWN S E T MODE UP DOWN S E T MODE UP DOWN S E T

UP UP UP
UP

Output signals Function Function

Input signals SP00 to 19
SP20 to 39 extension signals extension signals 6
SP40 to 59 SP60 to 79

Panel display and operation

DOWN
5

MODE UP DOWN SET

4
UP DOWN

Set value 3

MODE UP DOWN SET

SET

MODE UP DOWN SET

Refer to the next
page for the 2
setting method.

UP DOWN UP DOWN
1

MODE UP DOWN SET

UP DOWN

MODE UP DOWN SET

UP

6-8
 6-1 Operating display panel

How to set input signals (SP00 to 16)

11 * For details on input signals, refer to P5-9.
Example) Setting [SP01: Reset input setting]
Change the input signal from IN2 to 3 and logical set
10 value from 00 to 01.
MODE UP DOWN S E T

Logical set value Assign to one of IN2 to

9 00: Normally open

01: Normally closed
IN8 of CN2.

4 MODE UP DOWN SET

Press the SET button and release it before the flickering stops
(within approx. 1 second), and the change will be cancelled.
SET

6 SET DOWN

MODE UP DOWN S E T MODE UP DOWN S E T MODE UP DOWN S E T

Panel display and operation

Press the SET button when the The fourth and fifth digits can be
5
The second and third digits can
set value of the parameter is changed. Pressing the UP button be changed. Pressing the UP
shown, and the fourth and fifth changes the set value. (Press and button changes the set value.
digits of the set value will flicker. hold each button to change the (Press and hold each button to
(The values set in the fourth and value faster.) change the value faster.)

4 fifth digits can now be changed.)

Example)
Changing the assignment from
Example)
Changing the logical set value
IN2 to IN3 from 00 to 01

3
SET SET

2
Press the SET button and release it after
MODE UP DOWN S E T the flickering has stopped (approx. 1

1
second) to make the set value effective.

6-9
 6-1 Operating display panel

How to set output signals (SP20 to 26)

* For details on output signals, refer to P5-26.
11
Example) Assigning [03: Alarm output] to pin 17 of CN2
Logic circuit setting 01→00
Set value of output signal 02→03
MODE UP DOWN S E T
10
Logical set value Set value of output signal
00: Normally open
01: Normally closed
Assign one of 00 to 22.
9

4
MODE UP DOWN SET
Press the SET button and release it before the flickering stops
SET
(within approx. 1 second), and the change will be cancelled.
7

6
SET DOWN

Panel display and operation

MODE UP DOWN S E T

Press the SET button when the

MODE UP DOWN S E T
The fourth and fifth digits can be
MODE UP DOWN S E T
The second and third digits can
5
set value of the parameter is changed. Pressing the UP button be changed. Pressing the UP
shown, and the fourth and fifth changes the set value. (Press and button changes the set value.

4
digits of the set value will flicker. hold each button to change the (Press and hold each button to
(The values set in the fourth and value faster.) change the value faster.)
fifth digits can now be changed.)
Example) Example)
Changing the set value from 2 to 3 Changing the logical set value
from 01 to 00
3

2
SET SET

1
Press the SET button and release it after
MODE UP DOWN S E T the flickering has stopped (approx. 1
second) to make the set value effective.

6-10
 6-1 Operating display panel

How to set function extension signals (SP**)

11 Example) Changing [SP40: CN9-CP3 output signal setting] to 2

10 MODE UP DOWN S E T

Set value

9 Press the SET button and release it before the flickering stops
MODE UP DOWN SET (within approx. 1 second), and the change will be cancelled.

4 SET

7 SET
UP
or
DOWN
MODE UP DOWN S E T MODE UP DOWN S E T MODE UP DOWN S E T

6 Press the SET button when

the set value of the
parameter is shown, and the
Press the UP or DOWN
button to change the set
value. (Press and hold each
set value will flicker. button to change the value
Panel display and operation

faster.)
5 SET
Press the SET button and release it after

4
the flickering has stopped (approx. 1
second) to make the set value effective.

3
MODE UP DOWN S E T

6-11
 6-1 Operating display panel

Operation outline of test mode 11

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 0.1
second and 1 second or less.
10
* For details on test mode, refer to [Chapter 9 Test mode].

9
System parameter 4 Test mode Status display mode

MODE MODE MODE

4
MODE UP DOWN S E T MODE UP DOWN S E T MODE UP DOWN SET

DOWN
UP
7

Panel display and operation

MODE UP DOWN S E T

5
UP DOWN

Set value
4
SET

3
MODE UP DOWN S E T MODE UP DOWN SET

UP DOWN

UP DOWN 2
MODE UP DOWN S E T
1
UP DOWN

MODE UP DOWN S E T

UP

6-12
 6-1 Operating display panel

11

10

6
Panel display and operation

6-13
1-11

Chapter 7

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.

7-1 Status display mode ··························································· 7-1

7-2 Details of status display mode ·············································· 7-3
7-3 Alarm mode······································································ 7-9
7-4 Alarm list ······································································· 7-10
7-5 Tune mode ····································································· 7-12
7-6 Details of tune mode ························································ 7-13
 7-1 Status display mode

1
7-1 Status display mode
2 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

3
help diagnose errors and troubles.

Status display mode list

4 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 [SP54: Status display setting] (P8-10).

5 Mode No. Name Description Default Unit Details

The current rotation speed of the motor
shaft is shown. The rotation speed of the

6
actuator's output shaft is obtained by
Motor rotation speed dividing the displayed value by the
d00 -- r/min --
indication reduction ratio of the actuator.
Rotation direction signal
None: FWD
7 Error pulse count
- : REV
The number of error pulses in position
d01
display (Low) control is shown.
Status display mode/alarm mode/tune mode

Deviation direction symbol -- pulse P7-3

8 d02
Error pulse count
display (High)
None: Deviation in REV rotation
- : Deviation in FWD rotation
The value of the output torque currently
generated by the actuator is shown.
9 d03 Output torque monitor
100% indicates the specified maximum
output torque of the actuator. -- % --
Torque direction symbol
None: FWD torque
10 - : REV torque
Current overload status of the actuator is
d04 Overload rate display -- %
shown.
The encoder feedback pulses are shown.
11 d05
Feedback pulse display
(Low)
Absolute encoder:
The current encoder value is shown.
-- pulse P7-5
Incremental encoder:
Feedback pulse display Cumulative feedback pulses since the
d06
Appe (High) power ON, multiplied by 4
Command pulses to the driver are shown.
Command pulse display Absolute encoder:
d07 Current encoder value upon power
(Low)
ON, plus command pulses: -- pulse P7-5
Incremental encoder
Command pulse display Cumulative command pulses since the
d08
(High) power ON corresponding to 0 pulses
Command pulse The command pulse frequency input to
d09 -- kHz --
frequency display the command pulse input port is shown.
Main circuit power The rectified main circuit power voltage is
d10 -- V --
voltage shown.
The speed command input voltage
d11 Speed command voltage -- V P7-6
currently input to the driver is shown.
Torque command The torque command input voltage
d12 -- V P7-6
voltage currently input to the driver is shown.
d13 Applicable actuator code The actuator code number is shown. -- -- P7-7

7-1
 7-1 Status display mode

Mode No. Name Description Default Unit Details

The current control mode is shown. 1
: Position control

d14 Control mode : Speed control -- -- -- 2

: Torque control

An approximate total power ON time is 3

d15 Discharge time shown. -- h --
0 to 99,999

d16
Regenerative power
(HA-800-24 only)
It indicates absorbed power
regenerative resistor as percentage.
of
-- % P7-8 4

Status display mode/alarm mode/tune mode

8

10

11

Appe

7-2
 7-2 Details of status display mode

1
7-2 Details of status display mode
2 The following explains details of the status display mode. Detailed explanations for simple items are omitted.
Refer to the [Status display mode list] (P7-1).

3 d01, 02: Error pulse count display

The deviation between command pulses and feedback pulses during position control is shown.d01
4 indicates the lower 4 digits, while d02 indicates the upper 4 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.

5 Error pulse

Command pulse+

6 －
Feedback pulse
Driver

7 d01 indicates the lower 4 digits, while d02 indicates the upper 4 digits.

Display example)
Status display mode/alarm mode/tune mode

8 d01 (Low)

9
MODE UP DOWN S E T

10 The lower 4 digits of the error pulse (multiplied by 4)

are shown.
Unit: Pulse (Example) = -10 pulses
11 Relational items d05, d06, d07, d08

Appe

7-3
 7-2 Details of status display mode

d04: Overload rate display 1

The current overload status of the actuator (unit: %) is shown.
If the value reaches 100, the overload protective function shuts off the motor current and
simultaneously [AL20: Overload] is displayed.
2
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. 3
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 4
and its discharge time exceed the curve shown below, an overload alarm generates.

Example)
Current at least 1.2 times the allowable continuous current of the actuator has been supplied for
5
an extended period of time.
Current at least 3 times the allowable continuous current of the actuator has been supplied for
approx. 2 seconds. 6
1.2 times allowable continuous current
1,000
7
Operation time (s)

Overload range

Status display mode/alarm mode/tune mode

100 8

10
9

1
10
×1 ×2 ×3
Allowable continuous current (Max. current)

Actuator current
11

Appe

7-4
 7-2 Details of status display mode

1 d05, 06: Feedback pulse display

Feedback pulses from the encoder are shown.
2  Absolute encoder: The current encoder value is shown.
 Incremental encoder: Cumulative feedback pulses since the power ON, multiplied by 4

3 d05 indicates the lower 4 digits, while d06 indicates the upper 4 digits.

Display example)
4 d06 (High) d05 (Low)

5
MODE UP DOWN S E T MODE UP DOWN S E T

6
Feedback pulse: [19328930] is shown.

7 Display range: 0 to ±99999999

When the feedback pulses increase to a 9-digit figure, the highest digit is ignored and only the lower 8
digits are shown.
Status display mode/alarm mode/tune mode

8
d07, 08: Command pulse display
9 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
10 d07 indicates the lower 4 digits, while d08 indicates the upper 4 digits.

Display example)
11 d08 (High) d07 (Low)

Appe
MODE UP DOWN S E T MODE UP DOWN S E T

Command pulse: [12345678] is shown.

Display range: 0 to ±99999999

When the command pulses increase to a 9-digit figure, the highest digit is ignored and only the lower 8
digits are shown.

Relational items d01, d02, d05, d06

7-5
 7-2 Details of status display mode

d11: Speed command voltage 1

The speed command input voltage (unit: V) currently input to the driver is shown.
The speed command input voltage and motor rotation speed are associated by the parameter [SP51:
Speed input factor].
2
The actuator's output shaft rotation speed is obtained by dividing motor rotation speed by the reduction
ratio of the actuator. In other words, the actuator's output shaft rotation speed is obtained by the
following formula: 3
Speed input factor Speed command input voltage
Output shaft revolution ＝
Reduction ratio
× 10
4
In actual operation, the actuator may move slightly even when the speed command voltage is 0,
instead of remaining standstill, depending on the offset voltage. In this condition, adjust [AJ14: Speed
command offset] in the tune mode or [T06: Speed command auto-offset] in the test mode. 5
Relational items SP32, AJ14, T06

6
d12: Torque command voltage
The torque command input voltage (unit: V) currently input to the driver is shown.
The torque command input voltage and actuator output torque are associated according to the value
7
set in [SP53: Torque input factor] parameter.

Status display mode/alarm mode/tune mode

Output torque ＝ Torque command input factor ×
Torque command input voltage
10
8
In actual operation, the actuator may generate a slight torque even when the torque command voltage
is 0, depending on the offset voltage. In this condition, adjust [AJ15: Torque command offset] in the 9
tune mode or [T07: Torque command auto-offset] in the test mode.

Relational items SP53, AJ15, T07

10

11

Appe

7-6
 7-2 Details of status display mode

1 d13: Applicable actuator code

The actuator applicable to this driver is indicated by a code number.
2 The relationship of code numbers and actuators is as follows:
Codes of SHA series actuators

3
Encoder Absolute
Voltage
Reduction ratio 1/11 1/51 1/81 1/101 1/121 1/161
specification
SHA20AxxxSG - 5311 5321 5331 5341 5351
4 SHA25AxxxSG/HP
SHA32AxxxSG/HP
5801
5811
5011
5111
5021
5121
5031
5131
5041
5141
5051
5151
200 V
SHA40AxxxSG - 5211 5221 5231 5241 5251

5 SHA58AxxxSG
SHA65AxxxSG
-
-
-
-
5421
5521
5431
5531
5441
5541
5451
5551
100V SHA25AxxxSG - 5611 5621 5631 5641 5651

6 Encoder Absolute
Voltage
Reduction ratio 1/50 1/80 1/100 1/120 1/160
specification

7 SHA25AxxxCG
SHA32AxxxCG
8011
8111
8021
8121
8031
8131
8041
8141
8051
8151
200 V SHA40AxxxCG 8211 8221 8231 8241 8251
Status display mode/alarm mode/tune mode

SHA58AxxxCG - 8321 8331 8341 8351

8 SHA65AxxxCG - 8421 8431 8441 8451

Encoder Output shaft single revolution absolute model

9 Voltage
specification
Reduction ratio 1/50 1/80 1/100 1/120 1/160
SHA25AxxxCG-S 8012 8022 8032 8042 8052
SHA32AxxxCG-S 8112 8122 8132 8142 8152

10 200 V SHA40AxxxCG-S
SHA58AxxxCG-S
8212
-
8222
8322
8232
8332
8242
8342
8252
8352
SHA65AxxxCG-S - 8422 8432 8442 8452

11 Codes of FHA-C and FHA-Cmini series actuators

Encoder Incremental Absolute
Voltage
Appe specification
Reduction ratio 1/30 1/50 1/100 1/160 1/50 1/100 1/160

FHA-8C 6204 6214 6234 - - - -

FHA-11C 6404 6414 6434 - - - -
FHA-14C 6604 6614 6634 - - - -
200V FHA-17C - 5217 5237 5247 5218 5238 5248
FHA-25C - 5417 5437 5447 5418 5438 5448
FHA-32C - 5617 5637 5647 5618 5638 5648
FHA-40C - 5717 5737 5747 5718 5738 5748
FHA-8C 6304 6314 6334 - - - -
FHA-11C 6504 6514 6534 - - - -
FHA-14C 6704 6714 6734 - - - -
100V
FHA-17C - 5117 5137 5147 5118 5138 5148
FHA-25C - 5317 5337 5347 5318 5338 5348
FHA-32C - 5517 5537 5547 5518 5538 5548

7-7
 7-2 Details of status display mode

Codes of RSF series actuators

Encoder Incremental
1
Voltage
Reduction ratio 1/50 1/100
specification
RSF-17A 7365 7375 2
RSF-20A 7465 7475
200V
RSF-25A 7575 7575
RSF-32A 7665 7675
3
d16: Regenerative power (HA-800-24 only) 4
It indicates absorbed power of regenerative resistor as percentage (unit: %).
The value can be converted to absorbed power of resistor using the following formula.

Motor display value [%]

5
Regenerative resistor absorption power [W] = 16000[W] ×
100[%]
* The regenerative power varies depending on input voltage, load conditions, and operation pattern. Take
sufficient margin in evaluation tests of your systems.
6
* This status display function is available only for HA-800A-24. With the HA-800A-1, 3 and 6, the power absorbed
by regenerative resistor is unrelated.
7

Status display mode/alarm mode/tune mode

8

10

11

Appe

7-8
 7-3 Alarm mode

1
7-3 Alarm mode
2 In the alarm mode, present alarms and warnings as well as up to 8 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.
3
Alarm display
4 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. P7-10
5 A1
Alarm history 1 and time of
occurrence
Alarm history is shown by a code number. When the
SET button on the panel is pressed while the history is
Alarm history 2 and time of displayed, the total operating hours (unit: h) of the
A2
occurrence driver when the applicable alarm occurred is shown.
6 A3
Alarm history 3 and time of
occurrence
Note that the total operating hours is approximate.

Alarm history 4 and time of

A4
occurrence
7 A5
Alarm history 5 and time of
occurrence
--

Alarm history 6 and time of

A6
Status display mode/alarm mode/tune mode

occurrence
8 A7
Alarm history 7 and time of
occurrence
Alarm history 8 and time of
A8
occurrence
9 AHcLr Alarm history clear The history of up to 8 most recent alarms is cleared. P7-11

10

11

Appe

7-9
 7-4 Alarm list

1
7-4 Alarm list
A list of alarms and warnings is shown. 2
AL: Present alarm/warning display
The driver shows the code number of the present alarm/warning.
3
If multiple alarms (warnings) are output, all alarm (warning) codes are shown one by one at an interval
of approx. 500 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.
4
Display when no alarm is present Display when an alarm is present
5

MODE UP DOWN S E T MODE UP DOWN S E T

6
Example) An error counter overflow
alarm is present.

The relationship of displayed code numbers and alarms/warnings is shown below.

7
For details, refer to [Chapter 11 Troubleshooting].

Status display mode/alarm mode/tune mode

Alarms
Code
Alarms
Code
Alarms
Code
Alarms
8
No. No. No.
*4 Memory failure
01 Emergency stop 46 Overheated dynamic brake 71

10 Overspeed 47 Damaged power circuit 76

(EEPROM)
FPGA configuration 9
error
20 Overload 50 Encoder disconnection 73 FPGA setting error

10
*1, *2
30 IPM error (overcurrent) 51 Encoder receiving error 76 Processor error
*1 *3
40 Overvoltage 52 UVW error 81 System failure
41 Regenerative resistor *2 Single rotation data
53 System failure 82 *3
overheat error

11
*4
42 Overregeneration *2 Multi revolution data
54 Multi revolution overflow 83 *3
error
*4 *2 *3
43 Missing phase 55 Multi revolution data error 84 BUSY error
*3
44 Control power supply Error counter overflow Overheat error
60 85
Appe
*4
low
*3
45 Main circuit voltage Memory failure (RAM) Communication error
*4 70 86
low
*1: Displayed only when an incremental encoder is used.
*2: Displayed only when a 13-bit absolute encoder is used.
*3: Displayed only when a 17-bit absolute encoder is used (including 17-bit encoder incremental model)
*4: Displayed HA-800A-24 only.

Warning
Code Code Code
Alarms Alarms Alarms
No. No. No.
90 Overload status 93 Main circuit voltage low 99 Wrong actuator
FWD inhibit input
91 Battery voltage low 97
effective
92 Cooling fan stopped 98 REV inhibit input effective

7-10
 7-4 Alarm list

1 AHcLr: Alarm history clear

The history of up to 8 most recent alarms stored in the driver is cleared.
2
1 Press the SET button when [AHcLr] is displayed.
[AHcLr] flickers.
3
2 Press the SET button again.
The alarm history is cleared and flickering of [AHcLr] stops and becomes lit.
4 To not clear the alarm history, pressing the UP or DOWN button cancels the alarm history clear,
after which the content of A8 or AL is displayed.

7
Status display mode/alarm mode/tune mode

10

11

Appe

7-11
 7-5 Tune mode

1
7-5 Tune mode
You can read and change parameters relating to actuator operations.
2
The following items can be changed.

Mode Code Parameters Default Details

3
AJ00 Position loop gain *1 P7-13
AJ01
AJ02
Speed loop gain
Speed loop integral compensation
*1
*1
P7-13
P7-14
4
AJ03 Feed-forward gain 0 P7-14
AJ04
AJ05
In-position range
Attained speed judgment value
*1
2000
P7-14
P7-15 5
AJ06 Attained torque judgment value 50 P7-15
AJ07 l
Zero speed judgment value 10 P7-15
6
Tune mode 1

AJ08 Internal speed command 1 500 P7-16

AJ09 Internal speed command 2 1000 P7-16
AJ10 Internal speed command 3 1500 P7-16
AJ11
AJ12
Torque limit
Acceleration time constant
100
1
P7-16
P7-17
7
AJ13 Deceleration time constant 1 P7-17

Status display mode/alarm mode/tune mode

AJ14
AJ15
External speed command offset
External torque command offset
0
0
P7-18
P7-18 8
AJ16 Speed monitor offset *2 P7-18
AJ17 Current monitor offset *2 P7-18
AJ18 System reservation *3 -- -- 9
AJ19 System reservation *3 -- --
AJ20 Feed-forward filter 1 P7-19
AJ21 Load inertia moment ratio
Torque constant compensation
100 P7-19
10
Tune mode 2

AJ22 factor 100 P7-19

Spring constant compensation
AJ23
factor
100 P7-20
11
AJ24 Positioning Automatic Gain 0 P7-20

AJ25 to 39 System reservation *3 -- --

Appe
Tune mode 3

AJ40 to 59 System reservation *3 -- --

*1: It varies depending on the applicable actuator.

Refer to the values of applicable actuator that are the targets of Appendix 1 [Default settings].
*2: It varies depending on the driver.
*3: Do not change the parameters that are in the system reserved areas. The default setting of the system
reservation may vary depending on the model/version. If the set values change when the parameters
are transferred between different models, it does not affect the product functions.
To perform the data comparison with the backed up parameter files or writing the backed up parameter
files to the driver using PSF-800 communication software, refer to [10-5. Saving and reading set
values].

7-12
 7-6 Details of tune mode

1
7-6 Details of tune mode
2 The following explains the details of settings in the tune mode.

3 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:
4  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

5
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.

6 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 [d04:
Overload rate display] remains 0 in the status display mode after the actual operation, the higher servo
gain can be used.
7 Set value Function Unit Default
Set the proportional gain of the *
10 to 9999 -
Status display mode/alarm mode/tune mode

position feedback loop.

8 Relational items AJ01, AJ02, AJ03, d04
*: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-1) in the appendix.

9 AJ01: Speed loop gain

Adjust the proportional gain of the speed feedback loop.
The relation between the set value and actuator operation is as follows:
10  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.
11  Decreasing the set value: Setting too low a value leads to poor response and following accuracy.
Overshoot

Appe Speed
Best

Time

Set value Function Unit Default

HA-800-1: 0.1 to 999.9 Set the proportional gain of the
*
Except HA-800-1: 1 to speed feedback loop. -
9999
Relational items AJ00, AJ02, AJ03
*: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-1) in the appendix.

7-13
 7-6 Details of tune mode

AJ02: Speed loop integral compensation 1

Set this parameter to reduce the speed fluctuation due to load fluctuation.
The relation between the set value and actuator operation is as follows: 2
 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 3
causes vibration (hunting).

Set value
1 to 9999
Function
Set the speed loop integral
Unit
-
Default
*
4
compensation value.
Relational items AJ00, AJ01, AJ03
*: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-1) in the appendix.
5
AJ03: Feed-forward gain
6
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:
7
 Increasing the set value: Tendency of mechanical shock and vibration (hunting) increases.

Status display mode/alarm mode/tune mode

Set value
0 to 100
Function
Set the feed-forward gain.
Unit
-
Default
0 8
Relational items AJ20, AJ21, AJ22, AJ23, SP69

9
 When using the feed-forward control function, be sure to reference [Applied
servo gain adjustment function] (P3-17) and understand the notices. 10

AJ04: In-position range 11

Set the pulse condition for outputting an in-position output signal during position-controlled operation.
An in-position complete signal is output when the error pulse count (command pulses - feedback pulses) is inside
the range of +in-position range to -in-position range. Output signals are assigned by SP20 to 26.(P6-10)
Appe
* The setting value of AJ04 is the encoder pulse units.

Set value Function Unit Default

Set the range in which to output an
0 to 9999 Pulse *
in-position output signal.
Relational items SP20 to 26
*: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-1) in the appendix.

7-14
 7-6 Details of tune mode

1 AJ05: Attained speed judgment value

Set the speed condition for outputting an attained speed output signal.
2 An attained speed judgment signal is output when the actuator's motor shaft rotation speed rises to the
attained speed judgment value or above. Output signals are assigned by SP20 to 26.(P6-10)

Set value Function Unit Default

3 1 to 9999
Set the condition for outputting an
attained speed output signal.
r/min 2000
Relational items SP20 to 26

4
AJ06: Attained torque judgment value
5 Set the torque condition for outputting an attained torque output signal.
An attained torque judgment signal is output when the actuator's output torque rises to the attained
torque judgment value or above. Output signals are assigned by SP20 to 26.(P6-10)

6 Set value Function Unit Default

Set the condition for outputting an
1 to 100 % 50
attained torque output signal.

7 Relational items SP20 to 26

AJ07: Zero speed judgment value

Status display mode/alarm mode/tune mode

8 A zero speed output signal is output when the actuator's motor shaft rotation speed drops to the zero
speed judgment value or below. Output signals are assigned by SP20 to 26.(P6-10)

9 Set value Function Unit Default

0 to 100 Set the zero speed judgment value. r/min 10
Relational items SP20 to 26

10

11  Switching from the position control mode to other control mode, or from other
control mode to the position control mode, is prohibited unless a zero speed
output signal is output.

Appe

7-15
 7-6 Details of tune mode

AJ08 to 10: Internal speed command 1 to 3 1

Set the speed command for speed control without using any external speed command (analog voltage
speed command). This function is useful when performing a trial run or diagnosing the system using
the actuator alone. Set SP09 and SP10 to operate the actuator accordingly.(P5-12)
2
During position control, the value set here functions as the speed limit. During position control, the
speed can be limited by the internal speed command input 1 or 2. Set SP11 and SP12 to execute the
limit functions.(P5-13) 3
Set value Function Unit Default
1 to maximum rotational
speed of applicable
*
Set the internal speed
command.
r/min 500/1000/1500 4
actuator x Reduction ratio
Relational items SP09, SP10,SP11,SP12, SP20 to 26
*: No negative values are allowed.
5
AJ11: Torque limit
6
During position control or speed control, the torque is limited to the set torque limit when the internal
torque limit input is enabled. Set SP13 for internal torque limit input.(P5-14)

Set value Function Unit Default 7

1 to 100 Set the torque limit. % 100
Relational items SP13, SP20 to 26

Status display mode/alarm mode/tune mode

8
 If torque is limited during position control, depending on the set torque limit the
error pulses may increase and the actuator behavior may become unstable the
9
moment the torque limit input is cancelled. Carefully set the torque limit to be
applied during position control.
10

11

Appe

7-16
 7-6 Details of tune mode

1 AJ12: Acceleration time constant

Set the time over which the actuator will accelerate from the standstill state to the value set in function
2 extension mode parameter [SP51: Speed input factor] during speed control.

Set value Function Unit Default

Set the time over which to
3 1 to 9999
accelerate from the standstill
state to [SP51: Speed input
ms 1
factor].

5  [AJ12: Acceleration time constant] and [AJ13: Deceleration time constant] are
used during speed control. See below for details:
 When the speed command changes, the speed command in the driver will
change based on this set value. Refer to the following for the conditions in
6 which the acceleration time constant AJ12 and deceleration time constant AJ13
are applied.
 External (Analog voltage) speed command change: [AJ12: Acceleration
time constant]
7  Internal speed command change (Switch): [AJ12: Acceleration time
constant]
 Switching between external speed command and internal speed command:
Status display mode/alarm mode/tune mode

[AJ12: Acceleration time constant]

8  Speed command change when FWD enable SP05 or REV enable SP06 is
enabled (Speed change from zero to FWD/REV rotation): [AJ12:
Acceleration time constant]
9  Speed command change when FWD enable SP05 or REV enable SP06 is
disabled (Speed change from FWD/REV rotation to zero speed): [AJ13:
Deceleration time constant]

10 Operation example
(1) Input a FWD enable signal after a positive speed command has been input
⇒ The actuator operates according to the acceleration time constant.
(2) Input a negative speed command in the condition in (1)
11 ⇒ The actuator operates according to the acceleration time constant.
(3) Change the speed command to 0V in the condition in (1)
⇒ The actuator operates according to the acceleration time constant.
Appe (4) Also input a REV enable signal in the condition in (1)
⇒ The actuator operates according to the deceleration time constant.
(5) Turn the FWD enable signal OFF in the condition in (1)
⇒ The actuator operates according to the deceleration time constant.

AJ13: Deceleration time constant

Set the time over which the motor rpm will decelerate from the value set in system parameter [SP51: Speed input
factor] to [0 r/min].For details, refer to [AJ12: Acceleration time constant].

Set value Function Unit Default

Set the time over which to
1 to 9999 ms 1
decelerate to 0 r/min.

7-17
 7-6 Details of tune mode

AJ14: External speed command offset 1

During speed control, the motor may rotate slightly even when the input command voltage is set to 0V.
This problem may occur when the external command input voltage has an offset of a few mV. External
speed command offset is a function that absorbs this error to prevent slight rotation of the motor.
2
Set the input command voltage to 0V and change the offset value to find a value at which the motor
stops.
Use [T06: Automatic adjustment of speed command offset] to adjust automatically. For details, refer to 3
[T06: Speed command offset automatic adjustment] (P9-8).

Set value
-9999 to 9999
Function
Set the offset value for input command
Unit
mV
Default
0
4
voltage.

5
AJ15: External torque command offset
During torque control, the motor may rotate slightly even when the input command voltage is set to 0V.
This problem may occur when the external command input voltage has an offset of a few mV. External 6
torque command offset is a function that absorbs this error to prevent slight rotation of the motor.
Set the input command voltage to 0V and change the offset value to find a value at which the motor
stops.
Use [T07: Automatic adjustment of torque command offset] to adjust automatically. For details, refer to
7
[T07: Torque command offset automatic adjustment] (P9-9).

Status display mode/alarm mode/tune mode

Set value Function
Set the offset value for input command
Unit Default
8
-9999 to 9999 mV 0
voltage.

9
AJ16: Speed monitor offset
10
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 -2048 to 2047
corresponds to -10 to +10V.
This offset value is not initialized with parameter initialization and the value is retained.

Set value Function Unit Default 11

Set the offset value for speed monitor *
-2048 to 2047 -
output.
*: The default value varies depending on the driver.
Appe
AJ17: 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 -2048 to 2047
corresponds to -10 to +10V.
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 *
-2048 to 2047 -
output.
*: The default value varies depending on the driver.

7-18
 7-6 Details of tune mode

1 AJ20: Feed-forward filter

Set the filter frequency to be used in feed-forward control.
2 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] (P3-18).)

Set value Function Unit Default

3 1 to 2000
Relational items
Set the filter frequency.
AJ03, AJ21, AJ22, AJ23, SP69
Hz 1

4
 When using the feed-forward control function, be sure to reference [Applied

5 servo gain adjustment function] (P3-18) and understand the notices.

6 AJ21: Load inertia moment ratio

Set the load inertia moment ratio relative to self-inertia moment to be used in feed-forward control. Feed-forward

7
control is performed based on the value set here. (Refer to [Applied servo gain adjustment function] (P3-18).)

Set value Function Unit Default

1 to 1000 Sets the load inertia moment ratio. % 100
Status display mode/alarm mode/tune mode

8 Relational items AJ03, AJ20, AJ22, AJ23, SP69

9  When using the feed-forward control function, be sure to reference [Applied

servo gain adjustment function] (P3-18) and understand the notices.

10
AJ22: Torque constant compensation factor
11 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] (P3-18).)
Appe Set value Function Unit Default
Set the torque constant compensation factor
1 to 200 % 100
for the actuator.
Relational items AJ03, AJ20, AJ21, AJ23, SP69

 When using the feed-forward control function, be sure to reference [Applied

servo gain adjustment function] (P3-18) and understand the notices.

7-19
 7-6 Details of tune mode

AJ23: Spring constant compensation factor 1

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] (P3-18).)
2
Set value Function Unit Default
1 to 200
Set the spring constant compensation factor
for the actuator.
% 100
3
Relational items AJ03, AJ20, AJ21, AJ22, SP69

4
 When using the feed-forward control function, be sure to reference [Applied
servo gain adjustment function] (P3-18) and understand the notices. 5

6
AJ24: Positioning Automatic Gain
Can adjust set gain when "SP60: Positioning Automatic Gain Setting Enabled/Disabled" is enabled.
* Can be used with HA-800 software version 2.04 or later. 7
Set value Function Unit Default

Status display mode/alarm mode/tune mode

-50 to 100
Allows setting of positioning automatic gain
increase/decrease.
% 0 8
Relational item SP60

10

11

Appe

7-20
1-12

Chapter 8

System parameter mode

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

8-1 System parameter mode ····················································· 8-1

8-2 Function extension parameter ·············································· 8-3
 8-1 System parameter mode

1
8-1 System parameter mode
2 The following explains the parameters that can be operated/displayed in each operation mode.
The settable parameters are explained below. Detailed explanation on function extension parameters
SP40 onward are explained in this chapter. For details on other system parameters, refer to [Chapter 5

3
I/O signals].
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.

4 Mode Code
SP00
Parameters
Emergency stop input setting
Mode Code
SP40
Parameters
CP3 output signal setting
SP01 Reset input setting SP41 Control mode switching setting

5 SP02 Clear input setting SP42 Command pulse input pattern

SP03 FWD inhibit input setting SP43 tti
Multiplication of 2-phase input
SP04 REV inhibit input setting SP44 Electronic gear 1 numerator
SP05 FWD enable input setting SP45 Electronic gear 1 denominator
6
System parameter 3 (Function extension signals)
SP06 REV enable input setting SP46 Electronic gear 2 numerator
SP07 FWD selection input setting SP47 Electronic gear 2 denominator
System parameter 1 (Input signals)

SP08 REV selection input setting SP48 Deviation clear upon servo-ON
7 SP09
Internal speed command 1 input
setting
SP49 Allowable position deviation

Internal speed command 2 input

SP10 SP50 Command polarity
8 setting
Internal speed limit 1 input
SP11 SP51 Speed input factor
setting
System parameter mode

9 SP12
Internal speed limit 2 input
setting
SP52 Zero clamp

SP13 Internal torque limit input setting SP53 Torque input factor
Electronic gear selection input
10 SP14
setting
SP54 Status display setting
SP15 Control mode selection input SP55 DB enable/disable setting
SP16 tti
INHIBIT input setting SP56 External speed limit enable/disable

11 SP17
SP18
System reservation
System reservation
SP57
SP58
External torque limit enable/disable
System reservation
Angle compensation enable/disable
SP19 System reservation SP59
Appe CN2-pin 16: Signal assignment and
setting
Automatic positioning gain setting
SP20 SP60
function setting enable/disable setting
System parameter 4 (Function
System parameter 2 (Output

CN2-pin 17: Signal assignment and

SP21 function setting SP61 Encoder monitor output pulses
extension signals)

CN2-pin 18: Signal assignment and

SP22 function setting SP62 System reservation
signals)

CN2-pin 19: Signal assignment and

SP23 SP63 System reservation
function setting
CN2-pin 20: Signal assignment and Regenerative resistor selection
SP24 SP64
function setting (HA-800-24 only)
CN2-pin 21: Signal assignment and
SP25 SP65 FWD/REV inhibit operation
function setting
CN2-pin 22: Signal assignment and
SP26 function setting SP66 Absolute encoder function setting

8-1
 8-1 System parameter mode

1
Mode Code Parameters Mode Code Parameters

SP67 Output shaft divide function setting

SP27 SP68 System reservation 2

to System reservation
SP39 SP69 Feed-forward control function setting

SP70
3
to System reservation
SP79
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
4
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-800 communication software, refer to [10-5. Saving and reading set values]. 5

System parameter mode

9

10

11

Appe

8-2
 8-2 Function extension parameter

1
8-2 Function extension parameter
2 The function extension parameters SP40 onward are explained below. For details on other system parameters,
refer to [Chapter 5 I/O signals].
Parameters
Name Default
3 No
SP40 CP9-CP3 output signal setting 00
SP41 Control mode switching setting 0
SP42 Command pulse input pattern setting 0
4 SP43 Multiplication of 2-phase input 1
SP44 Electronic gear 1 numerator 1
SP45 Electronic gear 1 denominator 1
5 SP46 Electronic gear 2 numerator 1
SP47 Electronic gear 2 denominator 1
SP48 Deviation clear upon servo-ON 1

6 SP49
SP50
Allowable position deviation
Command polarity
*1
0
SP51 Speed input factor *1

7 SP52
SP53
Zero clamp
Torque input factor
0
100
SP54 Status display setting d00

8
SP55 DB enable/disable setting 1
SP56 External speed limit enable/disable 0
SP57 External torque limit enable/disable 0
System parameter mode

SP58 System reservation *3 -

9 SP59 Angle compensation enable/disable setting 0
Automatic positioning gain setting
SP60 *1
enable/disable setting

10 SP61
SP62
Encoder monitor output pulses *1

System reservation *3 -
SP63

11
Regenerative resistor selection (HA-800-24
SP64 0
only)
SP65 FWD/REV inhibit operation 0
SP66 Absolute encoder function setting *4
Appe SP67 Output shaft divide function setting 0
SP68 System reservation *3 -
SP69 Feed-forward control function setting *1
SP70
to System reservation *3 -
SP79
*1: It varies depending on the applicable actuator. Refer to the values of applicable actuator that
are the targets of Appendix 1 [Default settings].
*2: The system parameters (SP00 to 79) are enabled by reconnecting the control power supply
after changing the setting.
*3: Do not change the parameters that are in the system reserved areas. The default setting of the
system reservation may vary depending on the model/version. If the set values change when
the parameters are transferred between different models, it does not affect the product functions.
To perform the data comparison with the backed up parameter files or writing the backed up
parameter files to the driver using PSF-800 communication software, refer to [10-5. Saving and
reading set values].
*4: HA-800A-*D: SP66=0, HA-800A-*E: SP66=1

8-3
 8-2 Function extension parameter

SP40: CN9-CP3 output signal setting

1
Set the monitor output signal to pin 3 of CN9.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
2
Set value Description Default
3
Operation preparation
01
complete
02
03
Alarm output
In-position output
4
00
04 Attained speed output

5
05 Attained torque output
06 Zero speed output
07 Control mode output

6
SP41: Control mode switching setting
You can switch between 2 control modes among position control, speed control and torque control.
7
The control mode to switch to is determined according to the input signal for control mode selection
CON-SEL.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
8

System parameter mode

9
Input signals
Status of control mode selection input
Set value Default
setting SP15
Enable Disable
0 Speed control Position control
1 Torque control Position control 0 10
2 Torque control Speed control

11
 Switching from the position control mode to another mode or from another control
mode to the position control mode is prohibited unless the motor rpm is equal to or Appe
below the value set in [AJ07 zero speed judgment value].
The zero speed judgment function can be assigned to an output signal of CN2 via a
system parameter.

8-4
 8-2 Function extension parameter

1 SP42: Command pulse input pattern setting

Set the command pulse input method to be used during position control.
2 * The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.

FWD REV
3 Set value Input pattern
(Forward command
pulse signal)
(Reverse command
pulse signal)
Default
CN2-27, 28 CN2-29, 30

4 FWD command

FWD

5
REV
0 Forward Reverse
REV command
FWD

6 REV

FWD command

7 FWD

REV
1 Pulse input Polarity 0
REV command

8 FWD

REV
System parameter mode

9 FWD command
FWD

REV

10 2 90°
REV command
Phase A Phase B

FWD

11
REV

90°

Appe
SP43: Multiplication of 2-phase input setting
When the set value in [SP42: Command pulse input pattern setting] is [2: 2-phase pulse input], the
input signals can be multiplied to double or quadruple the movement pulses for each original input
signal pulse.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.

Set value Function Default

Movement pulses are the same as input
1
pulses.
2 Movement pulses are doubled. 1
3 Movement pulses are quadrupled.
4 Movement pulses are quadrupled.

8-5
 8-2 Function extension parameter

SP44 to 47: Electronic gear setting

1
This can be set to make the displacement of the driven actuator mechanism per input pulse an integer.
Use [SP14: Electronic gear selection input] to select electronic gear 1 or 2.
With the SHA-CG series, electronic gear selection is enabled when [SP67: Output shaft divide function
2
setting] is 0 (default value).For details, refer to [SP67: Output shaft divide function setting] (P8-13).

Rotary operation 3
Electronic gear numerator 1 (SP44) Travel angle per input pulse 1
=
Electronic gear denominato r 1 (SP45) Reduction ratio of load mechanism
× Actuator resolution ×
360 4
Linear operation

Electronic gear numerator 1 (SP44) Travel distance per input pulse

5
= × Actuator resolution × 1
Electronic gear denominato r 1 (SP45) Feed pitch of load mechanism

Set integers for both the denominator and numerator based on this formula: Electronic gear numerator 6
2 (SP46)/electronic gear denominator 2 (SP47) shall also conform to the above formula.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting. 7
Parameter No. Name Set value Default
Electronic gear 1
44
numerator 8
Electronic gear 1
45
denominator

System parameter mode

1 to 9999 1
46
Electronic gear 2
numerator 9
Electronic gear 2
47
denominator

The electronic gear is a function that sets and changes the amount the actuator rotates for 1 operation
10
command pulse from the host device. In the factory status, the actuator output shaft rotates through
single revolution when the number of pulses for the output shaft resolution (depends on the actuator)
is input. 11
Ex ） To set FHA-25C-100-E250 (output shaft resolution: 1000000 pls/r) to 360,000 pls/r (0.001
deg/pulse)
1000000 (actuator resolution) 25
Appe
=
360000 (resolution) 9
If [SP44: Electronic gear 1 numerator] is set to [25] and [SP45: Electronic gear 1 denominator] is set to
[9], the FHA-25C-100-E250 resolution can be used treated as [360,000 pls/r].

Also, set the output shaft rotation speed referencing command pulse frequency [Hz] = output shaft
rotation speed [r/min]/60 x number of output shaft divisions.

The permitted command pulse input frequency on the HA-800A is 1 MHz (for the line collector type;
200 kHz for the open collector type), so the max. motor rpm is restricted to max. motor rpm [r/min] = 1
x 106 / encoder resolution 217 x 60 x electronic gear ratio.

8-6
 8-2 Function extension parameter

1 SP48: Deviation clear upon servo-ON setting

The deviation can be reset to 0 when the servo-ON signal is input. However, the position deviation
2 data stored when the servo-ON input was OFF may be lost and the actuator may not return to its
original position.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
3
Set value Function Default
When the servo is turned ON while there is a

4 0 deviation, the actuator will move by the

deviation. 1
Clear the deviation to zero before turning ON
1
the servo.
5
When 0 is set and the control circuit power remains input even while the servo

6 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
CAUTION
current to make this error pulse count to 0. Accordingly, the facility may be
7 damaged.

8
SP49: Allowable position deviation
System parameter mode

Set the allowable value of position deviation. If a deviation exceeding this value is generated, [AL60:
9 Excessive deviation] is generated and the servo will be turned OFF.
* The setting value of SP49 is the encoder pulse units.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control

10 power supply after changing the setting.

Set value Description Unit Default

Allowable value of
11
1 to 9999 x 1,000 pulses *
position deviation
*: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-1) in the appendix.

Appe SP50: Command polarity

This sets the actuator rotation direction when an operation command (pulse command, speed
command, torque command) is given.
This parameter affects the commands and monitoring that use pulse commands and analog voltage
commands. It does not affect test operation and other operations performed from the PSF-800 or
HA-800A panel.
It is also possible to reverse not only the rotation directions, but also the system coordinate directions,
including forward/reverse inhibit signals, monitoring polarities, etc.
* Coordinate direction reversing (SP50=2) is available for HA-800 software version 3.x or later.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.

8-7
 8-2 Function extension parameter

Set value Function Default 1

Do not reverse the rotation direction.
0 Rotates forward (clockwise rotation) with forward (FWD)
command
Reverse the rotation direction.
2
1 Rotates in reverse (counter-clockwise rotation) with 0
forward (FWD) command.
Reverse the coordinate direction. 3
2* Rotates in reverse (counter-clockwise rotation) with
forward (FWD) command.
*: With the SHA-SG/HP series, rotation is in the opposite directions from those above.
The following shows the range affected by command polarity.
4
○: Affected by SP50 setting x: Not affected by SP50 setting
Input signals
SP50
Display panel
SP50
PSF-800
SP50
5
1 2 1 2 1 2
SP03: FWD inhibit
SP04: REV inhibit
×
×
○
○
T04: JOG operation
T09: Auto-tuning
×
○
×
○
JOG operation
Program operation
×
×
×
×
6
SP05: FWD enable ○ ○ d00: Motor rpm × × Auto-tuning ○ ○

7
Status display
SP06: REV enable ○ ○ d01,02: Error pulse × × × ×
Motor rotation speed
SP07: FWD Status display
○ ○ d03: Output torque × × × ×
selection Torque

8
SP08: REV Status display
○ ○ d05,06: Feedback pulse × × × ×
selection Feedback pulse
Pulse command Status display
○ ○ d07,08: Command pulse × × × ×
pulse Command pulse

System parameter mode

9
Speed command d11: Speed command Status display
○ ○ × × × ×
input voltage Error pulse
Torque command d12: Torque command Waveform monitoring
○ ○ × × × ×
input voltage Feedback speed
Waveform monitoring
Command speed
Waveform monitoring
× ×
10
Output signals × ×
Error pulse

11
SP50
1 2
FWD inhibit input in
× ×
effect
REV inhibit input in
effect
× × Appe
Current value data
× ○
output *1
Encoder monitor *2 × ×
13bitABS Current
× ×
value data output *3
Analog speed
× ×
monitor
Analog current
× ×
monitor
*1: Refer to [Outputting the current value data from the pins CN2-40 and 41] (P4-9).
*2: Refer to [Encoder phase A, B and Z signal outputs] (P4-11) (P4-21) (P4-28)
*3: For details, refer to [Outputting the current value data from the pins CN2-42 to 47 (HA-655 driver mode)]
(P4-19).

8-8
 8-2 Function extension parameter

1 SP51: Speed input factor setting

Set the motor rotation speed to be applied during speed control when the input voltage set in [CN2-31
2 speed command input] is 10V.The relationship of input voltage and motor rotation speed is determined
by the following formula based on this factor:

3 Motor rotation speed r/min = Input command voltage V ×

Speed input factor
10.0V

The voltage obtained by the following formula is output for [CN9-1 speed monitor output]:
4 10.0V
Speed monitor output voltage V = Rotation speed r/min ×
Speed input factor

5 * The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.

Set value Function Unit Default

6 1 to maximum
motor rotation Set the speed input factor. r/min *
speed
*: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-1) in the appendix.
7
SP52: Zero clamp
8 This function forcibly stops the actuator rotation by switching to the position control mode when the
FWD enable and REV enable signals are both ON or both OFF during speed control.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
System parameter mode

9 power supply after changing the setting.

Set Function Default

value
10 0 Disable
0
1 Enable

11
SP53: Torque input factor setting
Appe
Set the motor output torque to be applied during torque control when the input voltage set by the
torque command input (CN2-33) is 10V.The relationship of input voltage and motor output torque is
determined by the following formula based on this factor:

Torque input factor

Motor output torque % = Input command voltage V ×
10.0V
100% = maximum current.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.

Set value Function Unit Default

1 to 100 Set the torque input factor. % 100

8-9
 8-2 Function extension parameter

SP54: Status display setting

1
Set what will be displayed in the status display mode after the control power supply is turned ON.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
2
Set value Function Default
d00 to d16
Status display mode number to be displayed
d00 3
(0 to 16) (0)
The set values in the parenthesis are for when using PSF-800.
4
SP55: DB enable/disable setting
Set whether to enable or disable the dynamic brake.
Use this parameter for HA-800A-1, 3, and 6. In HA-800A-24, the dynamic brake operation is 5
interlinked with the main circuit DC voltage. It is not possible to change the operation by the SP55
setting. Use HA-800A-24 by setting SP55 = 1.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
6
Set Function Default
value
0 Disable
7
1
1 Enable

8
SP56: External speed limit enable/disable

System parameter mode

When the actuator is operating in the position control mode, set this parameter to limit the speed according to the
command voltage currently input to the external speed command input (pin 31 of CN2). The relationship of
9
voltage and speed conforms to the value set in [SP51: Speed input factor].
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting. 10
Set Function Default
value
0 Disable
0
11
1 Enable

Appe
SP57: External torque limit enable/disable
Set this parameter to limit torque according to the command voltage set by the external torque command input
(pin 33 of CN2) during position control or speed control. The relationship between the command voltage and
torque is set with [SP53: Torque input factor].
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.

Set Function Default

value
0 Disable
0
1 Enable

8-10
 8-2 Function extension parameter

1 SP59: Angle compensation enable/disable setting

Set the angle compensation to be applied when a FHA mini series (FHA-8C/11C/14C) driver is
2 combined with the actuator.
This function analyzes the angle transmission error beforehand and compensates for this erroneous
difference to improve uni-directional positional accuracy.
The function improves the uni-directional positioning accuracy by approx. 30% than the value without
3 compensation. (30% is not a guaranteed value. The actual improvement rate is different depending on
the actuator.)
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
4 power supply after changing the setting.

Set Function Default

value
5 0
Do not
compensate 0
1 Compensate

6
SP60: Automatic positioning gain setting enable/disable
7 setting
The automatic gain setting function can be used during positioning when a FHA mini series
(FHA-8C/11C/14C) driver is combined. This function automatically increases the speed loop gain
8 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
System parameter mode

speed loop gain and increasing the current command value.

9 If the speed loop gain set in [AJ01: Speed loop gain] is greater than the automatically set value, the
value set in AJ01 becomes effective.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
10
Set value Function Unit Default
0 Do not set
- *
11 1 Set
*: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-1) in the appendix.

Appe
SP61: Encoder monitor output pulses
Set the number of pulses to be output to the encoder monitor output terminal (CN2-42 to 48) per motor
revolution when a 17-bit absolute encoder is combined.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.

Set Function Unit Default

value
Number of pulses output to the encoder monitor
1 to 8192 Pulse *
output terminal
*: The default varies depending on the applicable actuator. Refer to [Default settings] (PA-1) in the appendix.

8-11
 8-2 Function extension parameter

SP64: Regenerative resistor selection (HA-800-24 only)

1
Set this parameter on HA-800A-24 according to the connected regenerative resistor.
At our factory default, the wiring is set such that set value [0: Use a built-in regenerative resistor] as
well as built-in regenerative resistors are used.
2
* Make sure to set the value to [0] if you use built-in regenerative resistors.
* Set the value to [1], if you use an external regenerative resistor because the circuit power is large.
*
*
Do not use the set value [2]. (This setting is for maintenance purpose.)
The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control power
3
supply after changing the setting.

Set
value
Function Unit Default 4
0 Use built-in regenerative resistor
1
2
Use external regenerative resistor
Setting prohibited
- 0
5

SP65: FWD/REV inhibit operation

6
Set the operation for when FWD/REV inhibit is input during the position control and speed control.
*
*
This is available for HA-800 software version 2.03 or later.
The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control power
7
supply after changing the setting.

Set
value
Function Unit Default 8
Does not generate the torque in the inhibited
0

System parameter mode

direction. - 0
1 Stopped by locking the servo. 9

SP66: Absolute encoder function setting 10

A 17-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 17-bit encoder incremental model (combined with driver: HA-800A-*E),
connect the backup battery and if SP66=0 is set, the encoder can be used as a 17-bit absolute
11
encoder.
* This is available for HA-800 software version 3.x or later.
* Changes to system parameter settings (SP00 to 79) are put into effect by changing the setting, then Appe
turning control power supply OFF, then ON again.

Set value Function Unit Default

0 Use as an absolute encoder.
- *
1 Use as an incremental encoder.
*: HA-800A-*D;SP66=0, HA-800A-*E;SP66=1

8-12
 8-2 Function extension parameter

1 SP67: Output shaft divide function setting

When using for position control combined with an SHA-CG series unit, you can set the actuator
2 resolution.
The corresponding electronic gear value is set automatically from the output shaft divide function
setting and the applicable actuator.
For the operation commands and monitor signals affected by the output shaft divide function setting,
3 see the table on the next page.
The electronic gear (selected with SP44/SP45, SP46/SP47, SP14) and the output shaft divide function
cannot be combined. The electronic gear setting is only in effect when SP67=0.

4 Also, if you change the setting, the origin needs to be set again. Be sure to change the value before
setting the origin. For details on the origin setting, refer to [Origin setting] (P4-8).

When the output shaft divide function is set, set the output shaft speed referencing command pulse
5 frequency [Hz] = Output shaft speed [r/min]/60 x number of output shaft divisions.

Ex) With the SHA25A50CG (reduction ratio 50), to set SP67=2 and set the output shaft speed to 50
[r/min]
6 Command pulse frequency = 50 [r/min]/60 x 360000 = 300 [kHz]

* This is available for HA-800 software version 3.x or later.

7 * Changes to system parameter settings (SP00 to 79) are put into effect by changing the setting, then
turning control power supply OFF, then ON again.
Set value Function Unit Default
According to electronic gear settings (SP14,
8 0
SP44/SP45, SP46/SP47)
Division of single output shaft rotation into 36,000
1
parts (equivalent to 0.01 degree resolution)
System parameter mode

- 0
9 2
Division of single output shaft rotation into 360,000
parts (equivalent to 0.001 degree resolution)
Division of single output shaft rotation into 3,600,000
3
parts (equivalent to 0.0001 degree resolution)
10

11

Appe

8-13
 8-2 Function extension parameter

1
 [SP67: Output shaft divide function setting] is the function that sets the operation
command resolution. It does not guarantee the precision of positioning on the output
shaft. For details on the output shaft positioning precision, refer to [AC Servo Actuator 2
SHA Series Manual].
 After setting the operation sequence on the host device, when [SP44-47: Electronic
gear numerator/denominator] or [SP67: Output shaft divide function setting] is
changed, the displacement, speed, and acceleration/deceleration time change a great
3
deal from operations before the change, so always check and revise the operating
data setting before operating.
 The output shaft divide function setting is achieved using the electronic gear function,
so the speed setting and acceleration/deceleration and acceleration/deceleration time
4
settings operate with multiples of the automatically set electronic gears. (For their
values, refer to the table below.
 When 3,600,000 division (SP67=3) is used, the permitted command pulse input 5
frequency on the HA-800A is 1 MHz (line collector type), so the max. motor rpm is
6 17
restricted to max. motor rpm [r/min] = 1 x 10 / encoder resolution 2 x 60 x electronic
gear ratio.
For the max. rotational speed for each speed reduction ratio, refer to the table below.
6
SP67=3
Reduction
ratio
Output shaft max.
rotational speed
Max. motor rpm
[r/min]
7
[r/min]
50 833.3
80
100 16.7
1333.3
1666.7 8
120 2000.0
160 2666.7

System parameter mode

9

10

11

Appe

8-14
 8-2 Function extension parameter

1 ○: Affected by SP67 setting x: Not affected by SP67 setting

Input signals Display panel PSF-800
SP03: FWD inhibit × T04: JOG operation × JOG operation ×
2 SP04: REV inhibit
SP05: FWD enable
×
×
T09: Auto-tuning
d00: Motor rpm
×
×
Program operation
Auto-tuning
×
×
Status display
SP06: REV enable × d01,02: Error pulse × ×
Motor rotation speed
3 SP07: FWD selection × d03: Output torque ×
Status display
Torque
×
d05,06: Feedback Status display
SP08: REV selection × × ×
pulse Feedback pulse
4 Pulse command pulse ○
d07,08: Command
pulse
×
Status display
Command pulse
×
d11: Speed command Status display
Speed command input × × ×
voltage Error pulse
5 Torque command input ×
d12: Torque
command voltage
×
Waveform monitoring
Feedback speed
×
Waveform monitoring
×
Command speed
6 Output signals
Waveform monitoring
Error pulse
×
FWD inhibit input in effect ×

7 REV inhibit input in effect

Current value data output
×
○
*1
Encoder monitor *2 ×

8 13bitABS Current value

data output *3
×
Analog speed monitor ×
Analog current monitor
System parameter mode

×
9 *1: Refer to [Outputting the current value data from the pins CN2-40 and 41] (P4-9).
*2: Refer to [Encoder phase A, B and Z signal outputs] (P4-11) (P4-21) (P4-28)
*3: For details, refer to [Outputting the current value data from the pins CN2-42 to 47 (HA-655 driver mode)]
(P4-19).
10 Electronic gear values for when output shaft divide function set
SP67=1 SP67=2 SP67=3
36,000 divisions 360,000 divisions 3,600,000 divisions
11 Reduction
ratio
Numerator Denominator Numerator/d
enominator
Numerator Denominator Numerator/d
enominator
Numerator Denominator Numerator/de
nominator
50 8192 45 182.0 4096 225 18.2 2048 1125 1.82

Appe
80 65536 225 291.3 32768 1125 29.1 16384 5625 2.91
100 16384 45 364.1 8192 225 36.4 4096 1125 3.64
120 32768 75 436.9 16384 375 43.7 8192 1875 4.37
160 131072 225 582.5 65536 1125 58.3 32768 5625 5.83

8-15
 8-2 Function extension parameter

SP69: Feed-forward control function setting

1
This configures the feed-forward control function for position control. For details, refer to [Applied
servo gain adjustment function] (P3-18).
* This is available for HA-800 software version 3.x or later.
2
* Changes to system parameter settings (SP00 to 79) are put into effect by changing the setting, then
turning control power supply OFF, then ON again.
3
Set value Function Unit Default
0 Feed-forward control (previous compatible function)
1 Feed-forward control
Feed-forward control simple adjustment version (stable
4
2
operation mode)

5
Feed-forward control simple adjustment version (normal - *
3
operation mode)
Feed-forward control simple adjustment version (high-speed
4
operation mode)

5
Feed-forward control simple adjustment version (manual tune
mode) 6
*: The default varies depending on the applicable actuator.Refer to [Default settings] (Apx-1) in the appendix.

7
 When using the feed-forward control function, be sure to reference [Applied servo gain
adjustment function] (P3-18) and understand the notices. 8

System parameter mode

9

10

11

Appe

8-16
 8-2 Function extension parameter

8
System parameter mode

10

11

Appe

8-17
1-13

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.

9-1 Test mode ········································································ 9-1

9-2 Details of test mode ··························································· 9-2
 9-1 Test mode

1
9-1 Test mode
2 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.

3 Mode Code Description Details

T00 I/O signal monitor P9-2

4 T01 Output signal operation P9-3
T02 JOG speed setting P9-4
JOG acceleration/deceleration time
T03 P9-5
5 T04
constant setting
JOG operation P9-6
T05 Parameter initialization P9-7
Test mode

6 T06
Automatic adjustment of speed
command offset
P9-8

Automatic adjustment of torque

T07 P9-9
7 T08
command offset
Multi revolution clear P9-10
T09 Auto-tuning P9-11

8 T10
T11
Auto-tuning displacement
Auto-tuning level selection
P9-13
P9-14

9
Test mode

9-1
 9-2 Details of test mode

1
9-2 Details of test mode
The following explains the details of the test mode. 2
T00: I/O signal monitor 3
The I/O statuses of assigned pins are reflected and displayed in real time.
The functions of displayed pins are enabled.
1 Press the SET button. 4
Output signal operation is now permitted.
 The display will not switch if the button is pressed for 1
second or longer. MODE UP DOWN S E T
5
SET

2 The third digit indicates the output status, while the fifth 6
digit indicates the input status.
Lit: ON
Unlit: OFF
MODE UP DOWN S E T
7
Output Input UP or DOWN
8
Pressing the UP or DOWN button
returns the screen to the number
display in the test mode. 9
MODE UP DOWN S E T

Test mode
Input 7

10 Output 7
Output 6
Output 1 Output 2
Input 6
Input 1
Input 2

Output 3 Input 3
Input 5
11
Output 5

Input 8

Appe
Output 4 Input 4

 If FWD inhibit (FWD-IH) or REV inhibit (REV-IH) is assigned to an input pin, the
screen will switch to the alarm display when a signal (assigned by the NO logic) is
input to the assigned input pin. Monitor I/Os after inputting the FWD or REV inhibit
signal.

9-2
 9-2 Details of test mode

1 T01: Output signal operation

Output signals can be turned ON/OFF as desired.
2

3  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-800A is being automatically operated by the command from the host controller.

4 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-800.

5
1 Press the SET button.
Output signal operation is now permitted.
6  The display will not switch if the button is pressed for 1
second or longer. MODE UP DOWN S E T

7
SET

2 Use the UP button to select the signal to be operated.

8 MODE UP DOWN S E T

UP

9 3 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.
Test mode

OFF ON

DOWN

MODE UP DOWN S E T MODE UP DOWN S E T

 First digit: Nothing is shown.

 Second digit: The number assigned to the output First digit Fifth digit
signal to be operated is shown.
A number between [1] and [7] is shown, where 1, 2, ...,
7 indicate output 1, 2, ..., 7 can be operated,
respectively.
MODE UP DOWN S E T
 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)

4 Press the SET button, and the display will return to [T01].

9-3
 9-2 Details of test mode

T02: JOG speed setting

1
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.
2
Setting range: 10 to 3000
Unit: r/min
3
1 Press the SET button.
The set value of JOG speed is shown. (Unit: r/min)
 The display will not switch if the button is pressed for 1 4
second or longer. MODE UP DOWN S E T

SET
5
2 To change the set value, press the SET button and
release it within 1 second.
The set value flickers to indicate that it can now be changed. 6
MODE UP DOWN S E T

7
SET

3 Change the set value.

Pressing the DOWN button decreases the value, while
pressing the UP button increases the value.
8
MODE UP DOWN S E T
(Press and hold each button to change the value faster.)

UP or DOWN
9

Test mode
4
10 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
MODE UP DOWN S E T
before the set value stops flickering (within approx. 1
11 second).

Appe
 The value set here is not stored.
When the HA-800A driver power is reconnected, it will return to the default value 100.
 Set the speed as low as possible to enable checking.
Avoid unexpected accidents resulting from high speed.

9-4
 9-2 Details of test mode

1 T03: JOG acceleration/deceleration time constant setting

Set the acceleration/deceleration time constant to be applied during JOG operation.
2 The value set here corresponds to the time over which the actuator accelerates from the standstill
state to [SP51: Speed input factor] or decelerates from the speed set by the speed input factor to the
standstill state.
Setting range: 1 to 9999
3 Unit: ms

1 Press the SET button.

4 MODE UP DOWN S E T

SET
5 2 To change the set value, press the SET button and
release it within 1 second.

6 The set value flickers to indicate that it can now be changed.

MODE UP DOWN S E T

7
SET

3 Change the set value.

8 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
UP or DOWN
Test mode

4 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. 1 MODE UP DOWN S E T

second).

 The value set here is not stored.

When the HA-800A driver power is reconnected, it will return to the default value 1.

9-5
 9-2 Details of test mode

T04: JOG operation

1
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 [T02: JOG speed] and [T03: JOG
acceleration/deceleration time] is used to perform JOG operation of the actuator.
2
●Any input other than emergency stop during a JOG operation is ignored.
Accordingly, the actuator operates ignoring even the FWD/REV inhibit input 3
signals; operate carefully paying attention to the surrounding conditions.
WARNING ● Do not perform a test run using the communication software PSF-800
simultaneously. The operation becomes unstable. 4
●The speed limit function and torque limit function are disabled during the
JOG operation.

5
 A "JOG operation" cannot be started if the actuator servo is ON with a CN2-2
servo-ON input. Turn OFF the CN2-2 servo-ON input.
6
 Regardless of the setting of [SP50: 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. 7
 Note that after jog operation, the current value on the host device and the actual
machine position differ.

8
1 Press the SET button when the actuator servo is OFF.
The actuator servo turns ON and JOG operation direction
is displayed. MODE UP DOWN S E T
9
 The display will not switch if the button is pressed for 1
second or longer. SET

Test mode
10 2 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
11 is different depending on the actuator.) Release the
UP button, and the actuator will stop.
MODE UP DOWN S E T

 The actuator rotates in the CCW (counterclockwise)

direction while the DOWN button is pressed. (The
Appe rotation direction is different depending on the
actuator.) Release the DOWN button, and the actuator
will stop.
Press the UP button, and the
actuator will rotate in the CW
direction.

Press the DOWN button, and

the actuator will rotate in the
CCW direction.

3 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 1 second or longer.
 Here, the actuator servo is OFF. To turn ON the servo, turn ON [CN2-2: Servo-ON input].
(The servo turns OFF even when the servo-ON input is ON. Turn OFF the input and then
turn it ON again.)

9-6
 9-2 Details of test mode

1 T05: Parameter initialization

The tune mode parameters (excluding AJ16 and AJ17) and system parameters are reset to their
2 default settings.

3
 Perform this operation while the servo is OFF. After the initialization, be sure to
reconnect the HA-800A driver power.

4  All parameters are initialized (excluding AJ16 and AJ17). Since the I/O signal
assignments and control mode settings are also initialized, it is recommended that you
write down the necessary parameters or save them using PSF-800 before the
initialization.
5
1 Press the SET button.
6 The HA-800A driver displays the motor code of the
applicable actuator currently set.
 The display will not switch if the button is pressed for 1 MODE UP DOWN S E T
second or longer.
7 SET

2 Press the SET button.

8 The displayed motor code flickers.
 To cancel the parameter initialization, press the UP or
DOWN button. The screen returns to the test mode MODE UP DOWN S E T

9 number display.
SET
Test mode

3 Press and hold the SET button until the display stops
flickering and becomes lit, and then release the button.
(Approx. 1 second or more)
The motor code is initialized and the screen returns to the MODE UP DOWN S E T
test mode number display.
 If the SET button is released before the display stops
flickering and becomes lit, the motor code is not
initialized and remains displayed.

MODE UP DOWN S E T MODE UP DOWN S E T

If the button is released before When the button is released

the flickering stops and becomes after the flickering has stopped
lit, the motor code remains and become lit, the screen
displayed and parameters are changes to the test mode
not initialized. number display, at which point
the parameter initialization is
already complete.

9-7
 9-2 Details of test mode

T06: Automatic adjustment of speed command offset

1
The offset for speed command input circuit is adjusted automatically.
2
1 Press the SET button.
The HA-800A driver displays the speed command offset
currently set.
 The display will not switch if the button is pressed for 1 MODE UP DOWN S E T
3
second or longer. SET

2 Press the SET button. 4

The displayed speed command offset flickers.
If you don't want to perform automatic adjustment, press
the UP or DOWN button to return to the test mode MODE UP DOWN S E T 5
number display.
SET

3 Press and hold the SET button until the flickering stops
6
and becomes lit to perform automatic adjustment.
If the SET button is released before the flickering stops
and becomes lit (within approx. 1 second), the speed
MODE UP DOWN S E T
7
command offset is not adjusted automatically.

9
MODE UP DOWN S E T MODE UP DOWN S E T

Test mode
10 If the button is released before
the flickering stops and
Automatic offset adjustment
for speed command is
becomes lit, automatic offset performed after the SET
adjustment is not performed.
button has been held until
11 the flickering stops and it
becomes lit.

Appe

9-8
 9-2 Details of test mode

1 T07: Automatic adjustment of torque command offset

The offset for torque command input circuit is adjusted automatically.
2
1 Press the SET button.
The HA-800A driver displays the torque command offset
3 currently set.
 The display will not switch if the button is pressed for 1 MODE UP DOWN S E T

second or longer. SET

4 2 Press the SET button.

The displayed torque command offset flickers.
If you don't want to perform automatic adjustment, press
5 the UP or DOWN button to return to the test mode MODE UP DOWN S E T

number display.
SET

6
3 Press and hold the SET button until the flickering stops
and becomes lit to perform automatic adjustment.
7 If the SET button is released before the flickering stops
and becomes lit (within approx. 1 second), the torque MODE UP DOWN S E T

command offset is not adjusted automatically.

8

9
MODE UP DOWN S E T
Test mode

MODE UP DOWN S E T
If the button is released before Automatic offset adjustment for
the flickering stops and torque command is performed
becomes lit, automatic offset after the SET button has been
adjustment is not performed. held until the flickering stops
and it becomes lit.

9-9
 9-2 Details of test mode

T08: Multi revolution clear

1
Encoder multi revolution data can be cleared when an actuator equipped with a 13-bit absolute
encoder or 17-bit absolute encoder is combined.
This parameter is also used when setting the origin. With a SHA series, FHA-C absolute system,
2
FHA-Cmini absolute system, the multi revolution counter value must be set to zero at the origin.

3
 A multi revolution clear command cannot be executed while the actuator servo is ON.
 After the multi revolution clear command, reconnect the HA-800A driver power. 4
If the power is not reconnected, the servo cannot be turned ON and thus commands
cannot be accepted.
5
1 Move the actuator to its origin via manual JOG operation. (Only when setting the origin)
6
2 Display [T08: Multi revolution clear] in the test mode.

MODE UP DOWN S E T
7
SET

3 Press and hold the SET button for at least 0.1 second. 8
[cLr] is shown.
MODE UP DOWN S E T
9
SET

Test mode
10 4 Press the SET button.
Displayed [cLr] flickers.
 If you don't want to clear the multi revolution data,
11 press the UP or DOWN button. The screen returns to MODE UP DOWN S E T
the test mode number display.
SET

Appe 5 Continue to hold the SET button until the flickering

stops and becomes lit.
(Approx. 5 seconds or more)
 The multi revolution clear command is executed and MODE UP DOWN S E T

the screen changes to the test mode number display.

 If the SET button is press and hold, and released
before the flickering stops and becomes lit (within
approx. 5 seconds), the multi revolution clear
command is not executed and [cLr] remains
displayed.

9-10
 9-2 Details of test mode

1 T09: Auto-tuning
The load is estimated and auto-tuning is performed to set an optimal servo gain.
2
Since the actuator moves to estimate the load, perform auto-tuning after
thoroughly confirming safety.

3 By default, the motor shaft moves 6,000 degrees in the clockwise direction as
seen from the output shaft, then 6,000 degrees in the counter-clockwise
WARNING direction. The corresponding rotation angle of the actuator output shaft is
obtained by 1/reduction ratio. In certain situations such as when the
4 displacement of the system is limited, change the displacement by [T10:
Auto-tuning displacement].
Note that during operation for an operation command (pulse command, speed
command, torque command), if auto-tuning is executed, the auto-tuning has
5 priority.

6
 Auto-tuning is not performed until a signal is input to the CN2-2 pin and the actuator
servo is turned ON. (A signal must be input to the CN2-2 pin.)
7  Perform auto-tuning after canceling FWD inhibit or REV inhibit. (Cancel FWD/REV
inhibit by inputting a signal to the CN2 or setting SP03/SP04.)
 Note that the rotation directions depend on the [SP50: Command polarity] setting.
 Do not execute the PSF-800 waveform monitoring during auto-tuning.
8  Note that after auto-tuning, the current value on the host device and the actual
machine position differ.

9 1 Input the servo-ON signal via CN2.

This turns ON the servo.
Test mode

2 While [T09] is displayed, press the SET button.

[-A.c.] is shown.
 The display will not switch if the button is pressed for 1 MODE UP DOWN S E T
second or longer.
SET

3 Press the SET button.

Displayed [-A.c.] flickers.
MODE UP DOWN S E T

SET

4 Press and hold the SET button for at least 0.1 second.
[-A.c.] changes to [run.], after which it moves in the
clockwise direction by the travel angle set in [T10:
Auto-tuning angle setting].After that, the actuator moves
in the counter-clockwise direction by the displacement set MODE UP DOWN S E T
in [T10: Auto-tuning travel angle setting].
If the main circuit power has not been turned ON or
actuator does not move (= a servo alarm is output), [-A.c.]
does not change to [run.].
 To cancel the auto-tuning, press the UP or DOWN
button. The screen returns to the test mode number MODE UP DOWN S E T

display.

9-11
 9-2 Details of test mode

 The actuator moves in forward/reverse directions for a

while to estimate the load. When the load has been 1
estimated, [run.] changes to [FInSH] to indicate that
the auto-tuning is complete.
Pressing the UP or DOWN button on this display
returns the screen to the test mode number display.
MODE UP DOWN S E T
2

3
 If the load varies greatly with the rotation position or if the speed limit and torque limit
functions are enabled, it is not possible to estimate the load properly, so auto-tuning is
impossible. Adjust manually. 4

Test mode
10

11

Appe

9-12
 9-2 Details of test mode

1 T10: Auto-tuning displacement

Set the displacement of the motor during auto-tuning.
2 Setting range: 1500 to 6000°
Unit angle (°)

1
3 While [T10] is displayed, press the SET button.
The auto-tuning displacement is displayed.
 The display will not switch if the button is pressed for 1
second or longer.
4
MODE UP DOWN S E T

SET

2 Press the SET button.

5 The auto-tuning displacement flickers.

MODE UP DOWN S E T

6 SET

3 Press the UP or DOWN button to change the auto-tuning

7 displacement.
The value is set in angle (°) and the setting range is 1500
to 6000° (motor shaft).
8  The load estimated by auto-tuning is subject to a
maximum erroneous difference of approx. ±15%. To
MODE UP DOWN S E T

minimize the erroneous difference, set the auto-tuning

UP or DOWN
displacement as long as possible.
9
4 Hold the SET button until the auto-tuning displacement
stops flickering and becomes lit.
Test mode

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 MODE UP DOWN S E T

lit.

MODE UP DOWN S E T MODE UP DOWN S E T

Hold the SET button until the flickering stops If the SET button is released before the
and becomes lit and then release the button flickering stops and becomes lit, the set
to make the set value effective. value is not applied.

 The set value of auto-tuning displacement is not saved. When the HA-800A
driver is restarted, the set value returns to the default (6000°).

9-13
 9-2 Details of test mode

T11: Auto-tuning level selection

1
Select the level of auto-tuning. Increasing the value set here improves the response, but vibration may
also increase depending on the system. 2
1 While [T11] is displayed, press the SET button.
The auto-tuning level selection is displayed.
 The display will not switch if the button is pressed for 1
3
second or longer. MODE UP DOWN S E T

SET 4
2 Press the SET button.
The auto-tuning level selection flickers. 5
MODE UP DOWN S E T

SET
6

3 Press the UP or DOWN button to change the auto-tuning 7

level.
The setting range is 1 to 5.

MODE UP DOWN S E T
8
UP or DOWN
9
4 Hold the SET button until the auto-tuning level selection
stops flickering and becomes lit.

Test mode
10 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
The set value of auto-tuning level selection is not
11 saved.

Appe

MODE UP DOWN S E T MODE UP DOWN S E T

Hold the SET button until the flickering If the SET button is released before the
stops and becomes lit and then release flickering stops and becomes lit, the set
the button to make the set value value is not applied.
effective.

 The set value of auto-tuning level is not saved.

When the HA-800A driver is restarted, the set value returns to the default (3).

9-14
 9-2 Details of test mode

9
Test mode

9-15
1-14

Chapter 10

Communication software
How you can use the dedicated personal computer software to check I/O signal statuses,
rotation speeds and other servo statuses, perform auto-tuning, set parameters, assign I/O
signals and monitor servo operation waveforms are explained in this chapter.

10-1 Overview ······································································· 10-1

10-2 Auto-tuning ···································································· 10-9
10-3 Parameter setting ··························································· 10-11
10-4 Assigning I/O signals ······················································· 10-13
10-5 Saving and reading set values ··········································· 10-16
10-6 Test operation ································································ 10-22
10-7 Output signal operation ···················································· 10-24
10-8 IO monitor ····································································· 10-25
10-9 Waveform monitoring ······················································ 10-26
10-10 Alarms ········································································· 10-29
 10-1 Overview

1
10-1 Overview
2 PSF-800 is a communication software program that lets you change driver parameters and monitor
operation waveforms, etc., from a personal computer.

Operating environment
3 PSF-800 needs the following environment to operate correctly.
Be sure to use PSF-800 in the following environment to prevent malfunction.

4 Item
Computer
Environment
Personal computer running Windows® ME, Windows® NT, Windows® 2000, Windows®
1 1
Xp, Windows Vista®* , or Windows® 7* , having a built-in RS-232C communication port or
USB port
5 OS Windows® ME, Windows® NT, Windows® 2000, Windows® Xp, Windows Vista®* ,
Windows® 7*
1
1

Memory Memory size required by each OS or more

Hard disk Free disk space of 3 MB or more
6 Display
(Additional free disk space is needed if created data will be saved.)
256 colors or more
Others ・Microsoft® Mouse, Microsoft® IntelliMouse® or other compatible pointing device

7 *1:
・Printer operating on the specified OS, if created data will be printed
Successful operation has been verified on Windows Vista®, and Windows 7®, but it is not guaranteed.

8 * 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.

10  Download the latest version of PSF-800 from our web site.

Communication software

11 Setup

1 Download PSF-800.
Appe Download the software from our website (http://www.hds.co.jp).

2 Install PSF-800.
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-232C port.
(USB-RSAQ3 IO Data, etc.)
The built-in RS-232C port of the personal computer is normally assigned to COM1. However,
this assignment changes if a USB conversion adapter is used. Perform the following setting
procedure:

(1) Go to "Control Panel", open "System", and display "Device Manger".

10-1
 10-1 Overview

(2) Check the port assignments (COM and LPT1).

(In the following example, COM6 is assigned.)

6
(3) Choose “System (S)” from the menu, and then scroll down to “Select COM port” to
open the “Select COM port” window. 7

Set the verified port number from (2), and then click the "OK" button. Next, start the PSF-800 9
to make the COM port number set earlier effective.
(4) A VB6 runtime library is needed to run PSF-800.
If this VB6 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
10
include the VB6 runtime library.

Communication software
11

Appe
If the VB6 runtime library is not yet installed, you can download it from the following URL:
http://www.vector.co.jp/soft/win95/util/se188840.html

3 Confirm the installation.

When the installation is complete, use a dedicated communication cable* to connect the
personal computer and HA-800.Start and then shut down PSF-800 to confirm that the software
has been installed correctly.
Start PSF-800 after turning on the control circuit power of the HA-800.
If the connection is unstable, use toroidal core for the communication cable.

*: Dedicated communication cable

RS-232C communication cable: EWA-RS03

10-2
 10-1 Overview

1 Uninstalling the software

To uninstall PSF-800 from the hard disk, follow the procedure below. Once uninstalled, PSF-800 can
no longer be started on that personal computer. To use PSF-800 again, reinstall it according to the
2 installation procedure.

1 Open "Control Panel".

3

7 2 Click "Add/Remove Programs".

10
Communication software

11
3 Select and remove the PSF-800 program.
Select PSF-800 and then click the "Change/Remove" button, and PSF-800 will be uninstalled
Appe from the hard disk.

10-3
 10-1 Overview

Initial screen
The initial screen of PSF-800 is shown below.

Servo-ON
display Motor code display
VerNo display
Menu
Connected
model name
Operation control
mode display
3

4
Running
status display

5
Alarm display

6
"Status
Display"
window
7

8
"Auto-tuning"
window
9

10

Communication software
"Parameter Setting"
window
11
"I/O Monitor"
"Alarm Display" "Test window "Output Signal
window Operation"
window
Operation" window
Appe
"Operation Waveform
Monitor" window

10-4
 10-1 Overview

1 Menu
 "File"
2 "Open"········· Read parameter set value, test operation patterns or waveform monitoring data
from files by setting parameters, performing test operations or operating the
waveform monitoring function.
"Save As" ····· Save parameter set value, test operation patterns or waveform monitoring data to
3 files after setting parameters, performing test operations or operating the
waveform monitoring function.
"Exit" ··········· Exit the program.

4  "Axis"
PSF-800 can be connected to and operate up to 16 HA-800A units (only one unit can be
connected/operated in the case of HA-800B and HA-800C). If multiple axes are connected, go

5 to the Axis menu to set the axis number of each unit to communicate with.

Connection example of PSF-800 and HA-800A

6 DIP switch and rotary switch settings

Terminating resistance Driver shaft number

(DIP switch) (Rotary switch)
7 Unit 1
Unit 2
All OFF
All OFF
0
1
Unit n All OFF n-1
Last Only 3 is ON Total number of
8 connections - 1

* Rotary switch settings after 10 are as follows:

A (10), B (11), C (12), D (13), E (14), F (15)
9

10
Communication software

11

Appe Master
(PC)

RS-232C RS-485 RS-485 RS-485

Between PC and driver Between drivers

Dedicated communication Modular 2-division connector RJ-25, RJ-11
cable (6-polar 6-core)
Model No.: EWA-RS03 ・Model No.: 186-3082 (RS Components)
(option) Modular cable RJ-11 (6-polar 4-core) straight
・Model No.: TEL-FC-5 (Sanwa Supply)
* Provided by the customer.

 "Window"
Although the status display screen opens when the software is started, you can change the
initial screen in the Window menu.

10-5
 10-1 Overview

Detailed display area

 Axis number display
If connected to PSF-800, up to 16 HA-800A units can be operated from the software.
The axis number display shows the axis number of the unit currently operated.

 Running status display

A steady green light comes on when the HA-800 is connected to PSF-800 and its power supply
is turned ON.
3

(Green) (Unlit) 4
HA-800 power The HA-800 power
supply ON supply is OFF or
PSF-800 is offline. 5
 Alarm display
A red light flickers when the HA-800 is generating an alarm.
6
(Red) (Unlit)

Alarm is generating. No alarm 7

 Excited status display
A steady red light comes on when the actuator servo is ON. 8
(Red) (Unlit)

Servo ON Servo OFF

9
 Connected model name display
The model name of the connected HA-800 is shown. 10

Communication software
(Example: General-purpose (position command, speed command,
torque command) specification) 11
HA-800B: MECHATROLINK communication specification
HA-800C: CC-Link specification

 Version number display Appe

The software version of the connected HA-800 is shown.

 Motor code display

The code number of the applicable actuator set in the HA-800 is shown.

 Operation control mode display

The operation mode of the HA-800 is shown. The steady green light indicates the mode in
which the HA-800 is currently operating.
Example: The HA-800 is operating in the position control mode
(Green)
(Unlit)
(Unlit)

10-6
 10-1 Overview

1 Status display
In the "Status Display" window, you can monitor the operating status and values.
2

6
Operating status display
Name Explanation
7 S-ON
IN-POS
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.
Hi-SPD ON is shown if the motor speed drops to or above the attained speed judgment set
8 Low-SPD
by an adjustment parameter.
ON is shown if the motor speed drops to or below the zero speed judgment value
set by an adjustment parameter.
Hi-TRQ ON is shown during torque control if the motor's output torque rises to or above the
9 FWD-LMT
attained torque judgment value set by an adjustment parameter.
ON is shown if the FWD inhibit signal is enabled.
REV-LMT ON is shown if the REV inhibit signal is enabled.
SPD-LMT ON is shown if the motor rotation speed is limited.
10 TRQ-LMT If the driver's output torque is set to torque limiting, ON is shown.

Value monitor
Communication software

11 Name
Motor rpm
Explanation
The rotation speed [r/min] of the motor is shown.
Torque It displays the current torque value %, setting the maximum output torque of the
actuator to be 100%.

Appe Peak torque It displays the output torque peak value %, by setting the maximum output torque of
the actuator as 100%.
Clicking the "Clear Peak Torque" button clears this field.
Feedback pulses The value of the encoder feedback pulse counter is shown.
Command pulses The value of the driver command pulse counter is shown.
Error pulses The value calculated by subtracting the feedback pulse counter value from the
command pulse counter value (deviation) is shown.
Overload rate The overload rate is shown. If this value is not 0, the actuator is overloaded.
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: 0.01%).
The value can be converted to absorbed power of resistor using the following
formula.
Display value [0.01%]
Regenerative resistor absorption = 16000 (W) ×
10000 [0.01%]
Ex) When display value = 10, resistor absorption power = 16W

*This value monitor is available only for HA-800A-24. With the HA-800A-1, 3 and 6,
the power absorbed by regenerative resistor is unrelated.

10-7
 10-1 Overview

Name Explanation
Command pulse The command pulse frequency [kHz] input to the command pulse input port is
frequency shown.
Speed command The speed command input voltage [0.1V] currently input to the driver is shown.
voltage Example) When display value = 20, speed command input voltage = 2.0 V
Torque command The torque command input voltage [0.1V] currently input to the driver is shown.
voltage

10

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10-8
 10-2 Auto-tuning

1
10-2 Auto-tuning
2 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.

3 Since the actuator moves to estimate the load, perform auto-tuning after
thoroughly confirming safety.
By default, the motor shaft moves 6,000 degrees in the clockwise direction,
then 6,000 degrees in the counter-clockwise direction.
4 WARNING The corresponding rotation angle of the actuator output shaft is obtained by
1/reduction ratio. In certain situations such as when the displacement of the
system is limited, change the displacement.
Note that during operation for an operation command (pulse command, speed
5 command, torque command), if auto-tuning is executed, the auto-tuning has
priority.

6
 Auto-tuning is not performed until a signal is input to the CN2-2 pin and the actuator
7 servo is turned ON. (A signal must be input to the CN2-2 pin.)
 Perform auto-tuning after canceling FWD inhibit or REV inhibit. (Cancel FWD/REV
inhibit by inputting a signal to the CN2 or setting SP03/SP04.).
 Note that the rotation directions depend on the [SP50: Command polarity] setting.
8  Do not execute the PSF-800 waveform monitoring during auto-tuning.
 Note that after auto-tuning, the current value on the host device and the actual
machine position differ.

9
1 Input the servo-ON signal via CN2.
This turns ON the servo.
10
2 Set the auto-tuning displacement and level in the "Auto-tuning" window.
Communication software

11
2
Appe
3

Set value Explanation

Auto-tuning displacement 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
1/reduction ratio.
A desired value of 1,500 to 6,000 degrees can be set. Set as large a
value as possible to improve the accuracy of load estimation.
Level selection Select the level of auto-tuning. A desired value between 1 and 5 can be
set. The higher the level, the higher the servo rigidity becomes after
tuning.

10-9
 10-2 Auto-tuning

3 Click the "Execute" button.

4 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.
3

5 When the auto-tuning is completed, the servo gain is displayed.

5
After the auto-tuning, the [position loop gain], [speed loop gain], [speed loop integral
compensation] and [load inertia moment ratio] are changed to values appropriate for the
estimated load. 6

 If the load varies greatly with the rotation position, if the speed limit and torque limit
7
functions are enabled, it is not possible to estimate the load properly, so auto-tuning is
impossible. Adjust manually.
8

10

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10-10
 10-3 Parameter setting

1
10-3 Parameter setting
2 In the "Parameter Setting" window, you can check and change the values set in tune mode
parameters and system parameters.

3 10-3-1. 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.
4
Adjustment 1: The set values for adjustment
mode parameters AJ00 to AJ19

5
can be checked and changed.
Adjustment 2: The set values for adjustment
mode parameters AJ20 to AJ39
3 can be checked and changed.
Adjustment 3: This is reserved for the system.

6 System 1: The set values for system

parameters SP00 to SP19 can be
checked and changed.
System 2: The set values for system
parameters SP20 to SP39 can be
7 checked and changed.
System 3: The set values for system
parameters SP40 to SP59 can be
checked and changed.

8 2 5
1
System 4: The set values for system
parameters SP60 to SP79 can be
checked and changed.

4
9 1 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
10 [Current Value].

2
Communication software

Click the "Current Value" field of the parameter you want to change, and enter the desired
11 value.
The parameter you have changed illuminates in red.

Appe 3 Select the “Write driver-specific parameters” check box if you want to write the
driver-specific parameters (AJ16: Speed monitor offset, AJ17: Speed monitor offset).

4 Click the "Write to Servo" button.

The new value (the contents of the [Current Value]) is transferred to the driver.
When the “Write driver-specific parameters” check box is selected, a verification screen
appears.
Click the “OK” button to write the parameters. Click the Cancel button if you don’t want to write
the parameters.

10-11
 10-3 Parameter setting

*The [Servo Value] display will not be updated after [Write to Servo] is executed.
Executing [Load from Servo] updates the [Servo Value] and the latest set values after the writing
for internal parameters of the driver are displayed.

 If the writing cannot be executed correctly due to the communication errors etc., a
warning message is displayed.
Execute [Write to Servo] again.
3

Procedure to reset parameters to their defaults (factory-set values) 4

 Perform this operation while the servo is OFF. After the initialization, be sure to
5
reconnect the HA-800A driver power.
 All parameters are initialized (excluding AJ16 and AJ17).
Since the I/O signal assignments and control mode settings are also initialized, it is
recommended that you write down the necessary parameters or SAVE them before
6
the initialization. The parameters can be saved or read for the set values on a PC in
accordance with [10-5 Saving the set values].
7
5 Click the “Default Settings” button.
8
Verification screen is shown. Click the "OK" button to initialize. Click the "Cancel" button to stop
initialization.

10
6 A progress screen is displayed. Wait for a while, and the values will return to their defaults.

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10-12
 10-4 Assigning I/O signals

1
10-4 Assigning I/O signals
2 The following explains how to assign I/O signals to/from the host device. For the I/O signals, refer to
[Chapter 5 I/O signals].

Assigning input signals

3 In the "Input Signals" tab of the "I/O Setting" window, you can set how various input settings are
assigned to input pins, along with the applicable logics. You can select desired input pins from
among the input pins IN1 to IN8 of the CN2 connector (pins 2 to 7, 9 and 10 of CN2).
4 Multiple input settings can be assigned to one input pin. It is also possible not to assign any
input pin to a given input setting.

5
 Multiple input signals can be assigned to one pin. Unnecessary signals should

6 be deleted from the pin assignments. If unnecessary signals are assigned, the
system will not operate as expected.
 With signals that are not assigned to pins, their functions are enabled. For
example, setting the normally closed (contact B) logic without assigning the
7 emergency stop signal to a pin will cause the system to remain in an emergency
stop state. The functions of all other input signals are also enabled. So, exercise
caution that setting the normally closed (contact B) logic will enable the
functions of these other signals at all times.
8
1 In the "Parameter Setting" window, click the "I/O Setting" button.
9 Click the "Load from Servo" button to activate.

10
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11

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10-13
 10-4 Assigning I/O signals

2 Click the "Input Signals" tab and select the input pins to which to set various input signals.

3
Set the assignment and logic for
each input signal. 4
(Example) Assign the control
mode selection input to input 8
(pin 10 of CN2) with the
normally open logic (enabled 5
when the opt-isolator is ON).

6
3 When all settings are completed, click the "OK" button.
4 Click the "Write to Servo" button. 7
The set values are written to the servo.

* Changes to system parameter settings (SP00 to 79) are put into effect by changing the setting, then
turning control power supply OFF, then ON again. 8

10

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10-14
 10-4 Assigning I/O signals

1 Assigning output signals

In the "Output Signals" tab of the "I/O Setting" window, you can assign output signals to

2 respective output pins, along with the applicable logics. Multiple output signals cannot be
assigned to one pin.

1 In the "Parameter Setting" window, click the "I/O Setting" button.

3 Click the "Load from Servo" button to activate.

9 2 Click the "Output Signals" tab and select the output signal for each output pin.

10
Communication software

11
Assign the signal to the output
port.
Appe (Example) Assign the torque
limiting signal to [SP24: Pin 20
of CN2] based on the normally
open logic (enabled when the
opt-isolator is ON).

3 When all settings are completed, click the "OK" button.

4 Click the "Write to Servo" button.
The set values are written to the servo.

* Changes to system parameter settings (SP00 to 79) are put into effect by changing the setting, then
turning control power supply OFF, then ON again.

10-15
 10-5 Saving and reading set values

10-5 Saving and reading set values

The following explains how to back up the set values to a personal computer.
Save parameter set value, test operation patterns, and waveform monitor data in files from the
parameter setting, test operation, and waveform monitoring windows, respectively. Execute saving and
reading set values for each window with the each window open. The following explains procedures
within the parameter window. 3
10-5-1. Saving set parameter values
The following explains how to back up the set values for internal parameters of the driver to a personal
4
computer.

Saving procedure 5
1 Open the "Parameter Setting" window. (Same as step 1 in 10-3-1)
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 6
[Current Value].
Select "Save As" from the "File" menu.
7

9
2 Set a desired folder and file name, and click the "Save" button.
10

Communication software
11

Appe

 Be sure to perform "Load from Servo" before performing "Save As" .

 The parameters saved by this operation are [Adjustment 1], [Adjustment 2],
[Adjustment 3], [System 1], [System 2], [System 3], [System 4].

10-16
 10-5 Saving and reading set values

1 10-5-2. Reading saved set value files

The following explains how to read set values backed up on a personal computer.
2 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
3 1 Open the "Parameter Setting" window.
Select "Open" from the "File" menu.

6
2 Set a desired file name, and click the "Open" button.
7 The set values for the saved settings file are loaded and displayed in the [Current Value].

10
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10-17
 10-5 Saving and reading set values

10-5-3. Comparing a saved settings file with internal set

values of the driver
The following explains how to compare the set values backed up on a personal computer with internal
parameters of the driver during communication. *Comparison is a function that can be used with the
parameter window only.

Comparison procedures
3
1 Read the internal parameters of the driver during communication. (Same as step 1 in
10-3-1)
Open the "Parameter Setting" window.
4
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]. 5
2 Read the saved settings file. (Same as steps 1 to 2 in 10-5-2)
Select "Open" from the "File" menu.
Set a desired file name, and click the "Open" button.
6
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. 7
Adjustment 1 (AJ00 to AJ19) Current value:
Parameter set values for saved settings file 8
Servo value:
Set values for internal
parameters of the driver 9
during communication

10

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11

Appe
Red: Differences

10-18
 10-5 Saving and reading set values

1 3 Switch the tabs to check all the comparison results.

Switch the tabs to check the comparison results for all the following parameters:
[Adjustment 1], [Adjustment 2], [Adjustment 3], [System 1], [System 2], [System 3], [System
2 4].

Switch the tabs

4
Red: Differences
5

9  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).
10
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11

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10-19
 10-5 Saving and reading set values

10-5-4. Writing a saved settings file to the driver

The following explains how to write (copy) the set values backed up on a personal computer to the
internal parameters of the driver during communication.

Comparison procedures
1 Read the internal parameters of the driver during communication. (Same as step 1 in
10-3-1)
3
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 4
communication) and displayed in the [Servo Value] and [Current Value].

2 Read the saved settings file. (Same as steps 1 to 2 in 10-5-2)

Select "Open" from the "File" menu.
5
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 6
internal parameters of the driver during communication are displayed in red.

Set values loaded from the file (parameter set

7
values for saved settings file)

The current values of the driver 8

before writing (set values for
internal parameters of the driver
during communication)
9

10

Communication software
11

Red: Differences
Appe

3 Select the “Write driver-specific parameters” check box if you want to write the
driver-specific parameters (AJ16: Speed monitor offset, AJ17: Speed monitor offset). (Same
as step 3 in 10-3-1)

10-20
 10-5 Saving and reading set values

4
1 Click the "Write to Servo" button. (Same as step 4 in 10-3-1)
The set values for the saved settings file displayed in the [Set Value] is written to the driver
during communication.
When the “Write driver-specific parameters” check box is selected, a verification screen
2 appears.
Click the “OK” button to write the parameters. Click the Cancel button if you don’t want to write
the parameters.

4
*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
5 for internal parameters of the driver are displayed.

6
 If the writing cannot be executed correctly due to the communication errors etc.,
a warning message is displayed.

7 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
8 that cannot be written (copied)) is the system reservation only, it does not affect
the product functions.

9
 The parameters written (copied) by this operation are [Adjustment 1],
10 [Adjustment 2], [Adjustment 3], [System 1], [System 2], [System 3], [System 4].
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11

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10-21
 10-6 Test operation

10-6 Test operation

You can specify a speed to perform simple JOG operation, or perform JOG operation by specifying a
displacement.

● Any input other than emergency stop during a JOG operation is ignored. 3
Accordingly, the actuator operates ignoring even the FWD/REV inhibit input
signals; operate carefully paying attention to the surrounding conditions.
WARNING ● Do not perform T04 JOG operation by pressing the driver push-button
simultaneously. The operation becomes unstable.
4
● The speed limit function and torque limit function are disabled during the
JOG operation.
5
 A "JOG operation" cannot be started if the actuator servo is ON with a CN2-2
servo-ON input. Turn OFF the CN2-2 servo-ON input. 6
 In test operation, as seen from the output shaft side and regardless of [SP50:
Command polarity]
During jog operation: When forward, displacement set: Rotates in the clockwise
direction for positive travel distance setting
7
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. 8
 Note that after test operation, the current value on the host device and the actual
machine position differ.
9

10

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11
2,5

JOG operation by 1 Appe

specifying speed and
acceleration/deceleration 3

4
JOG operation by
specifying
displacement
6

JOG operation (executing jog operations with speed and

acceleration/deceleration specified)
1 Set the JOG speed (r/min) and JOG acceleration/deceleration time (ms)*1.

10-22
 10-6 Test operation

2
1 Click the "Servo-ON" button to activate the servo-ON of the actuator.
The button text changes to "Servo OFF".
3 Bring the mouse cursor to the "FWD" button. The actuator moves in the forward direction

2 while the "FWD" button is held down with the mouse. To move the actuator in the reverse
direction, click the "REV" button.

Program operation (JOG operation by specifying displacement)

3 1 Set the travel distance (pulses), rotation speed (r/min), acceleration/deceleration time (ms)
The electronic gear settings (including SP67: Output shaft divide function settings) do not
4 function in jog operations. Set the desired travel distance (pulses) based on the output shaft
resolution.
2 Click the "Servo-ON" button to activate the servo-ON of the actuator.

5 The button text changes to "Servo OFF".

3 Click the desired number (1 to 5), then click the "Execute" button to start program operation.
The actuator will stop after moving the specified travel distance.

6 *1: Set the acceleration/deceleration time for the time the actuator reaches its max. rotational speed from
standstill.

10
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10-23
 10-7 Output signal operation

10-7 Output signal operation

The signals corresponding to outputs 1 to 7 can be turned ON/OFF as desired.

2 3

5
1, 3

6
1 Click the "Execute" button.
2 Select the signal you want to output.
The selected signal turns ON.
7
This can be used to check/verify with your host devices.
3 If you click "Execute" button again, the output signal operation is ended and the operated
output signal return to the original status. 8

9
 This cannot be used at the same time as the [T01: 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
10
HA-800A is being automatically operated by the command from the host controller.

Communication software
Please keep this in mind during the actual operation.
 This operation cannot be executed at the same time as the output signal operation 11
from test mode.

Appe

10-24
 10-8 IO monitor

1
10-8 IO monitor
2 The statuses of pins to which input signals and output signals are assigned can be monitored.

6
The statuses of input and output signal pins are displayed.
The following statuses are available:
7 Input signals
ON: Input received

8 OFF: No input

Output signals
ON: Outputting
9 OFF: Output OFF

10
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10-25
 10-9 Waveform monitoring

10-9 Waveform monitoring

In addition to speed and torque, waveforms of various status signals can be displayed.

Waveform
display area
3
Trigger condition
setting 4

5
Tracing time setting

6
Start tracing

Waveform display
mode 7
Waveform
measurement 8
Time axis setting 9

10
Waveform display selection

How to obtain waveform

Communication software
1 Select the desired waveform using the waveform display selection.
11
Different speeds and torques can be selected for Ch1 and Ch2.After selecting the torque and
speed, also set the 1 division display.
2 Set the trigger condition.
Appe
3 Set the tracing time.
If "1000ms" is selected, you can set a desired value between 5 and 100 ms/div as the time
axis range to be displayed. If "10s" is selected, a desired value between 100 and 1,000 ms/div
can be selected. Select the time axis setting from the pull-down menu.

10-26
 10-9 Waveform monitoring

4
1 Click the "Run" button.
If the "Run" button shows "Stop", the trigger is waited. The system waits for a trigger and when
the set trigger level is reached, it acquires waveform and displays it in the waveform display
area. It takes some time to acquire waveforms.
2  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

3 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.
4

8
Time axis measurement Speed/torque
9 (measurement of rise time) measurement

10
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10-27
 10-9 Waveform monitoring

5 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-800, 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-800 by selecting Open in the File menu.

5
・CSV format ・wv format 6

7
フィードバック速度
指令速度 8

9
-200 0 200 400 600 800 1000

Excel display available. Able to read the waveform on the PSF-800 again. 10

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10-28
 10-10 Alarms

1
10-10 Alarms
2 If the HA-800A 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 8 most recent alarms.

9 Alarm reset
A resettable alarm whose status has been removed can be reset using the "Alarm Reset"
button.
10 Clear history
You can clear the history of up to 8 most recent alarms using the "Clear History" button.
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10-29
1-15

Chapter 11

Troubleshooting
Details of how driver alarms and warnings generate are explained in this chapter.

11-1 Alarms and remedial actions ···············································11-1

11-2 Warnings and remedial actions ·········································· 11-14
 11-1 Alarms and remedial actions

1
11-1 Alarms and remedial actions
2 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.
3 Warning: A warning is displayed before the actuator or driver generates an alarm. The servo loop
remains ON. Remove the cause of the warning as soon as possible.
If the actuator or driver's protective function is actuated, the actuator stops moving (servo-OFF of the
4 motor) and the applicable 2-digit alarm code appears on the display. At the same time, the 3-bit code
is output to the host device.
In addition, up to 8 most recent alarms and total operating hours (unit: h) of the driver when each
alarm occurred are also displayed.
5 For the alarm history, refer to [Alarm mode] (P7-9).

Alarm list
6 The following alarms are displayed.
Alarm code*1
Alarm 3-bit Alarm
Alarm name ALM-CO ALM-CO ALM-CO
7 code code
D3 D2 D1
clear
AL01 Emergency stop 100 1 0 0 Possible*5
AL10 Overspeed 110 1 1 0 Impossible
Possible*5
8 AL20
AL30
Overload
IPM error (overcurrent)
100
110
1
1
0
1
0
0 Impossible
AL40 Overvoltage 110 1 1 0 Impossible
AL41 Regenerative resistor overheat 110 1 1 0 Impossible
Overregeneration*6
9 AL42
AL43 Missing phase*6
110
110
1
1
1
1
0
0
Impossible
Impossible
AL44 Control power voltage low*6*7 110 1 1 0 Impossible
AL45 Main circuit voltage low*6 110 1 1 0 Impossible

10 AL46
AL47
Overheated dynamic brake*6
Damaged power circuit
110
110
1
1
1
1
0
0
Impossible
Impossible
AL50 Encoder disconnection 111 1 1 1 Impossible
AL51 Encoder receiving error*1, *2 111 1 1 1 Impossible
11 AL52
AL53
UVW error*2
System failure*3
111
111
1
1
1
1
1
1
Impossible
Impossible
AL54 Multi revolution overflow*3 111 1 1 1 Impossible
AL55 Multi revolution data error*3 111 1 1 1 Impossible
Troubleshooting

Appe AL60
AL70
Excessive deviation
Memory failure (RAM)
100
101
1
1
0
0
0
1
Possible*5
Impossible
AL71 Memory failure (EEPROM) 101 1 0 1 Impossible
AL72 FPGA configuration error 111 1 1 1 Impossible
AL73 FPGA setting error 111 1 1 1 Impossible
AL76 Processor error*7*8 010 0 1 0 Impossible
AL80 MEMORY error*4 111 1 1 1 Impossible
AL81 System failure*4 111 1 1 1 Impossible
AL82 Single rotation data error*4 111 1 1 1 Impossible
AL83 Multi revolution data error*4 111 1 1 1 Impossible
AL84 BUSY error*4 111 1 1 1 Impossible
AL85 Overheat error*4 111 1 1 1 Impossible
AL86 Communication error*4 111 1 1 1 Impossible
*1: If an alarm code output is assigned to an output signal (one of pins 16 to 22 of CN2) and the signal function is
set to 01 (values set in the second and third digits), read 1 as 0, and 0 as 1.
For the assignment of output signals and setting of their functions, refer to [Chapter 5 I/O signals].
*2: These alarms may generate when an incremental encoder is combined.
*3: These alarms may generate when a 13-bit absolute encoder is combined.
*4: These alarms may be generated when combining with a 17-bit absolute encoder (including the 17-bit encoder

11-1
 11-1 Alarms and remedial actions

incremental model).
*5: Once alarms are reset using the alarm clear input, the servo will not turn ON even if [CN2-2: S-ON input] is
ON. After the reset, turn OFF [CN2-2: S-ON] and then turn it ON again.
During position-controlled operation, alarms can be reset using the alarm reset signal, but the deviation will
not be cleared. If an alarm generates, clear the deviation using the clear signal and then reset the alarm using
the alarm reset signal. (If [SP48: Deviation clear upon servo-ON] is set to 1, deviation is automatically cleared
to 0 when the servo turns ON.)
2
*6: This alarm may generate in HA-800A-24.
*7: This alarm is not stored in the alarm history.
*8: The alarm code (3-bit code) may become indeterminable depending on the occurrence condition of alarm.
3
Remedial action for alarm
Remedial actions are explained for respective alarms. 4
Alarm Alarm Condition at
Description Action
code name occurrence
AL01 Emergency An emergency The alarm  The emergency stop input is assigned to 5
stop stop signal occurs when the CN2:
was input. control circuit → Check wiring and connector of emergency
power is turned
ON:
stop input signal.
→ Check the logic and status of the emergency 6
stop signal.

 The emergency stop input is not assigned to

CN2:
→ Set the signal logic to normally open.
7
The alarm  Cancel the emergency stop signal and
occurs during reconnect the control power supply or input a
operation: reset signal.
 Wrong emergency stop signal wiring
8
→ Check wiring and connector of emergency
stop input signal.

 Malfunction due to noise

9
→ Check the noise environment.

 Control circuit error

→ Contact our sales office.
10
AL10 Overspeed The motor The alarm Control circuit error
rotation speed occurs when the → Contact our sales office.
exceeded the
maximum
control circuit
power is turned
11
rotation speed ON:
of the motor. Troubleshooting
The alarm
occurs due to
 Overshoot due to inappropriate gain
adjustment
Appe
high-speed → Adjust [AJ00: Position loop gain], [AJ01:
actuator rotation Speed loop gain] and [AJ02: Speed loop
when a rotation integral compensation] to match the load
command is condition.
input:
 Excessive command pulse frequency
→ Lower the command output pulse frequency
on the host device. Set a frequency not
exceeding the maximum rotation speed of the
actuator (r/min).

 Inappropriate electronic gear setting

→ The command frequency is too large for
[SP44, 45, 46, 47: Electronic gear setting] or
[SP67: Output shaft divide function setting].
Set appropriate electronic gear. Alternatively,
modify the command frequency.

11-2
 11-1 Alarms and remedial actions

1 Alarm Alarm
Description
Condition at
Action
code name occurrence
AL10 Overspeed The motor The alarm  Wrong speed input factor setting

2 rotation speed
exceeded the
occurs due to
high-speed
→ Set the correct speed input factor in [SP51:
Speed input factor].
maximum actuator rotation
rotation speed when a rotation  Excessive torque command input voltage
→ Lower the torque command output voltage on
3 of the motor. command is
input: the host device.

 Wrong torque input factor setting

→ Set the correct torque input factor in [SP53:
4 Torque input factor].
AL20 Overload The allowable The alarm also  Wrong motor or encoder connection
continuous occurs when → Connect the motor/encoder correctly by
current was only the actuator referring to [Chapter 2 Installation/wiring].
5 exceeded. is operated (no
load):  Large friction torque
→ Confirm that holding brake is released.
The alarm  Control circuit error
6 occurs when the
control circuit
→ Contact our sales office.

power is turned
ON:
7 The alarm
occurs during
 Current 1.2 times the allowable continuous
current or more was supplied for an extended
operation: period of time.
 Current 3 times the allowable continuous
8 current was supplied for approx. 2 seconds.
→ Review the effective load rate of the actuator,
and then reconnect the power supply to
resume the operation.
9  Large friction torque and load torque
→ Confirm that holding brake is released.
→ Confirm that the actuator output torque is
10 The alarm
sufficient to handle load torque.
 Hunting due to inappropriate gain adjustment
occurs after the → Adjust [AJ00: Position loop gain], [AJ01:
actuator exhibits Speed loop gain] and [AJ02: Speed loop
11 hunting: integral compensation] in the tune mode to
match the load condition.
Troubleshooting

Appe

11-3
 11-1 Alarms and remedial actions

Alarm Alarm Condition at

Description Action
code name occurrence
AL30 IPM error The servo The alarm  Control circuit error
(overcurr
ent)
current control
element
occurs when the
control circuit
→ Contact our sales office.
2
detected an power is turned
overcurrent. ON:
The alarm
occurs when
 Control circuit error
→ Contact our sales office. 3
[CN2-2:
Servo-ON] is
input (ON):
The alarm  Short-circuit the motor cable 4
occurs when → Inspect/reconnect or replace/repair the
[CN2-2: connection points of the motor cable.
Servo-ON] is
input (ON), but a  Short-circuit the motor coil 5
normal condition → Contact our sales office.
is restored once (Replace the actuator.)
the motor cable
(U, V, W) is
disconnected:
6
The alarm  The load inertia moment (inertia) is excessive
occurs during or acceleration/deceleration time is too short.
acceleration or
deceleration:
→ Lower the load inertia moment.
→ Increase the time set in [AJ12: Acceleration
7
time constant] or [AJ13: Deceleration time
constant] in the tune mode.

 The gain is too high or too low.

8
→ Adjust [AJ00: Position loop gain], [AJ01:
Speed loop gain] and [AJ02: Speed loop
integral compensation] in the tune mode to
match the load condition.
9
 Faulty wiring of regenerative resistor
(HA-800A-24)
→ Resistance of an external regenerative
10
resistor is low. Or it is short-circuited.
It is connected in parallel with a built-in

The alarm
regenerative resistor.
 Overload 11
occurs during → Review the effective load rate of the actuator
operation and lower the load rate.
Troubleshooting
(operation can
be resumed after  The ambient temperature of the driver is 50℃ Appe
4 to 5 minutes): or above.
→ Review the installation location and cooling
system of the driver.
The alarm  Faulty wiring of regenerative resistor
occurs when (HA-800A-24)
cutting the main → Resistance of an external regenerative
circuit power resistor is low. Or it is short-circuited. It is
OFF: connected in parallel with a built-in
regenerative resistor.

11-4
 11-1 Alarms and remedial actions

1 Alarm
Alarm name Description
Condition at
Action
code occurrence
AL40 Overvoltage The main The alarm  Excessive load inertia moment

2 circuit voltage
exceeded
occurs during
operation:
→ The built-in regenerative resistor does not
function. Connect short bar to R1 and R3
approx. 400 terminals.
VDC. → Connect a regenerative resistor to the R1

3 and R2 terminals.
→ Increase the deceleration time.
→ Lower the maximum speed.
→ Lower the load inertia moment.

4  Overvoltage detection circuit error

→ Contact our sales office.
AL41 Regenerative The thermal The alarm  Insufficient regenerative resistor capacity
resistor switch installed occurs during → Install an external regenerative resistor to
5 overheat on the
regenerative
deceleration: raise the regenerative absorption
capacity.
resistor → When using an external regenerative
actuated. resistor in HA-800A-24, set [SP64:
6 Regenerative resistor selection] to [1:
Use external regenerative resistor].

 Regenerative energy processing circuit

7 error
→ Contact our sales office.
The alarm  The regenerative resistor is not properly
occurs after wired or not connected.
8 turning the main
circuit power ON
→Connect the regenerative resistor correctly.

(HA-800A-24):
When an  The regenerative resistor is not properly
9 external
regenerative
wired or not connected.
→Connect the regenerative resistor correctly.
resistor is used
(HA-800A-24):  The parameter setting of regenerative
10 resistor selection (SP64) is wrong.
→ Change the setting of system parameter
SP64 and select an external regenerative
resistor.
11 AL42 Overregenerati
on
A regenerative
resistor
The alarm
occurs during
 Insufficient regenerative resistor capacity
→ Install an external regenerative resistor to
(HA-800A-24) absorbed deceleration: raise the regenerative absorption
significantly capacity and change the setting of
Troubleshooting

Appe excessive
regenerative
system parameter SP64.

energy.  Regenerative energy processing circuit

error
→ Contact our sales office.
(Replace the HA-800A driver.)

 Load inertia exceeds the adaptive range.

→ Review the configuration and use the
resistor with load inertia within the
adaptive range.
→ Suppress the rotation low to reduce
regenerative energy.
The alarm  The regenerative resistor is not properly
occurs after wired or not connected.
turning the main → Connect the regenerative resistor
circuit power correctly.
ON: → Connect a short bar correctly when using
a built-in regenerative resistor.

11-5
 11-1 Alarms and remedial actions

Alarm Condition at
Alarm name Description Action
code occurrence
AL42 Overregenerati A regenerative When an  The regenerative resistor is not properly
on
(HA-800A-24)
resistor
absorbed
external
regenerative
wired or not connected.
→ Connect the regenerative resistor 2
significantly resistor is used: correctly.
excessive
regenerative
energy.
 The parameter setting of regenerative
resistor selection (SP64) is wrong. 3
→ Change the setting of system parameter
SP64 and select an external regenerative
resistor.
AL43 Missing phase Single-phase The alarm  Wrong wiring 4
(HA-800A-24) power supply occurs after → One phase of 3-phase power supply is not
was supplied to turning the main correctly connected.
the main circuit circuit power
power input (R,
S, T) areas.
ON:  Low input voltage
→ Correct input voltage to a value within the
5
specification range.

 Disconnection of 1 main circuit fuse built

into the driver
6
→ One of the 2 built-in fuses for 3-phase
power supply is disconnected.
Ground-fault or faulty wiring of motor
output, ground-fault or faulty wiring of
7
regenerative connection terminal
→ Check the wiring conditions and replace
the driver. (The alarm may occur again if
you replace the driver without removing
8
the cause.)
If the protective fuse gets disconnected, it

AL44 Control power The voltage of The alarm

must be repaired.
 Low input voltage
9
voltage low the control occurs during → Correct input voltage to a value within the
(HA-800A-24) power supply operation: specification range.
input (r, s)
areas dropped.  Momentary power failure occurred. 10
→ Review the wiring and power supply
environment to prevent power failure.
AL45 Main circuit
voltage low
Although
main
the
circuit
The alarm
occurs when the
 It occurs in case of faulty wiring (not
wired) of short bar, faulty wiring of DC
11
(HA-800A-24) power (R, S, T) main circuit reactor, and/or open-circuit between DL1
is supplied, the power is turned and DL2. Troubleshooting
main circuit DC
voltage
ON: → Connect a short bar or DC reactor
correctly between driver terminal blocks
Appe
dropped. DL1 and DL2.

 The alarm occurs when a protective fuse

built into the driver (2 built-in fuses for
3-phase power supply) is disconnected
due to driver damage, faulty wiring, etc.
→ Check the wiring conditions and replace
the driver.
(The alarm occurs again if you replace
the driver without removing the cause.)
If the protective fuse gets disconnected, it
must be repaired.

11-6
 11-1 Alarms and remedial actions

1 Alarm
Alarm name Description
Condition at
Action
code occurrence
AL46 Overheated The dynamic The alarm  The dynamic brake stopped under the

2 dynamic brake
(HA-800A-24)
brake circuit
generated
occurs after
stopping the
conditions where load inertia is excessive
or an excessive negative load is
abnormal heat: dynamic brake: connected.
→ Review the load.

3 The alarm
occurs when the
 Driver damage.
The driver was damaged when the
control power dynamic brake stopped previously.
supply is turned → Review the load. If the protective fuse gets
ON: disconnected, it must be repaired.
4 A47 Damaged The alarm  The alarm  HA-800A driver power circuit error
power circuit occurs due to occurs when → Contact our sales office.
errors in the the control (Replace the HA-800A driver.)
driver power power supply
5 circuit. is turned ON:
It cannot be  The alarm
reset. occurs when
the servo is
6 AL50 Encoder Encoder
ON:
The alarm  Non-connection or poor connection of the
disconnection signals have occurs when the encoder connector (CN1) or broken
been cut off. control circuit encoder wire
7 power is turned
ON:
→ Securely connect the encoder connector
again.
Or, replace the cable.

8  Control circuit diagram error

 Internal encoder damage
→ Contact our sales office.
The alarm  Encoder malfunction due to rise in
9 occurs during
operation (a
actuator temperature
→ Review the installation location and
normal condition cooling system of the actuator.
is restored when
10 the actuator
cools down):
AL51 Encoder Encoder serial The alarm  Non-connection or poor connection of the
receiving data cannot be occurs when the encoder connector (CN1) or broken
11 error*1 received
accurately.
control circuit
power is turned
encoder wire
→ Securely connect the encoder connector
ON: again.
Or, replace the cable.
Troubleshooting

Appe  Control circuit diagram error

 Internal encoder damage
→ Contact our sales office.
The alarm  Malfunction due to external noise
sometimes → Suppress noise according to
occurs during [Suppressing noise] (P2-14).
operation:

11-7
 11-1 Alarms and remedial actions

Alarm Condition at
Alarm name Description Action
code occurrence
AL52 UVW error Encoder phase The alarm  Non-connection or poor connection of the
UVW signal
error
occurs when the
control circuit
encoder connector (CN1) or broken
encoder wire 2
power is turned → Securely connect the encoder connector
ON: again.
Or, replace the cable.
3
 Control circuit diagram error
 Internal encoder damage
→ Contact our sales office.
The alarm  Malfunction due to external noise 4
sometimes → Suppress noise according to
occurs during [Suppressing noise] (P2-14).
operation:
AL53 System Encoder multi The alarm  The encoder holds no multi revolution 5
failure*1 revolution data occurs when the data.
has been lost. power supply is → Clear the multi revolution data using
turned ON for [T08: Multi revolution clear] in the test
the first time
after the
mode. 6
purchase:
The control  Replace the battery.
power supply is
cut off while the
→ Clear the multi revolution data using
[T08: Multi revolution clear] in the test
7
buttery voltage mode.
low warning is Reconnect the power and perform

AL53 System Encoder multi

occurring:
The power
originating.
 Non-connection or poor connection of the
8
failure*1 revolution data supply was encoder connector (CN1)
has been lost. turned ON after  Non-connection or poor connection of the
the encoder and
driver had been
battery connector
→ Connect the encoder connector and
9
left disconnected battery connector properly.
for an extended
period of time:  Driver control circuit error
 Internal encoder damage
10
→ Contact our sales office.
AL54 Multi revolution The multi The alarm  Driver control circuit error
11
*1
overflow revolution occurs when the  Internal encoder damage
counter value control circuit → Contact our sales office.
of the absolute power is turned
encoder ON: Troubleshooting
exceeded a
range of
The alarm
occurs during
 The actuator turned in one direction and
the multi revolution counter value Appe
+4,095 to operation: exceeded a range of +4,095 to -4,096
-4,096 revolutions (motor shaft).
revolutions → Clear the multi revolution data using
(motor shaft). [T08: Multi revolution clear] in the test
mode.

11-8
 11-1 Alarms and remedial actions

1 Alarm
Alarm name Description
Condition at
Action
code occurrence
AL55 Multi The rotation The alarm  The actuator's output shaft moved when

2 revolution
data error*1
angular
acceleration and
occurs when
the control
the driver power was not supplied.
→ Clear the multi revolution data using [T08:
rotation speed of circuit power is Multi revolution clear] in the test mode.
the motor turned ON:

3 exceeded the
allowable
 Driver control circuit error
 Internal encoder damage
response range. → Contact our sales office.
(The actuator
moved at a speed
4 exceeding the
encoder's
allowable range
while the driver
5 power supply is
turned OFF.)
AL60 Excessive The deviation The alarm  The actuator moved due to external force
deviation counter value occurs while and resulted in excessive deviation.
6 exceeded the
pulse count set in
the control
power supply
→ Stop the actuator and reconnect the
power supply.
[SP49: Allowable is being turned → Stop the actuator and clear the deviation,
position deviation]. ON: and then reconnect the power supply.
7  Driver control circuit error
→ Contact our sales office.
The alarm  Low gain
8 occurs during
acceleration or
→ Adjust [AJ00: Position loop gain], [AJ01:
Speed loop gain] and [AJ02: Speed loop
deceleration: integral compensation] in the tune mode
to match the load condition.
9  Inappropriate electronic gear setting
→ The command frequency is too large for
[SP44, 45, 46, 47: Electronic gear setting]
10 or [SP67: Output shaft divide function
setting].Set appropriate electronic gear.
Alternatively, modify the command
frequency.
11
Troubleshooting

Appe

11-9
 11-1 Alarms and remedial actions

Alarm Condition at
Alarm name Description Action
code occurrence
AL60 Excessive The deviation The alarm  Excessive command pulse frequency
deviation counter value
exceeded the
occurs during
acceleration or
→ Lower the command output pulse frequency
on the host device. The frequency should 2
pulse count set deceleration: not exceed the actuator’s rated rotation
in [SP49: speed (r/min) multiplied by 60.
Allowable
position  Excessive load inertia moment 3
deviation]. → Lower the load inertia moment.
→ Slowly increase/decrease the command
pulse frequency on the host device.
The speed Cause: The input signal FWD inhibit or REV 4
does not rise inhibit is enabled.
with the
command, and  The signal logic is set to normally closed for
the alarm
occurs
[SP03: FWD inhibit input setting] and
[SP04: REV inhibit input setting], but the
5
sometime after signals are not assigned to CN2.
that: → Assign the signals to CN2 and wire them
according to the normally closed logic. 6
 The respective signals are assigned to CN2
and their logic is set to normally closed for
[SP03: FWD inhibit input setting] and
[SP04: REV inhibit input setting], but the
7
assigned pins are open.
→ Wire the signals according to the normally
closed logic. 8
 The respective signals are assigned to CN2
and their logic is set to normally open for
[SP03: FWD inhibit input setting] and
[SP04: REV inhibit input setting], but the
9
assigned pins are closed.
→ Wire the signals according to the normally
open logic.
10
 Large friction torque and load torque
→ Confirm that holding brake is released.
→ Confirm that the actuator output torque is
sufficient to handle load torque. 11
The actuator  Poor motor cable connection or wrong
does not phase order
Troubleshooting
rotate and the
alarm occurs:
→ Connect the motor cable wires and
terminals securely. Appe
→ Connect the motor wires and terminals in
the correct phase order.

 Poor connection of the encoder connector

(CN1)
→ 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.

11-10
 11-1 Alarms and remedial actions

1 Alarm
Alarm name Description
Condition at
Action
code occurrence
AL70 Memory An error  The alarm  Driver control circuit error

2 failure (RAM) occurred in the

driver's RAM
occurs when the
control circuit
→ Contact our sales office.

memory. power is turned

ON:

3  The alarm
occurs during
operation:
AL71 Memory An error  The alarm  Driver control circuit error
failure occurred in the occurs when the → Contact our sales office.
4 (EEPROM) driver's control circuit
EEPROM power is turned
memory. ON:
 The alarm
5 occurs during
operation:
AL72 FPGA The FPGA The alarm occurs  Driver control circuit error
Configuration initialization was when the control → Contact our sales office.
6 error not successful
when the driver
circuit power is
turned ON:
was started.
AL73 FPGA setting The FPGA did The alarm occurs  Driver control circuit error
7 error not start properly
when the driver
when the control
circuit power is
→ Contact our sales office.

was started. turned ON:

AL76 Processor Reconnect the －  If the processor error is not restored
8 error driver’s control
power supply.
even after the control power supply is
reconnected, contact our sales office.
AL80 MEMORY An EEPROM The alarm occurs  Driver control circuit error or encoder
*2
error memory failure when the control error
9 occurred in the
17-bit absolute
circuit power is
turned ON:
→ Contact our sales office.

encoder.
AL81 System SHA series － This alarm can be reset by executing
10 failure
*2
(excluding
SHA20): The
[T08: Multi revolution data clear] in the
test mode, or by assigning the reset input
voltage of the to CN2 using [SP01: Reset input setting]
backup power and then activating the reset signal and
11 supply in the
absolute
reconnecting the power.

encoder or  Low backup battery voltage

→ Replace the battery by referring to
Troubleshooting

external battery
Appe voltage,
whichever was
[Normal operation] (P3-22).

higher, dropped  17-bit absolute encoder error

to 2.85V or → Contact our sales office. (Replace the
below. actuator.)
SHA20 and
FHA-Cmini  This alarm may occur if CN1 is pulled
series: The off while the driver control power
voltage of the supply is active.
backup battery
dropped to
2.85V or below.
Stored multi
revolution data is
lost.

11-11
 11-1 Alarms and remedial actions

Alarm Condition at
Alarm name Description Action
code occurrence
AL82 Single Inconsistency The alarm This alarm can be reset by executing [T08:
revolution
data error*2
occurred
between the
occurs after
actuator
Multi revolution data clear] in the test mode,
or by assigning the reset input to CN2 using 2
single revolution operation: [SP01: Reset input setting] and then
data managed activating the reset signal and reconnecting
by the 17-bit
absolute
the power.
3
encoder at 2  17-bit absolute encoder error
locations. → Contact our sales office. (Replace the
actuator.)
AL83 Multi Inconsistency The alarm  Malfunction due to external noise 4
revolution occurred occurs during → Suppress noise according to
data error*2 between the operation: [Suppressing noise] (P2-14).
multi revolution
data managed
by the 17-bit
5
absolute
encoder at 2

AL84 BUSY error*2

locations.
The position  The actuator is operating at a constant
6
could not be speed or above when the encoder is
specified when started.
the 17-bit
absolute
→ Start the encoder when the actuator is
operating at a constant speed or below
7
encoder was (ideally the actuator should be stopped).
started because SHA series (excluding SHA20): 300 r/rpm
the actuator was
operating at a
－
or less
SHA20 and FHA-Cmini series: 250 r/rpm
8
constant speed or less
or above.
 17-bit absolute encoder error
→ Contact our sales office. (Replace the
9
actuator.)
AL85 Overheat The board  The board temperature in the 17-bit
error
*2
temperature in
the 17-bit
absolute encoder reached or exceeded
95℃.
10
absolute → Remove possible causes of actuator
encoder reached overheat, such as eliminating sudden
or exceeded
95℃.
－ starts and improving the heat radiation
condition.
11
 17-bit absolute encoder error Troubleshooting
→ Contact our sales office. (Replace the
actuator.) Appe
The driver's heat  The driver's heat sink temperature
sink temperature reached or exceeded 106℃.
reached or → Remove possible causes of actuator
－
exceeded 106℃. overheat, such as eliminating sudden
starts and improving the heat radiation
condition.

11-12
 11-1 Alarms and remedial actions

1 Alarm
Alarm name Description
Condition at
Action
code occurrence
AL86 Communicati Data could not  Defective encoder connector (CN1)

2
*2
on error be received in → Confirm that the encoder connector is
the driver at inserted securely.
least 4 → Confirm that the encoder lead lines are
consecutive soldered properly.
→ Check the encoder extension connector
3 times.
for poor contact.
－
 Malfunction due to noise, etc.
→ Confirm that the ground wire is
4 connected properly.
→ Confirm that the encoder cable is
shielded properly.
→ Confirm that the encoder and motor wires
5 Not lit LED display is The alarm
are not bundled together.
 The overload protective function in the
not turned ON occurs when the driver internal power supply circuit was
even when the control circuit activated due to a short period of power
6 control power
supply is turned
power is turned
on:
failure, etc.
→ Cut off the control power supply, wait for
ON. about one minute, and reconnect the
power.
7  Fuse disconnection in the driver
→ Contact our sales office.
*1: This alarm does not occur when an actuator equipped with a 17-bit absolute encoder is combined.
8 *2: AL80 to AL86: These alarms may occur when an actuator equipped with a 17-bit absolute encoder is
combined. With the 17-bit encoder incremental model, if AL80-AL86 is generated, then after the power is
turned OFF then ON again, if AL80-AL86 is generated again, an abnormality in the 17-bit encoder is
conceivable. Contact our sales office.
9

10

11
Troubleshooting

Appe

11-13
 11-2 Warnings and remedial actions

11-2 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.
2
If a warning output is assigned to an output signal via a system parameter, the signal is output to the
I/O signal connector (CN2).
Although the actuator can be controlled while warnings are present, remove the cause of each warning as soon
as possible. (If [UA93: Main circuit voltage low] or [UA99: Wrong actuator] occurs, the actuator cannot be
3
controlled.)

4
Warning list
A list of alarms that may be displayed is shown below. 5
Warning 3-bit Alarm code
Warning name
code code ALM-COD3 ALM-COD2 ALM-COD1
90 Overload status 001 0 0 1 6
91 Battery voltage low 001 0 0 1
92 Cooling fan stopped 001 0 0 1
93 Main circuit voltage low 001 0 0 1
97 FWD inhibit input effective 001 0 0 1 7
98 REV inhibit input effective 001 0 0 1
99 Wrong actuator 001 0 0 1

10

11
Troubleshooting
Appe

11-14
 11-2 Warnings and remedial actions

1 Remedial action for warning

Details of each warning are explained.
2 Warning
Warning name Description
code
The driver is overloaded.
3 UA 90 Overload status
If the warning is ignored and actuator operation is continued, an overload
error (AL20) 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
4 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.

5 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

6 is turned OFF, and the backup battery does not detect a drop in voltage
until the voltage is low.
 13-bit absolute encoder
Battery voltage
UA 91 DC2.8V or below (The warning will be reset automatically when the
low
battery is replaced with a new one.)
7  17-bit absolute encoder (SHA20 and FHA-Cmini series) DC3.1V or less
(The warning will be reset automatically when the battery is replaced
with a new one.)
* In Version 2.x and earlier, after the battery is replaced, turning the
8 power back ON releases UA91.
 17-bit absolute encoder SHA series (excludng SHA20) DC3.1V or less
(Replace with a new battery and execute an alarm reset, and then
reconnect the power supply.)
9 (1) Replace with a new battery.
(2) Input driver alarm reset.
(3) The warning is canceled after reconnecting the power supply.
The cooling fan installed in the driver stopped operating for some reason.
10 Cooling fan If the actuator is operated at the rated torque, internal elements of the driver
UA 92 stopped may heat to the junction temperature. Remove the cause of the problem as
(HA-800A-6 only) soon as possible.
11 It is also recommended that the cooling fan be replaced after approx. 5
years of continuous operation.
The DC voltage of the main circuit power dropped to the voltage specified
Troubleshooting

below:
Appe  AC200V actuator
DC190V or below (DC220V or less for Ver. 2.02 or older)
 AC100V actuator
DC70V or below (DC100V or less for Ver. 2.02 or older)

Main circuit The wiring may be wrong. Refer to [Connecting power cables] (P2-5) and
UA 93
voltage low wire appropriately. The input voltage may not be within the specification
range. Confirm the main circuit power voltage from the d10 main circuit
power voltage status display or the PSF-800 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 [Cn2-2:
S-ON] signal must be turned OFF and then turned ON again to turn ON the
servo.
UA 97 FWD inhibit input This warning generates when the FWD inhibit input that has been assigned
effective to CN2 is enabled.
Once the input is disabled, the warning will be reset. Even when the FWD
inhibit input is not assigned, this warning still generates when the main
circuit power is turned ON if the logic is set to normally closed. If this input
is not assigned, set the logic to normally open.

11-15
 11-2 Warnings and remedial actions

Warning
Warning name Description
code
UA 98 REV inhibit input This warning generates when the REV inhibit input that has been assigned
effective to CN2 is enabled.
2
Once the input is disabled, the warning will be reset. Even when the REV
inhibit input is not assigned, this warning still generates when the main
circuit power is turned ON if the logic is set to normally closed. If this input
is not assigned, set the logic to normally open. 3
UA 99 Wrong actuator The connected actuator is different from the applicable actuator set for the
driver.

Connect the correct actuator and then reconnect the power. 4

The function is available for the following actuators: 17-bit absolute encoder
(SHA series and FHA-Cmini series) and 4-wire incremental encoder
(FHA-Cmini series/FHA-C series).
5

10

11
Troubleshooting
Appe

11-16
 11-2 Warnings and remedial actions

10

11
Troubleshooting

Appe

11-17
1-16

Chapter 12

Option
Options you can purchase as necessary are explained.

12-1 Option ··········································································· 12-1

 12-1 Option

1
12-1 Option
2 Options you can purchase as necessary are explained.

Extension cables
3 HA-800A 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.
4 Input
Actuator Model Encoder Combined driver Extension cables
voltage
series No. type HA-800A-1 HA-800A-3 HA-800A-6 (option)
(V)
5 20 200 - HA-800A-3D/E-200 -
25 200 - HA-800A-3D/E -200 - Motor wire
SHA 32 200 17-bit - - HA-800A-6D/E -200 EWD-MB**-A06-TN3

6
series Absolute Encoder wire
40 200 - - HA-800A-6D/E -200 EWD-S**-A08-3M14
25 100 - - HA-800A-6D/E -100
8 200 HA-800A-1C-200 - -

7 11
14
200
200
4 wires,
wire-saving
HA-800A-1C-200
HA-800A-1C-200
-
-
-
-
Motor wire
EWC-M**-A06-TN3
8 100 type HA-800A-1C-100 - - Encoder wire
Incremental EWC-E**-M06-3M14
11 100 HA-800A-1C-100 - -
8 FHA-Cmini 14 100 HA-800A-1C-100 - -
series 8 200 HA-800A-1D/E -200 - -
11 200 HA-800A-1D/E -200 - -
Motor wire
14 200 17-bit HA-800A-1D/E -200 - - EWC-M**-A06-TN3
8 100 Absolute HA-800A-1D/E -100 - - Encoder wire
EWD-S**-A08-3M14
11 100 HA-800A-1D/E -100 - -
14 100 HA-800A-1D/E -100 - -
17 200 4 wires, - HA-800A-3C-200 -
Motor wire
25 200 wire-saving - HA-800A-3C-200 - EWC-MB**-M08-TN3
32 200 type - - HA-800A-6C-200 Encoder wire
40 200 Incremental - - HA-800A-6C-200 EWC-E**-B04-3M14

17 200 - HA-800A-3A-200 -
Motor wire
25 200 13-bit - HA-800A-3A-200 - EWC-MB**-M08-TN3

12 FHA-C
32
40
200
200
Absolute -
-
-
-
HA-800A-6A-200
HA-800A-6A-200
Encoder wire
EWC-S**-B08-3M14
series
17 100 4 wires, - HA-800A-3C-100 - Motor wire
Option

25 100 wire-saving - - HA-800A-6C-100 EWC-MB**-M08-TN3

type Encoder wire
32 100 Incremental - - HA-800A-6C-100 EWC-E**-B04-3M14
17 100 - HA-800A-3A-100 - Motor wire
25 100 13-bit - - HA-800A-6A-100 EWC-MB**-M08-TN3
Absolute Encoder wire
32 100 - - HA-800A-6A-100 EWC-S**-B08-3M14
RSF
17 200 - HA-800A-3B-200 -
series
Motor wire
20 200 14 wires - HA-800A-3B-200 - EWA-M**-A04-TN3
RSF/RKF Incremental Encoder wire
25 200 - HA-800A-3B-200 - EWA-E**-A15-3M14
series
32 200 - - HA-800A-6B-200

12-1
 12-1 Option

Actuator Model Encoder Combined driver Extension cables 1

series No. type HA-800A-24 (option)
Motor wire
40 HA-800A-24D/E
EWD-MB**-A06-TMC
Encoder wire
2
SHA EWD-S**-A08-3M14
17-bit Absolute
series 58 HA-800A-24D/E Motor wire

65 HA-800A-24D/E
EWD-MB**-D09-TMC
Encoder wire 3
EWD-S**-D10-3M14
** in the extension cable model indicates the cable length.
Select a desired length from the following 3 types:
03: 3m, 05: 5m, 10: 10m 4
Dedicated communication cable
Use a dedicated communication cable to connect this driver to a personal computer.
5
Dedicated communication cable
6
Model EWA-RS03
Specifications D-sub 9 pin (female)
1.6m
7
Connectors
8
The CN1, CN2, motor-wire and power-supply connectors of this driver are shown below.

Connector model
CNK-HA80A-S1 : CN1 type/CN2 type/motor-wire type/power-supply type --- 4 types
9
CNK-HA80A-S2 : CN2 type/power-supply type --- 2 types
CNK-HA80A-S1-A: CN1/CN2 type --- 2 types
CNK-HA80A-S2-A: CN2 type --- 1 type 10
CN1 type CN2 type Motor-wire type Power-supply type
Manufacturer Sumitomo 3M Sumitomo 3M Phoenix Contact Phoenix Contact

Model
Connector:
10114-3000PE
Connector:
10150-3000PE
FKIC2,5/5-ST-5.08 FKC2,5/5-ST-5.08
11
Cover: Cover:
10314-52F0-008 10350-52F0-008

12
Option

12-2
 12-1 Option

1 Servo parameter setting software

This software lets you set various servo parameters of your HA-800A driver from a personal computer.
2 Use an EIA-232C cable to connect the CN3 connector on the HA-800A driver to a personal computer
in which the servo parameter setting software PSF-800 is installed, and you can change various servo
parameters in the driver.
You can download this servo parameter setting software from our website (http://www.hds.co.jp/).
3 Model PSF-800
Supported Windows® ME, Windows® NT, Windows® 2000, Windows®
1 1
operating systems Xp, Windows Vista®* , Windows® 7*
4 What you need Dedicated communication cable (EWA-RS03)
*1: Successful operation has been verified on Windows Vista®, and Windows 7®, but it is not guaranteed.

*Microsoft Windows and IntelliMouse are registered trademarks and trademarks of Microsoft Corporation in the
5 United States for use in the United States, Japan and other countries.
* Microsoft Windows Operating System is the full name of Windows.

7
EWA-RS03
8
PSF-800 setting software

CN3

12
Option

12-3
 12-1 Option

Backup battery 1
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. 2
Model code: HAB-ER17/33-2
Battery type Lithium battery
Manufacturer Hitachi Maxell, Ltd. 3
Manufacturer
ER17/33 (3.6V 1,600 mAh)
model

Data retention time

4
Data retention Approx. 1 year after the
time power is cut off
Unused power is turned OFF,
ambient temperature: 25°C,
5
axis stopped, continuous use
Conditions
(The actual life varies
depending on the condition of
use.) 6

7
 A battery purchased separately from the battery manufacturer does not come with
connector wires or removal tape. Prepare them on your own and attach them to the
battery before use. 8

Monitor cable
9
Use this signal cable to measure speed, torque and other signals using an oscilloscope.
10
Model EWA-MON01-JST4

11
4321

12
Line Color : Red 2: White 3: Black 4: Green
Option

12-4
 12-1 Option

12
Option

12-5
1-17

Chapter 13

Appendix
The list of default parameters and regenerative resistors are explained.

A-1 Default settings ································································· A-1

A-2 Regenerative resistor ························································· A-7
A-3 List of data retained in the driver ········································· A-21
A-4 Driver replacement procedures ··········································· A-24
A-5 Notices for using SHA-CG(-S) ············································ A-26
A-6 Control block diagram ······················································· A-32
 A-1 Default settings

A-1 Default settings

The standards parameter values set as a default for each applicable actuator are shown below.

SHA series (voltage: 200V)

Actuator model No. SHA20-SG SHA25-SG/HP
Actuator reduction ratio 51 81 101 121 161 11 51 81 101 121 161
Combined driver HA-800A-3D/E-200 HA-800A-3D/E-200
Applicable actuator
d13 5311 5321 5331 5341 5351 5801 5011 5021 5031 5041 5051
Code
Position loop gain
AJ00 40 40 40 40 40 40 40 40 40 40 40
(default)
Speed loop gain
AJ01 20 20 20 20 20 25 25 25 25 25 25
(default)
Speed loop integral
AJ02 compensation 20 20 20 20 20 20 20 20 20 20 20
(default)
In-position range
AJ04 150 150 150 150 150 150 150 150 150 150 150
(default)
Allowable position
SP49 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500
deviation (default)
Speed input factor
SP51 6000 6000 6000 6000 6000 5600 5600 5600 5600 5600 5600
(default)
Automatic gain
SP60 0 0 0 0 0 0 0 0 0 0 0
(default)
Encoder monitor
SP61 8192 8192 8192 8192 8192 8192 8192 8192 8192 8192 8192
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 0 0 0 0 0 0
function setting

Actuator model No. SHA32-SG/HP

Actuator reduction ratio 11 51 81 101 121 161
Combined driver HA-800A-6D/E-200
Applicable actuator
d13 5811 5111 5121 5131 5141 5151
Code
Position loop gain
AJ00 40 40 40 40 40 40
(default)
Speed loop gain
AJ01 56 56 56 56 56 56
(default)
Speed loop integral
AJ02 compensation 70 70 70 70 70 70
(default)
In-position range
AJ04 150 150 150 150 150 150
(default)
Allowable position
SP49 1500 1500 1500 1500 1500 1500
deviation (default)
Speed input factor
SP51 4800 4800 4800 4800 4800 4800
(default)
Automatic gain
SP60 0 0 0 0 0 0
(default)
Encoder monitor
SP61 8192 8192 8192 8192 8192 8192
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 0
function setting

Actuator model No. SHA40-SG SHA40-SG

Actuator reduction ratio 51 81 101 121 161 51 81 101 121 161
Combined driver HA-800A-6D/E-200 HA-800A-24D/E-200
Applicable actuator
d13 5211 5221 5231 5241 5251 5211 5221 5231 5241 5251
Code

Apx AJ00
Position loop gain
(default)
Speed loop gain
40 40 40 40 40 40 40 40 40 40

AJ01 80 80 80 80 80 8 8 8 8 8
(default)
Appendix

Speed loop integral

AJ02 compensation 60 60 60 60 60 60 60 60 60 60
(default)
In-position range
AJ04 150 150 150 150 150 150 150 150 150 150
(default)
Allowable position
SP49 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500
deviation (default)
Speed input factor
SP51 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000
(default)
Automatic gain
SP60 0 0 0 0 0 0 0 0 0 0
(default)
Encoder monitor
SP61 8192 8192 8192 8192 8192 8192 8192 8192 8192 8192
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 0 0 0 0 0
function setting

A-1
 A-1 Default settings

Actuator model No. SHA58-SG SHA65-SG

Actuator reduction ratio 81 101 121 161 81 101 121 161
Combined driver HA-800A-24D/E-200 HA-800A-24D/E-200
Applicable actuator
d13 5421 5431 5441 5451 5521 5531 5541 5551
Code
Position loop gain
AJ00 40 40 40 40 40 40 40 40
(default)
Speed loop gain
AJ01 26 26 26 26 30 30 30 30
(default)
Speed loop integral
AJ02 compensation 60 60 60 60 60 60 60 60
(default)
In-position range
AJ04 150 150 150 150 150 150 150 150
(default)
Allowable position
SP49 1500 1500 1500 1500 1500 1500 1500 1500
deviation (default)
Speed input factor
SP51 3000 3000 3000 3000 2800 2800 2800 2800
(default)
Automatic gain
SP60 0 0 0 0 0 0 0 0
(default)
Encoder monitor
SP61 8192 8192 8192 8192 8192 8192 8192 8192
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 0 0 0
function setting

Actuator model No. SHA25-CG(-S) SHA32-CG(-S)

Actuator reduction ratio 50 80 100 120 160 50 80 100 120 160
Combined driver HA-800A-3D/E-200 HA-800A-6D/E-200
Applicable actuator 8011 8021 8031 8041 8051 8111 8121 8131 8141 8151
d13
Code 8012 8022 8032 8042 8052 8112 8122 8132 8142 8152
Position loop gain
AJ00 40 40 40 40 40 40 40 40 40 40
(default)
Speed loop gain
AJ01 25 25 25 25 25 56 56 56 56 56
(default)
Speed loop integral
AJ02 compensation 20 20 20 20 20 70 70 70 70 70
(default)
In-position range
AJ04 150 150 150 150 150 150 150 150 150 150
(default)
Allowable position
SP49 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500
deviation (default)
Speed input factor
SP51 5600 5600 5600 5600 5600 4800 4800 4800 4800 4800
(default)
Automatic gain
SP60 0 0 0 0 0 0 0 0 0 0
(default)
Encoder monitor
SP61 8192 8192 8192 8192 8192 8192 8192 8192 8192 8192
Output pulses (default)
Feed-forward control
SP69 3 3 3 3 3 3 3 3 3 3
function setting

Actuator model No. SHA40-CG(-S) SHA40-CG(-S)

Actuator reduction ratio 50 80 100 120 160 50 80 100 120 160
Combined driver HA-800A-6D/E-200 HA-800A-24D/E-200
Applicable actuator 8211 8221 8231 8241 8251 8211 8221 8231 8241 8251
d13
Code 8212 8222 8232 8242 8252 8212 8222 8232 8242 8252
Position loop gain
AJ00 40 40 40 40 40 40 40 40 40 40
(default)
Speed loop gain
AJ01 80 80 80 80 80 8 8 8 8 8
(default)
Speed loop integral
AJ02 compensation 60 60 60 60 60 60 60 60 60 60
(default)
In-position range
AJ04 150 150 150 150 150 150 150 150 150 150

Apx
(default)
Allowable position
SP49 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500
deviation (default)
Speed input factor
SP51 4000 4000 4000 4000 4000 4000 4000 4000 4000 4000
(default)
Appendix

Automatic gain
SP60 0 0 0 0 0 0 0 0 0 0
(default)
Encoder monitor
SP61 8192 8192 8192 8192 8192 8192 8192 8192 8192 8192
Output pulses (default)
Feed-forward control
SP69 3 3 3 3 3 3 3 3 3 3
function setting

A-2
 A-1 Default settings

Actuator model No. SHA58-CG(-S) SHA65-CG(-S)

Actuator reduction ratio 80 100 120 160 80 100 120 160
Combined driver HA-800A-24D/E-200 HA-800A-24D/E-200
Applicable actuator 8421 8431 8441 8451 8521 8531 8541 8551
d13
Code 8422 8432 8442 8452 8522 8532 8542 8552
Position loop gain
AJ00 40 40 40 40 40 40 40 40
(default)
Speed loop gain
AJ01 26 26 26 26 30 30 30 30
(default)
Speed loop integral
AJ02 compensation 60 60 60 60 60 60 60 60
(default)
In-position range
AJ04 150 150 150 150 150 150 150 150
(default)
Allowable position
SP49 1500 1500 1500 1500 1500 1500 1500 1500
deviation (default)
Speed input factor
SP51 3000 3000 3000 3000 2800 2800 2800 2800
(default)
Automatic gain
SP60 0 0 0 0 0 0 0 0
(default)
Encoder monitor
SP61 8192 8192 8192 8192 8192 8192 8192 8192
Output pulses (default)
Feed-forward control
SP69 3 3 3 3 3 3 3 3
function setting

SHA series (voltage: 100V)

Actuator model No. SHA25-SG SHA25-CG(-S)

Actuator reduction ratio 51 81 101 121 161 50 80 100 120 160

Combined driver HA-800*-6D/E-100 HA-800A-6D/E-100

Applicable actuator 8611 8621 8631 8641 8651
d13 5611 5621 5631 5641 5651
Code 8612 8622 8632 8642 8652
Position loop gain
AJ00 40 40 40 40 40 40 40 40 40 40
(default)
Speed loop gain
AJ01 25 25 25 25 25 25 25 25 25 25
(default)
Speed loop integral
AJ02 compensation 20 20 20 20 20 20 20 20 20 20
(default)
In-position range
AJ04 150 150 150 150 150 150 150 150 150 150
(default)
Allowable position
SP49 1500 1500 1500 1500 1500 1500 1500 1500 1500 1500
deviation (default)
Speed input factor
SP51 4800 4800 4800 4800 4800 4800 4800 4800 4800 4800
(default)
Automatic gain
SP60 0 0 0 0 0 0 0 0 0 0
(default)
Encoder monitor
SP61 8192 8192 8192 8192 8192 8192 8192 8192 8192 8192
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 3 3 3 3 3
function setting

FHA-C 4-wire, wire-saving incremental series (voltage: 200V)

Actuator model No. FHA-8C FHA-11C FHA-14C

Actuator reduction ratio 30 50 100 30 50 100 30 50 100

Combined driver HA-800A-1C-200 HA-800A-1C-200 HA-800A-1C-200

Applicable actuator
d13 6204 6214 6234 6404 6414 6434 6604 6614 6634
Code

Apx
Position loop gain
AJ00 40 40 40 40 40 40 40 40 40
(default)
Speed loop gain
AJ01 35 35 35 45 45 45 80 80 80
(default)
Speed loop integral
Appendix

AJ02 compensation 20 20 20 20 20 20 20 20 20
(default)
In-position range
AJ04 10 10 10 10 10 10 10 10 10
(default)
Allowable position
SP49 100 100 100 100 100 100 100 100 100
deviation (default)
Speed input factor
SP51 6000 6000 6000 6000 6000 6000 6000 6000 6000
(default)
Automatic gain
SP60 1 1 1 1 1 1 1 1 1
(default)
Encoder monitor
SP61 1 1 1 1 1 1 1 1 1
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 0 0 0 0
function setting

A-3
 A-1 Default settings

FHA-C 4-wire, wire-saving incremental series (voltage: 100V)

Actuator model No. FHA-8C FHA-11C FHA-14C

Actuator reduction ratio 30 50 100 30 50 100 30 50 100

Combined driver HA-800A-1C-100 HA-800A-1C-100 HA-800A-1C-100

Applicable actuator
d13 6304 6314 6334 6504 6514 6534 6704 6714 6734
Code
Position loop gain
AJ00 40 40 40 40 40 40 40 40 40
(default)
Speed loop gain
AJ01 35 35 35 45 45 45 80 80 80
(default)
Speed loop integral
AJ02 compensation 20 20 20 20 20 20 20 20 20
(default)
In-position range
AJ04 10 10 10 10 10 10 10 10 10
(default)
Allowable position
SP49 100 100 100 100 100 100 100 100 100
deviation (default)
Speed input factor
SP51 6000 6000 6000 6000 6000 6000 6000 6000 6000
(default)
Automatic gain
SP60 1 1 1 1 1 1 1 1 1
(default)
Encoder monitor
SP61 1 1 1 1 1 1 1 1 1
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 0 0 0 0
function setting

FHA-Cmini absolute series (voltage: 200V)

Actuator model No. FHA-8C FHA-11C FHA-14C

Actuator reduction ratio 30 50 100 30 50 100 30 50 100

Combined driver HA-800A-1D-200 HA-800A-1D-200 HA-800A-1D-200

Applicable actuator
d13 6201 6211 6231 6401 6411 6431 6601 6611 6631
Code
Position loop gain
AJ00 40 40 40 40 40 40 40 40 40
(default)
Speed loop gain
AJ01 21 21 21 27 27 27 48 48 48
(default)
Speed loop integral
AJ02 compensation 20 20 20 20 20 20 20 20 20
(default)
In-position range
AJ04 150 150 150 150 150 150 150 150 150
(default)
Allowable position
SP49 1500 1500 1500 1500 1500 1500 1500 1500 1500
deviation (default)
Speed input factor
SP51 6000 6000 6000 6000 6000 6000 6000 6000 6000
(default)
Automatic gain
SP60 1 1 1 1 1 1 1 1 1
(default)
Encoder monitor
SP61 8192 8192 8192 8192 8192 8192 8192 8192 8192
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 0 0 0 0
function setting

FHA-Cmini absolute series (voltage: 100V)

Actuator model No. FHA-8C FHA-11C FHA-14C

Actuator reduction ratio 30 50 100 30 50 100 30 50 100

Combined driver HA-800A-1D-100 HA-800A-1D-100 HA-800A-1D-100

Applicable actuator
d13 6301 6311 6331 6501 6511 6531 6701 6711 6731
Code
AJ00
Position loop gain
(default)
Speed loop gain
40 40 40 40 40 40 40 40 40
Apx
AJ01 21 21 21 27 27 27 48 48 48
(default)
Appendix

Speed loop integral

AJ02 compensation 20 20 20 20 20 20 20 20 20
(default)
In-position range
AJ04 150 150 150 150 150 150 150 150 150
(default)
Allowable position
SP49 1500 1500 1500 1500 1500 1500 1500 1500 1500
deviation (default)
Speed input factor
SP51 6000 6000 6000 6000 6000 6000 6000 6000 6000
(default)
Automatic gain
SP60 1 1 1 1 1 1 1 1 1
(default)
Encoder monitor
SP61 8192 8192 8192 8192 8192 8192 8192 8192 8192
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 0 0 0 0
function setting

A-4
 A-1 Default settings

FHA-C 4-wire, wire-saving incremental series (voltage: 200V)

Actuator model No. FHA-17C FHA-25C FHA-32C FHA-40C

Actuator reduction ratio 50 100 160 50 100 160 50 100 160 50 100 160

Combined driver HA-800A-3C-200 HA-800A-3C-200 HA-800A-6C-200 HA-800A-6C-200

Applicable actuator
d13 5217 5237 5247 5417 5437 5447 5617 5637 5647 5717 5737 5747
Code
Position loop gain
AJ00 40 40 40 40 40 40 40 40 40 40 40 40
(default)
Speed loop gain
AJ01 25 25 25 50 50 50 80 80 80 120 120 120
(default)
Speed loop integral
AJ02 compensation 40 40 40 40 40 40 40 40 40 40 40 40
(default)
In-position range
AJ04 10 10 10 10 10 10 10 10 10 10 10 10
(default)
Allowable position
SP49 100 100 100 100 100 100 100 100 100 100 100 100
deviation (default)
Speed input factor
SP51 4800 4800 4800 4500 4500 4500 4000 4000 4000 3500 3500 3500
(default)
Automatic gain
SP60 0 0 0 0 0 0 0 0 0 0 0 0
(default)
Encoder monitor
SP61 1 1 1 1 1 1 1 1 1 1 1 1
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 0 0 0 0 0 0 0
function setting

FHA-C 4-wire, wire-saving incremental series (voltage: 100V)

Actuator model No. FHA-17C FHA-25C FHA-32C

Actuator reduction ratio 50 100 160 50 100 160 50 100 160

Combined driver HA-800A-3C-100 HA-800A-6C-100 HA-800A-6C-100

Applicable actuator
d13 5117 5137 5147 5317 5337 5347 5517 5537 5547
Code
Position loop gain
AJ00 40 40 40 37 37 37 50 50 50
(default)
Speed loop gain
AJ01 50 50 50 50 50 50 120 120 120
(default)
Speed loop integral
AJ02 compensation 40 40 40 40 40 40 40 40 40
(default)
In-position range
AJ04 10 10 10 10 10 10 10 10 10
(default)
Allowable position
SP49 100 100 100 100 100 100 100 100 100
deviation (default)
Speed input factor
SP51 4800 4800 4800 4500 4500 4500 4000 4000 4000
(default)
Automatic gain
SP60 0 0 0 0 0 0 0 0 0
(default)
Encoder monitor
SP61 1 1 1 1 1 1 1 1 1
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 0 0 0 0
function setting

FHA-C absolute series (voltage: 200V)

Actuator model No. FHA-17C FHA-25C FHA-32C FHA-40C

Actuator reduction ratio 50 100 160 50 100 160 50 100 160 50 100 160

Combined driver HA-800A-3A-200 HA-800A-3A-200 HA-800A-6A-200 HA-800A-6A-200

Applicable actuator
d13 5218 5238 5248 5418 5438 5448 5618 5638 5648 5718 5738 5748
Code

Apx AJ00
Position loop gain
(default)
Speed loop gain
40 40 40 40 40 40 40 40 40 40 40 40

AJ01 25 25 25 50 50 50 80 80 80 120 120 120

(default)
Appendix

Speed loop integral

AJ02 compensation 40 40 40 50 50 50 40 40 40 70 70 70
(default)
In-position range
AJ04 10 10 10 10 10 10 10 10 10 10 10 10
(default)
Allowable position
SP49 100 100 100 100 100 100 100 100 100 100 100 100
deviation (default)
Speed input factor
SP51 4800 4800 4800 4500 4500 4500 4000 4000 4000 3500 3500 3500
(default)
Automatic gain
SP60 0 0 0 0 0 0 0 0 0 0 0 0
(default)
Encoder monitor
SP61 1 1 1 1 1 1 1 1 1 1 1 1
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 0 0 0 0 0 0 0
function setting

A-5
 A-1 Default settings

FHA-C absolute series (voltage: 100V)

Actuator model No. FHA-17C FHA-25C FHA-32C

Actuator reduction ratio 50 100 160 50 100 160 50 100 160

Combined driver HA-800A-3A-100 HA-800A-6A-100 HA-800A-6A-100

Applicable actuator
d13 5118 5138 5148 5318 5338 5348 5518 5538 5548
Code
Position loop gain
AJ00 40 40 40 37 37 37 50 50 50
(default)
Speed loop gain
AJ01 50 50 50 50 50 50 120 120 120
(default)
Speed loop integral
AJ02 compensation 40 40 40 50 50 50 40 40 40
(default)
In-position range
AJ04 10 10 10 10 10 10 10 10 10
(default)
Allowable position
SP49 100 100 100 100 100 100 100 100 100
deviation (default)
Speed input factor
SP51 4800 4800 4800 4500 4500 4500 4000 4000 4000
(default)
Automatic gain
SP60 0 0 0 0 0 0 0 0 0
(default)
Encoder monitor
SP61 1 1 1 1 1 1 1 1 1
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 0 0 0 0
function setting

RSF 14-wire, wire-saving incremental series (voltage: 200V)

Actuator model No. RSF-17A RSF-20A RSF-25A RSF-32A

Actuator reduction ratio 50 100 50 100 50 100 50 100 160

Combined driver HA-800A-3B-200 HA-800A-3B-200 HA-800A-3B-200 HA-800A-6B-200

Applicable actuator
d13 7365 7375 7465 7475 7565 7575 7665 7675 7685
Code
Position loop gain
AJ00 50 50 30 30 50 50 50 50 50
(default)
Speed loop gain
AJ01 30 30 35 35 40 40 50 50 50
(default)
Speed loop integral
AJ02 compensation 50 50 30 30 50 50 50 50 50
(default)
In-position range
AJ04 10 10 10 10 10 10 10 10 10
(default)
Allowable position
SP49 100 100 100 100 100 100 100 100 100
deviation (default)
Speed input factor
SP51 3000 3000 3000 3000 3000 3000 3000 3000 3000
(default)
Automatic gain
SP60 0 0 0 0 0 0 0 0 0
(default)
Encoder monitor
SP61 1 1 1 1 1 1 1 1 1
Output pulses (default)
Feed-forward control
SP69 0 0 0 0 0 0 0 0 0
function setting

Apx
Appendix

A-6
 A-2 Regenerative resistor

A-2 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-800 drivers come with or without a built-in regenerative resistor, as shown in the table
below.
Different HA-800 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.

Input voltage 200V specification/100V specification

Model HA-800A-1 HA-800A-3 HA-800A-6 HA-800A-24
Driver’s rated current 1.5 A 3.0 A 6A 24 A
Terminal for mounting Regenerative resistor contained
Regenerative
external regenerative Terminal for mounting external regenerative
processing
resistance provided resistance provided
Power absorbed by
built-in regenerative - 3W max. 8W max. 90W max.
resistor
Allowable absorption
90J (200V 220J (200V
energy per regenerative
specification) specification)
operation (holding) 1600J
110J (100V 260J (100V
when a built-in *2
specification) specification)
regenerative resistor is
*2 *2
used (repeat cycle) 30J (200V specification)
Allowable absorption 53J (100V specification)
energy per regenerative *1 *2
operation (holding)
when a built-in 150J 420J 2400J
regenerative resistor is
used
Apx (non-repeat cycle)
There is no built-in Connect an external regenerative resistor if the
regenerative resistor. regenerative power is greater than the power
Appendix

Normally you don't need absorbed by the built-in regenerative resistor.

any external regenerative
resistor. Connect an
Explanation
external regenerative
resistor if the smoothing
capacitor in the driver
cannot absorb the
regenerative energy fully.
*1: Standard value of power absorbed by an electrode capacitor
*2: 200V specification is the standard value for when the input voltage is AC200V. 100V specification is
the standard value for when the input voltage is AC100V.

A-7
 A-2 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-8
 A-2 Regenerative resistor

Calculation of regenerative energy

Calculate the regenerative energy by assuming that the machine operates as shown below.

Actuator rotation speed

Actuator (Up) ta (1 cycle)

Load arm NC
Up

Time
Down
Negative torque Tn (Down)

t1 t2 t3 t4 t5 t6 t7 t 8
(+)

(1) (Power running)

(5)
(2) (4) (8)
Torque

(6)
(3)
(Regeneration) (7)

(-)

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)

Step Actuator torque Energy

T1 = (Ja + Jm) × {(2π × Nc) / 60} × (1 E1 = 1/2 × {(2π × Nc) / 60} × Nc × T1 × t1
(1)
/ t1) + Tn + Tf
(2) T2 = Tn + Tf E2 = (2π × Nc) / 60} × Nc × T2 × t2
T3 = - (Ja + Jm) × {(2π × Nc) / 60} × E3 = 1/2 × {(2π × Nc) / 60} × Nc × T3 × t3
(3)
(1 / t3) + Tn + Tf
T4 = Tn 0 (Regenerative energy is 0, because the
(4),(8)
actuator is stopped.)
T5 = (Ja + Jm) × {(2π × Nc) / 60} × (1 E5 = 1/2 × {(2π × Nc) / 60} × Nc × T5 × t5
(5)
Apx
/ t5) - Tn + Tf
(6) T6 = -Tn + Tf E6 = (2π × Nc) / 60} × Nc × T6 × t6

T7 = - (Ja + Jm) × {(2π × Nc) / 60} × E5 = 1/2 × {(2π × Nc) / 60} × Nc × T7 × t7

(7)
Appendix

(1 / t7) - Tn + Tf

Of energies E1 to E8, negative energies are added up and the absolute value of this total sum
gives the regenerative energy <Es>.
If E3, E6 and E7 are negative in the above example, the total regenerative energy is calculated
as follows:
Es = | E3 + E6 + E7 |

A-9
 A-2 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-800 driver and capacities of the driver's built-in regenerative resistor R.

Energy absorbed Built-in regenerative resistor specification Min. allowable

Driver by built-in
Absorption capacity external
model capacitor Ec (J) Resistance (Ω)
Wi (W) *2 resistance (Ω)
*1
HA-800A-1 30 - - 33Ω - 5%

HA-800A-3 30 3W max. 50Ω ± 5% 33Ω - 5%

HA-800A-6 52 8W max. 33Ω ± 5% 33Ω - 5%

HA-800A-24 78 90W max. 10Ω± 5% 10Ω - 5%

*1: The value of capacitor-absorbed energy Ec represents the standard absorption level of the capacitor at
the driver's main service input voltage AC200V. 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 50% of the standard absorption level as a guideline and perform the calculation.
*2: Absorption capacity of the built-in regenerative resistor [Wi] refers to the size of regenerative power that
can be absorbed by the resistor when its rated capacity is derated.

Calculate the regenerative energy that must be absorbed by the regenerative resistor using
each of the values above.
Divide the regenerative energy by the operation cycle time to calculate the regenerative power
that needs to be absorbed by the regenerative resistor <We>.
We [W] = (Es - Ec) / ta
If <We> is less than the power absorbed by a built-in regenerative resistor <Wi>, no external
regenerative resistor is required. If <We> exceeds <Wi>, select an appropriate external
regenerative resistor according to the capacity of <We>. Select a resistance equal to or greater
than the applicable minimum allowable resistance shown in the table.
When you use an external regenerative resistor, remove the short bar to separate the built-in
regenerative resistor from the circuit. The built-in regenerative resistor stops absorbing
regenerative energy and thus stops generating heat. This allows connecting a large external
regenerative resistor.
* HA-800A-24 allows monitoring regenerative power.

Apx
Appendix

A-10
 A-2 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-800A-1 RH220B33ΩJ Allowable absorption power: Approximately 20 to 30W
HA-800A-3 Iwaki Musen (depends on the cooling conditions)
HA-800A-6 Kenkyusho Co., Ltd. Allowable absorption energy per regenerative
operation: 2,200J
RH500 20ΩJ Allowable absorption power: Approximately 150W
(Parallel connection (depends on the cooling conditions)
of 2 resistors) Allowable absorption energy per regenerative
Iwaki Musen operation: 13,000J
Kenkyusho Co., Ltd. Connect 2 resistors in parallel.
(Refer to the connection example below.)
HA-800A-24
RH500 10ΩJ Allowable absorption power: Approximately 300W
(Parallel connection (Varies depending on the cooling conditions)
in series of 4 Allowable absorption energy per regenerative
resistors) operation: 36,000J
Iwaki Musen Connect four resistors in series and parallel.
Kenkyusho Co., Ltd. (Refer to the connection example below.)

Derating the external regenerative resistor

 Rise in regenerative resistor temperature
Power resistors used as regenerative resistors consume a large amount of power and become
very hot. Accordingly, be sure to derate the rated capacity of your resistor. Without proper
derating, the resistor may present problems such as becoming heated to several hundred
degrees or failing prematurely.

 Derating
Check the load characteristics of your resistor with its manufacturer. Basically the derating ratio
should be 20% or less if the driver is used in a condition of natural convection cooling. Follow
the internal standard of your company.

Layout and wiring of external regenerative resistor

 Layout
Regenerative resistors may be heated to 100℃ or more above the ambient temperature.
Carefully determine the position of the radiation, installation position, wiring path, etc.
 Wiring
Apx Use flame-resistant wires to wire the resistor by avoiding contact between the wires and resistor
body. Be sure to use twisted wires when connecting to the servo amplifier, and keep the wiring
distance to no longer than 5m.
Appendix

Regenerative resistors become very hot. Determine the position of the

radiation, installation position, wiring path, etc. by giving thorough
CAUTION consideration to safety.

A-11
 A-2 Regenerative resistor

 Connecting to the driver

Connect the external regenerative resistor between the R1 and R2 terminals of the HA-800
driver.
HA-800*-1, -3 and -6
Red
U
White
V
Black
M AC Servo Actuator
W
R2 External
regenerative
R3
resistor
R1
When using a built-in regenerative resistor with the HA-800A-3/6, short-circuit the R1 and
R3.(On our extension cables, these terminals are already short-circuited with a short bar.)
When using an external regenerative resistor, keep R1 and R3 open and connect the
regenerative resistor between R1 and R2.

Terminal block for motor connection (for TB1)

Manufacturer Phoenix Contact U
Model FKIC2.5/6-ST-5.08 V
W
R2
R3
R1

HA-800*-24

When using a built-in regenerative resistor with the HA-800A-24,

short-circuit the R1 and R3.(These terminals are already short-circuited
with a short bar as default.)
When using an external regenerative resistor, keep R1 and R3 open
TB1 and connect the regenerative resistor between R1 and R2.
R3
R1
External regenerative resistor
R2
Red
U
White
V
Black
M
W
AC Servo Actuator

Terminal block for motor connection Apx

Crimp terminal Reference
Screw size
outer diameter
Appendix

Round crimp terminal (R-type) 3.5-R4 (J.S.T. Mfg. Co., Ltd)

M4 φ8mm
5.5-4NS (J.S.T. Mfg. Co., Ltd)

A-12
 A-2 Regenerative resistor

 Connection example of external regenerative resistor

Regenerative power: 150W Regenerative power: 300W

RH500 20ΩJ（2 resistors） RH500 10ΩJ（4 resistors）

R3 R3
R1 R1
R2 R2
Red Red
U U
White White
V M V M
Black Black
W W
AC Servo Actuator AC Servo Actuator

Apx
Appendix

A-13
 A-2 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 AC200V for 200V specifications, AC100V for 100V specifications). (The
allowable load inertia varies depending on the motor speed, operation pattern, and input voltage etc.
during an actual operation.)
When the regenerative resistance (built-in or external) is applied, it should be within the allowable
absorption power or allowable absorption energy of regenerative resistance.

SHA series (voltage: 200V)

Actuator model No. SHA20A-SG
Actuator reduction ratio 51 81 101 121 161
Combined driver HA-800A-3D/E-200
Max. rotational speed r/min 117.6 74.1 59.4 49.6 37.3
2
Actuator inertia moment kg･m 0.23 0.58 0.91 1.30 2.31
(no brake) kgf･cm･s
2
2.4 6.0 9.3 13.3 23.6
2
kg･m 0.26 0.65 1.00 1.44 2.55
Actuator inertia moment
(with brake) kgf･cm･s
2
2.6 6.6 10.2 14.7 26.0
2
Allowable load inertia kg･m 0.93 2.3 3.6 5.1 9.1
moment when a built-in
2
regenerative resistor is kgf･cm･s 9.5 23 37 52 93
used (repeat cycle)
Allowable load inertia moment kg･m
2
1.7 4.3 6.7 9.6 17
when a built-in regenerative
resistor is used kgf･cm･s
2
17.3 44 68 98 173
(non-repeat cycle)
2
Allowable load inertia kg･m 2.4 3.8 4.8 5.8 7.7
moment when an external kgf･cm･s
2
25 39 49 59 78
regenerative resistor is
External
used RH220B33ΩJ
regenerative resistor

Actuator model No. SHA25A-SG/HP

Actuator reduction ratio 11 51 81 101 121 161
Combined driver HA-800A-3D/E-200
Max. rotational speed r/min 509.1 109.8 69.1 55.4 46.3 34.8
2
Actuator inertia moment kg･m 0.029 0.56 1.42 2.2 3.2 5.6
(no brake) kgf･cm･s
2
0.296 5.7 14.4 22 32 57
2
kg･m 0.034 0.66 1.66 2.6 3.7 6.6
Actuator inertia moment

Apx
(with brake) kgf･cm･s
2
0.347 6.7 17 26 38 67
2
Allowable load inertia kg･m 0.034 0.79 2.0 3.1 4.4 7.9
moment when a built-in
Appendix

2
regenerative resistor is kgf･cm･s 0.347 8.1 20.4 31.6 44.9 80.6
used (repeat cycle)
Allowable load inertia moment kg･m
2
0.071 1.3 3.4 5.4 7.7 13.8
when a built-in regenerative
resistor is used kgf･cm･s
2
0.724 13.2 34.7 55.1 78.5 140
(non-repeat cycle)
2
Allowable load inertia kg･m 0.288 5.6 8.8 11 14 20
moment when an external kgf･cm･s
2
2.939 57 90 112 144 201
regenerative resistor is External
used RH220B33ΩJ
regenerative resistor

A-14
 A-2 Regenerative resistor

Actuator model No. SHA32A-SG/HP

Actuator reduction ratio 11 51 81 101 121 161
Combined driver HA-800A-6D/E-200
Max. rotational speed r/min 436.4 94.1 59.3 47.5 39.7 29.8
2
Actuator inertia moment kg･m 0.092 2.0 5.1 8.0 11 20
(no brake) kgf･cm･s
2
0.939 21 52 81 117 207
2
kg･m 0.1065 2.3 5.9 9.2 13 23
Actuator inertia moment
(with brake) kgf･cm･s
2
1.087 24 60 94 135 238
2
Allowable load inertia kg･m 0.1065 2.3 5.9 9.2 13 23
moment when a built-in
regenerative resistor is kgf･cm･s
2
1.087 24 60 94 135 238
used (repeat cycle)
Allowable load inertia moment kg･m
2
0.277 6.0 15.3 24 33 60
when a built-in regenerative
resistor is used kgf･cm･s
2
2.827 61.2 156 244 336 612
(non-repeat cycle)
2
Allowable load inertia kg･m 0.930 20 32 40 50 70
moment when an external kgf･cm･s
2
9.490 200 320 400 510 710
regenerative resistor is External
used RH220B33ΩJ
regenerative resistor

Actuator model No. SHA40A-SG

Actuator reduction ratio 51 81 101 121 161 51 81 101 121 161
Combined driver HA-800A-6D/E-200 HA-800A-24D/E-200
Max. rotational
r/min 78.4 49.4 39.6 33.1 24.8 78.4 49.4 39.6 33.1 24.8
speed
Actuator inertia kg･m2 5.0 13 20 28 50 5.0 13 20 28 50
moment
(no brake) kgf･cm･s2 51 130 202 290 513 51 130 202 290 513
Actuator inertia kg･m2 6.1 15 24 34 61 6.1 15 24 34 61
moment
(with brake) kgf･cm･s2 62 157 244 350 619 62 157 244 350 619
Allowable load
kg･m2 1.2 3 4.8 6.8 12.2 40 92 114 137 182
inertia moment
when a built-in
regenerative kgf･cm･s2 12.2 30.6 49 69 124 408 930 1170 1400 1860
resistor is used
(repeat cycle)
Allowable load kg･m2 6.1 15 24 34 61 58 92 114 137 182
inertia moment
when a built-in
regenerative kgf･cm･s2 62.2 153 244 346 622 590 930 1170 1400 1860
Apx resistor is used
(non-repeat cycle)
Allowable load kg･m2 58 92 114 137 182 58 (92) (114) (137) (182)
Appendix

inertia moment
kgf･cm･s2 590 930 1170 1400 1860 590 (930) (1170) (1400) (1860)
when an
external External Connect two RH500_20ΩJ in parallel, or
regenerative regenerative RH220B33ΩJ connect four RH500_10ΩJ in series and
resistor is used resistor parallel.

A-15
 A-2 Regenerative resistor

Actuator model No. SHA58A-SG SHA65A-SG

Actuator reduction ratio 81 101 121 161 81 101 121 161
Combined driver HA-800A-24D/E-200 HA-800A-24D/E-200
Max. rotational
r/min 37.0 29.7 24.8 18.6 34.6 27.7 23.1 17.4
speed
Actuator inertia kg･m
2
96 149 214 379 110 171 245 433
moment 2
(no brake) kgf･cm･s 980 1520 2180 3870 1120 1740 2500 4420
2
Actuator inertia kg･m 106 165 237 420 120 187 268 475
moment 2
(with brake) kgf･cm･s 1090 1690 2420 4290 1230 1910 2740 4850
Allowable load
kg･m2 111 173 249 441 128 200 288 508
inertia moment
when a built-in
regenerative
kgf･cm･s2 1133 1765 2541 4500 1306 2041 2939 5184
resistor is used
(repeat cycle)
Allowable load kg･m
2
212 330 474 840 240 374 536 950
inertia moment
when a built-in
regenerative kgf･cm･s
2
2160 3360 4830 8570 2440 3810 5460 9690
resistor is used
(non-repeat cycle)
2
Allowable load kg･m 290 450 640 1140 360 560 810 1420
inertia moment kgf･cm･s
2
2900 4600 6500 11600 3700 5700 8200 14500
when an external External Connect two RH500_20ΩJ in parallel, or Connect two RH500_20ΩJ in parallel, or
regenerative regenerative connect four RH500_10ΩJ in series and connect four RH500_10ΩJ in series and
resistor is used resistor parallel. parallel.

Actuator model No. SHA25A-CG(-S)

Actuator reduction ratio 50 80 100 120 160
Combined driver HA-800A-3D/E-200
Max. rotational
r/min 112 70 56 46.7 35
speed
2
Actuator inertia kg･m 0.50 1.3 2.0 2.9 5.1
moment kgf･cm･
(no brake) 2 5.1 13.0 20 29 52
s
2
Actuator inertia kg･m 0.59 1.5 2.4 3.4 6.1
moment kgf･cm･
(with brake) 2 6.0 15.4 24 35 62
s
2
Allowable load kg･m 0.7 1.8 2.9 4.1 7.3
inertia moment
when a built-in
kgf･cm･
Apx
regenerative 2 7.1 18 30 42 74
resistor is used s
(repeat cycle)
Allowable load kg･m
2
1.6 4.1 6.7 9.6 17
Appendix

inertia moment
when a built-in
regenerative kgf･cm･
2 16.3 42 68 98 173
resistor is used s
(non-repeat cycle)
2
kg･m 5.6 8.8 11 14 20
Allowable load
inertia moment kgf･cm･
2 57 90 112 144 201
when an external s
regenerative External
resistor is used regenerative RH220B33ΩJ
resistor

A-16
 A-2 Regenerative resistor

Actuator model No. SHA32A-CG(-S)

Actuator reduction ratio 50 80 100 120 160
Combined driver HA-800A-6D/E-200
Max. rotational
r/min 96 60 48 40 30
speed
2
Actuator inertia kg･m 1.7 4.2 6.6 9.5 17
moment kgf･cm･
(no brake) 2 17 43 67 97 173
s
2
Actuator inertia kg･m 2.0 5.0 7.8 11 20
moment kgf･cm･
(with brake) 2 20 51 80 115 204
s
2
Allowable load kg･m 2.4 6 9.4 13 24
inertia moment
when a built-in
regenerative kgf･cm･
2 24.5 61 96 133 245
resistor is used s
(repeat cycle)
Allowable load kg･m
2
6.4 16 25 36 64
inertia moment
when a built-in
regenerative kgf･cm･
2 65 163 255 367 653
resistor is used s
(non-repeat cycle)
2
kg･m 20 32 40 50 70
Allowable load
inertia moment kgf･cm･
2 200 320 400 510 710
when an external s
regenerative External
resistor is used regenerative RH220B33ΩJ
resistor

Actuator model No. SHA40A-CG(-S)

Actuator reduction ratio 50 80 100 120 160 50 80 100 120 160
Combined driver HA-800A-6D/E-200 HA-800A-24D/E-200
Max. rotational
r/min 80 50 40 33.3 25 80 50 40 33.3 25
speed
Actuator inertia kg･m2 4.7 12 19 27 48 4.7 12 19 27 48
moment
(no brake) kgf･cm･s2 48 123 193 278 494 48 123 193 278 494
2
Actuator inertia kg･m 5.7 15 23 33 59 5.7 15 23 33 59
moment
(with brake) kgf･cm･s2 58 150 234 337 598 58 150 234 337 598
Allowable load
kg･m2 1.14 3 4.6 6.6 11.8 40 92 114 137 182
inertia moment
when a built-in

Apx regenerative
resistor is used
kgf･cm･s2 12 31 47 67 120 408 930 1170 1400 1860
(repeat cycle)
Allowable load kg･m2 6.3 16 25 36 65 58 92 114 137 182
Appendix

inertia moment
when a built-in
regenerative kgf･cm･s2 64 163 255 367 663 590 930 1170 1400 1860
resistor is used
(non-repeat cycle)
Allowable load kg･m2 58 92 114 137 182 58 (92) (114) (137) (182)
inertia moment kgf･cm･s 2
590 930 1170 1400 1860 590 (930) (1170) (1400) (1860)
when an external External Connect two RH500_20ΩJ in parallel, or
regenerative regenerative RH220B33ΩJ connect four RH500_10ΩJ in series and
resistor is used resistor parallel.

A-17
 A-2 Regenerative resistor

Actuator model No. SHA58A-CG(-S) SHA65A-CG(-S)

Actuator reduction ratio 80 100 120 160 80 100 120 160
Combined driver HA-800A-24D/E-200 HA-800A-24D/E-200
Max. rotational
r/min 37.5 30 25 18.8 37.5 30 25 18.8
speed
Actuator inertia kg･m
2
83 130 188 333 96 151 217 386
moment 2
(no brake) kgf･cm･s 850 1328 1912 3399 983 1536 2212 3933
2
Actuator inertia kg･m 94 146 211 374 107 167 240 427
moment 2
(with brake) kgf･cm･s 954 1491 2147 3817 1088 1699 2447 4350
Allowable load
kg･m2 113 175 253 449 128 200 288 512
inertia moment
when a built-in
regenerative
kgf･cm･s2 1153 1786 2582 4582 1300 2040 2940 5220
resistor is used
(repeat cycle)
Allowable load kg･m
2
216 336 485 860 246 384 552 982
inertia moment
when a built-in
regenerative kgf･cm･s
2
2200 3430 4950 8780 2510 3920 5630 10020
resistor is used
(non-repeat cycle)
2
Allowable load kg･m 290 450 640 1140 360 560 810 1420
inertia moment kgf･cm･s
2
2900 4600 6500 11600 3700 5700 8200 14500
when an external External Connect two RH500_20ΩJ in parallel, or Connect two RH500_20ΩJ in parallel, or
regenerative regenerative connect four RH500_10ΩJ in series and connect four RH500_10ΩJ in series and
resistor is used resistor parallel. parallel.

SHA series (voltage: 100V)

Actuator model No. SHA25A-SG SHA25A-CG(-S)
Actuator reduction ratio 51 81 101 121 161 50 80 100 120 160
Combined driver HA-800A-6D/E-100 HA-800A-6D/E-100
Max. rotational
r/min 94.1 59.2 47.5 39.6 29.8 96 60 48 40 30
speed
Actuator inertia kg･m
2
0.56 1.42 2.2 3.2 5.6 0.50 1.3 2.0 2.9 5.1
moment 2
(no brake) kgf･cm･s 5.7 14.4 22 32 57 5.1 13.0 20 29 52
Actuator inertia kg･m
2
0.66 1.66 2.6 3.7 6.6 0.59 1.5 2.4 3.4 6.1
moment 2
(with brake) kgf･cm･s 6.7 17 26 38 67 6.0 15.4 24 35 62
Allowable load kg･m
2
3.3 8.0 11 14 20 3.7 8.8 11 14 20
inertia moment
when a built-in
regenerative
resistor is used
kgf･cm･s
2
33.7 82 112 144 201 38 90 112 144 201 Apx
(repeat cycle)
Appendix

Allowable load kg･m

2
5.6 8.8 11 14 20 5.6 8.8 11 14 20
inertia moment
when a built-in
regenerative kgf･cm･s
2
57 90 112 144 201 57 90 112 144 201
resistor is used
(non-repeat cycle)
2
Allowable load kg･m 5.6 8.8 (11) (14) (20) 5.6 (8.8) (11) (14) (20)
inertia moment kgf･cm･s
2
57 90 (112) (144) (201) 57 (90) (112) (144) (201)
when an external External
regenerative regenerative RH220B33ΩJ RH220B33ΩJ
resistor is used resistor

A-18
 A-2 Regenerative resistor

FHA-Cmini series (voltage: 100V/200V)

Actuator model No. FHA-8C FHA-11C FHA-14C
Actuator reduction ratio 30 50 100 30 50 100 30 50 100
HA-800A-1*-100 HA-800A-1*-100 HA-800A-1*-100
Combined driver
HA-800A-1*-200 HA-800A-1*-200 HA-800A-1*-200
Max. rotational
r/min 200 120 60 200 120 60 200 120 60
speed
2
Actuator inertia kg･m 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
moment kgf･cm･s
2
0.027 0.075 0.30 0.061 0.17 0.68 0.18 0.51 2.0
Allowable load kg･m
2
0.0078 0.022 0.087 0.018 0.051 0.20 0.054 0.15 0.60
inertia moment
when a
regenerative 2
resistor is kgf･cm･s 0.081 0.23 0.90 0.18 0.51 2.0 0.54 1.5 6.0
disconnected
(repeat cycle)
2
Allowable load kg･m 0.0078 0.022 0.087 0.018 0.051 0.20 0.054 0.15 0.60
inertia moment
when a
regenerative 2
kgf･cm･s 0.081 0.23 0.90 0.18 0.51 2.0 0.54 1.5 6.0
resistor is not
connected
(non-repeat cycle)
2
Allowable load kg･m (0.0078) (0.022) (0.087) (0.018) (0.051) (0.20) (0.054) (0.15) (0.60)
inertia moment kgf･cm･s
2
(0.081) (0.23) (0.90) (0.18) (0.51) (2.0) (0.54) (1.5) (6.0)
when an external
regenerative External
resistor is used regenerative RH220B33ΩJ RH220B33ΩJ RH220B33ΩJ
resistor

FHA-C series (voltage: 200V)

Actuator model No. FHA-17C FHA-25C FHA-32C FHA-40C
Actuator reduction ratio 50 100 160 50 100 160 50 100 160 50 100 160
Combined driver HA-800A-3*-200 HA-800A-3*-200 HA-800A-6*-200 HA-800A-6*-200
Max. rotational
r/min 96 48 27 90 45 28 80 40 25 70 35 22
speed
2
Actuator kg･m 0.17 0.67 1.7 0.81 3.2 8.3 1.8 7.1 18.1 4.9 19.5 50
inertia 2
moment Kgf･cm･s 1.7 6.9 17 8.3 33 85 18 72 185 50 200 510

Allowable load 2
kg･m 0.54 2.1 5.1 1.26 5.1 12.9 4.7 18 48 3.5 14 36
inertia moment
when a
regenerative
2
resistor is kgf･cm･s 5.4 21 52 12.9 52 132 48 184 490 36 143 378
disconnected

Apx
(repeat cycle)
Allowable load 2
kg･m 0.54 2.1 5.1 2.4 10 25 5.4 21 54 9.8 39 100
inertia moment
when a
Appendix

regenerative
resistor is not 2
Kgf･cm･s 5.4 21 52 24 100 260 55 210 550 100 398 1020
connected
(non-repeat
cycle)
2
Allowable load kg･m (0.54) (2.1) (5.1) 2.4 10 25 5.4 21 54 15 60 150
inertia moment 2
Kgf･cm･s (5.4) (21) (52) 24 100 260 55 210 550 150 610 1500
when an
external External
regenerative regenerative RH220B33ΩJ RH220B33ΩJ RH220B33ΩJ RH220B33ΩJ
resistor is used resistor

A-19
 A-2 Regenerative resistor

FHA-C series (voltage: 100V)

Actuator model No. FHA-17C FHA-25C FHA-32C
Actuator reduction ratio 50 100 160 50 100 160 50 100 160
Combined driver HA-800A-3*-100 HA-800A-6*-100 HA-800A-6*-100
Max. rotational
r/min 96 48 30 90 45 28 64 32 20
speed
2
kg･m 0.17 0.67 1.7 0.81 3.2 8.3 1.8 7.1 18.1
Actuator
inertia Kgf･cm･
moment 2 1.7 6.9 17 8.3 33 85 18 72 185
s
Allowable load 2
kg･m 0.54 2.1 5.1 2.4 10 25 5.4 21 54
inertia moment
when a
regenerative
kgf･cm･
resistor is 2 5.4 21 52 24 100 260 55 210 550
s
disconnected
(repeat cycle)
Allowable load kg･m
2
0.54 2.1 5.1 2.4 10 25 5.4 21 54
inertia moment
when a
regenerative
resistor is not Kgf･cm･
2 5.4 21 52 24 100 260 55 210 550
connected s
(non-repeat
cycle)
2
Allowable load kg･m (0.54) (2.1) (5.1) (2.4) (10) (25) (5.4) (21) (54)
inertia moment Kgf･cm･
when an 2 (5.4) (21) (52) (24) (100) (260) (55) (210) (550)
s
external External
regenerative regenerative RH220B33ΩJ RH220B33ΩJ RH220B33ΩJ
resistor is used resistor

Apx
Appendix

A-20
 A-3 List of data retained in the driver

A-3 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 two types of data that are retained in the non-volatile memory. They are adjustment
parameters and system parameters.
Adjustment parameters AJxx
Display, Edit, Save
Main unit display panel Servo parameter setting
Symbol Name
Software
PSF-800 *2
AJ00 Position loop gain
AJ01 Speed loop gain
Speed loop integral
AJ02
compensation
AJ03 Feed-forward gain
AJ04 In-position range
AJ05 Attained speed judgment value
AJ06 Attained torque judgment value
AJ07 Zero speed judgment value
AJ08 Internal speed command 1
Displaying set values
AJ09 Internal speed command 2
Displaying set values Editing set values
AJ10 Internal speed command 3
Editing set values Saving a file
AJ11 Torque limit (psf extension)
AJ12 Acceleration time constant
AJ13 Deceleration time constant
External speed command
AJ14
offset
External torque command
AJ15
offset
AJ16 Speed monitor offset
AJ17 Current monitor offset
AJ18 System reservation *1
AJ19 System reservation *1
AJ20 Feed-forward filter
AJ21 Load inertia moment ratio
Torque constant compensation
AJ22
factor
Spring constant compensation
AJ23
factor
AJ24 Automatic positioning gain
AJ25 System reservation *1
AJ26 System reservation *1
AJ27 System reservation *1 Displaying set values
Apx AJ28
AJ29
System reservation *1
System reservation *1
Displaying set values
Editing set values
Editing set values
Saving a file
AJ30 System reservation *1 (psf extension)
Appendix

AJ31 System reservation *1

AJ32 System reservation *1
AJ33 System reservation *1
AJ34 System reservation *1
AJ35 System reservation *1
AJ36 System reservation *1
AJ37 System reservation *1
AJ38 System reservation *1
AJ39 System reservation *1
Displaying set values Displaying set values
AJ40 to AJ59 System reservation *1 Saving a file
(psf extension)

A-21
 A-3 List of data retained in the driver

*1: 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.
*2: If the set values change when the parameters are transferred between different models using PSF-800, it
does not affect the product functions.

System parameter SP00-39

* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.

Display, Edit, Save

Symbol Name Main unit display panel Servo parameter setting
Software
PSF-800 *2
SP00 Emergency stop input setting
SP01 Reset input setting
SP02 Clear input setting
SP03 FWD inhibit input setting
SP04 REV inhibit input setting
SP05 FWD enable input setting
SP06 REV enable input setting
SP07 FWD selection input setting
SP08 REV selection input setting
Internal speed command 1 Displaying set values
SP09
input setting Displaying set values Editing set values
Internal speed command 2 Editing set values Saving a file
SP10
input setting (psf extension)
SP11 Internal speed limit 1 input setting
SP12 Internal speed limit 2 input setting
SP13 Internal torque limit input setting
SP14 Electronic gear selection input setting
SP15 Control mode selection input setting
SP16 INHIBIT input setting
SP17 System reservation *1
SP18 System reservation *1
SP19 System reservation *1
CN2-pin 16: Signal assignment
SP20
and function setting
CN2-pin 17: Signal assignment
SP21
and function setting
CN2-pin 18: Signal assignment
SP22
and function setting
CN2-pin 19: Signal assignment
SP23
and function setting
CN2-pin 20: Signal assignment
SP24
and function setting
CN2-pin 21: Signal assignment
SP25
and function setting
SP26
CN2-pin 22: Signal assignment
and function setting Displaying set values
Displaying set values
Editing set values Apx
SP27 System reservation *1 Editing set values Saving a file
(psf extension)
Appendix

SP28 System reservation *1

SP29 System reservation *1
SP30 System reservation *1
SP31 System reservation *1
SP32 System reservation *1
SP33 System reservation *1
SP34 System reservation *1
SP35 System reservation *1
SP36 System reservation *1
SP37 System reservation *1
SP38 System reservation *1
SP39 System reservation *1

A-22
 A-3 List of data retained in the driver

*1: 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.
*2: If the set values change when the parameters are transferred between different models using PSF-800, it
does not affect the product functions.

System parameter SP40-79

* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.

Display, Edit, Save

Symbol Name Main unit display panel Servo parameter setting
Software
PSF-800 *2
SP40 CN9-CP3 output signal setting
SP41 Control mode switching setting
Command pulse input pattern
SP42
setting
SP43 Multiplication of 2-phase input
SP44 Electronic gear 1 numerator
SP45 Electronic gear 1 denominator
SP46 Electronic gear 2 numerator
SP47 Electronic gear 2 denominator
SP48 Deviation clear upon servo-ON
SP49 Allowable position deviation Displaying set values
SP50 Command polarity Displaying set values Editing set values
SP51 Speed input factor Editing set values Saving a file
SP52 Zero clamp (psf extension)
SP53 Torque input factor
SP54 Status display setting
SP55 DB enable/disable setting
External speed limit
SP56
enable/disable
External torque limit
SP57
enable/disable
SP58 System reservation *1
Angle compensation
SP59
enable/disable setting
Automatic positioning gain
SP60
Setting enable/disable setting
SP61 Encoder monitor output pulses
SP62 System reservation *1
SP63 System reservation *1
SP64 Regenerative resistor selection
SP65 FWD/REV inhibit operation
SP66 Absolute encoder function setting
SP67 Output shaft divide function setting
SP68 System reservation *1 Displaying set values

Apx SP69
SP70
Feed-forward control function setting
System reservation *1
Displaying set values
Editing set values
Editing set values
Saving a file
(psf extension)
SP71 System reservation *1
Appendix

SP72 System reservation *1

SP73 System reservation *1
SP74 System reservation *1
SP75 System reservation *1
SP76 System reservation *1
SP77 System reservation *1
SP78 System reservation *1
SP79 System reservation *1
*1: 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.
*2: If the set values change when the parameters are transferred between different models using PSF-800, it
does not affect the product functions.

A-23
 A-4 Driver replacement procedures

A-4 Driver replacement procedures

The following explains the procedures to replace the HA-800A driver for maintenance.

Procedures Description Places to check/Manual

1 Checking the Check the nameplate of the driver currently used before the
items (items to replacement. Nameplate on the side of
be replaced) Check the type (TYPE) and combined actuator (ADJ.). the driver main unit

• TYPE: 2-1 Receiving inspection

• Combined actuator (ADJ.):

2 Checking the Check the nameplate of the new driver.
items (new Check that the type (TYPE) and combined actuator (ADJ.) are
items) the same as the ones currently used.

* If the type and combined actuator are different, it cannot be

replaced.
3 Checking the Check the switch settings of the driver currently used before
switch settings the replacement. Front side of the driver
main unit, inside of the
• Rotary switch (SW5) communication device number setting: LED display cover

1-9 Name and function of

• Dip switch (SW6) communication setting: each part of a display
Left side OFF (Down) panel
Center OFF OFF(Down)
Right side

* The left side and the center dip switches (SW6) do not have
any functions. They are normally switched OFF (Down).
* These switch settings are the communication settings with
the PSF-800 communication software. As a default, SW5 =
0 and SW6 = All OFF (Down).
4 Saving Save the parameters set in the driver currently used (retained
parameters *1 in EEPROM) before the replacement. PSF-800 Communication
[Adjustment parameters] [System parameters] software

• Name of the file to save (psf extension): 10-5-1 Saving set values

*1: 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.

This work requires wiring changes. Exercise caution to prevent accidents such
as electric shock.
CAUTION
Apx
Appendix

When replacing the actuator/motor, adjustment of the device/machine

coordinate settings may be required. Replace according to the specifications of
CAUTION the system, which includes the device main unit and host controller.

A-24
 A-4 Driver replacement procedures

Procedures Description Places to check/Manual

5 Replacing items (1) 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.
(2) Remove the driver to be replaced from the control
board.
(3) Install the new driver on the control board.
(4) Connect the power wiring (TB2 or r, s, R, S, T) and
ground wire to the new driver.
(5) Connect the personal computer communication
cable (CN3) to the new driver.

* (4)(5) By not connecting the actuator wiring, unexpected

actuator operation can be avoided if an incorrect
operation command is input during the replacement
work.
6 Turn ON the Connect the control power (r, s) to the new driver. Check
control power that the driver starts and LED display (7 segment LED)
supply 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 supplying the control power (r, s) only, the driver main

power supply is not charged. The time waiting for the
CHARGE lamp to turn OFF (discharged) can be
shortened during wiring work in step 8.

* 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 8 after the CHARGE lamp is turned OFF
(discharged) to prevent electrical shock.
7 Writing Write the parameters saved in [4. Saving parameters] to PSF-800 Communication
parameters the new driver. software
[Adjustment parameters] [System parameters]
10-5-4. Writing a saved
settings file to the driver
8 Wire Disconnect the power to the new driver.
connection 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 [3. Checking the switch Front side of the driver main
settings] to the new driver. unit, inside of the LED
display cover

1-9 Display panel

This completes the driver replacement work.

Apx
This work requires wiring changes. Exercise caution to prevent accidents such
Appendix

as electric shock.
CAUTION

When replacing the actuator/motor, adjustment of the device/machine

coordinate settings may be required. Replace according to the specifications of
CAUTION the system, which includes the device main unit and host controller.

A-25
 A-5 Notices for using SHA-CG(-S)

A-5 Notices for using SHA-CG(-S)

This explains the notices for when using the SHA-CG(-S).

 When using the SHA-CG series, always check the necessary setting, referencing
[17-bit absolute encoder] (P4-4).

The SHA-CG(-S) has the following two features that differentiate it from previous SHA series
(SHA-SG/HP).
1. Output shaft single revolution absolute model
2. Output shaft divide function

1. Output shaft single revolution absolute model

The SHA-CG output shaft single revolution absolute model (SHA-CG-S) assumes a machine
that only moves the index table in one direction. When the machine continues to rotate in just
one direction, the absolute encoder eventually exceeds the number of revolutions that can be
detected with multi-revolution detection and it becomes impossible to manage position
information accurately.
Therefore, each time the output shaft turns through single revolution, the cumulative multi
revolution counter is cleared to 0 to achieve the output shaft single revolution absolute function.
This is how position information is accurately managed when the shaft continuously turns in just
one direction.
When using this function, set [SP66: Absolute encoder function setting] to 0.
Also, with the SHA-CG output shaft single revolution model, for the default current value data
read-out signals at the time when the servo comes ON, the range for the CN2-40, 41 current
17
value data output is [0～2 x speed reduction ratio -1] pulses.

2. Output shaft divide function

With the SHA-CG series, in order to make it easier to make the settings for performing index
table and other indexing operations in units of the output shaft angle, operation commands can
be set in the actuator in angle units with [SP67: Output shaft divide function setting] and the
setting on the host device can be omitted.
With the [SP67: Output shaft divide function setting], the corresponding electronic gear value is
set automatically from the SP67 setting and the applicable actuator. The output shaft divide
function and the electronic gears cannot be used together.
SP67=0: According to electronic gear settings (SP14、SP44/SP45, SP46/SP47)
SP67=1: Division of single output shaft rotation into 36,000 parts (equivalent to 0.01
degree resolution)
SP67=2: Division of single output shaft rotation into 360,000 parts (equivalent to 0.001 Apx
degree resolution)
Appendix

SP67=3: Division of single output shaft rotation into 3,600,000 parts (equivalent to
0.0001 degree resolution)
The SP67 setting automatically changes the output range for the CN2-40, 41 current value data
output.
Also, set the output shaft rotation speed referencing command pulse frequency [Hz] = output
shaft rotation speed [r/min]/60 x number of output shaft divisions.

Example) To set SP67=2 (one rotation of output shaft divided into 360,000 parts) and set the
output shaft rotational speed to 50 [r/min]
Command pulse frequency = 50 [r/min]/60 x 360000 = 300 [kHz]

A-26
 A-5 Notices for using SHA-CG(-S)

When configuring an absolute system using the SHA-CG(-S), connect the CN2-40, 41 current value
data output to the host device and manage the coordinates with the host device. For details, refer to
[17-bit absolute encoder] (P4-4).
Note that the output range and polarity of the CN2-40, 41 current value data output depends on [SP67:
Output shaft divide function setting] and [SP50: instruction polarity] setting. For details, refer to
[Outputting the current value data from the pins CN2-40 and 41] (P4-9).

Model Setting Output range Unit

SP67=0 -4294967296 to 4294967295 pls
*1
SP67=1 -23592960 to 23592960 pls (×0.01deg equivalent)
SHA-CG *1
SP67=2 -235929600 to 235929600 pls (×0.001deg equivalent)
*1
SP67=3 -2359296000 to 2359296000 pls (×0.0001deg equivalent)
*2
SP67=0 0 to 20971519 pls
SP67=1 0 to 35999 pls (×0.01deg equivalent)
SHA-CG-S
SP67=2 0 to 359999 pls (×0.001deg equivalent)
SP67=3 0 to 3599999 pls (×0.0001deg equivalent)
*1: On the SHA=CG, when SP67=1, 2, or 3, the output range depends on the speed reduction range of the
actuator and is the range of the calculated angle values of the multi revolution detection range. The output
32 17 32 17
range is from [2 /(2 x speed reduction ratio) x number of output divisions to (2 -1)/(2 x speed reduction
ratio) x number of output divisions].
*2: On the SHA=CG, when SP67=0, the output range depends on the speed reduction ratio of the actuator. The
17
output range is [0～2 x speed reduction ratio – 1].

 [SP67: Output shaft divide function setting] is the function that sets the operation
command resolution. It does not guarantee the precision of positioning on the output
shaft. For details on the output shaft positioning precision, refer to [AC Servo Actuator
SHA Series Manual].
 With the SHA-CG series, the CN2-40, 41 current value data output range depends on
the value of [SP67: Output shaft divide function setting].
 The output shaft divide function setting is achieved using the electronic gear function,
so the speed setting and acceleration/deceleration and acceleration time settings
operate with multiples of the automatically set electronic gears. (For their values, refer
to the table below.
 When SP67=3 is used, the permitted command pulse input frequency on the HA-800A
6
is 1 MHz, so the max. motor rpm is restricted to Max. motor rpm [r/min] = 1 x 10 /
17
encoder resolution 2 x 60 x electronic gear ratio.
For the max. rotational speed for each speed reduction ratio, refer to the table below.

SP67=3
Reduction
Output shaft max. rotational
ratio Max. motor rpm [r/min]
speed [r/min]
50 833.3
80 1333.3
100 16.7 1666.7
Apx 120
160
2000.0
2666.7
Appendix

Electronic gear value for when output shaft divide function is set
SP67=1 SP67=2 SP67=3
36,000 divisions 360,000 divisions 3,600,000 divisions
Reduction Numerator Denominator Numerator/ Numerator Denominator Numerator/ Numerator Denominator Numerator/
ratio denominator denominator denominator
50 8192 45 182.0 4096 225 18.2 2048 1125 1.82
80 65536 225 291.3 32768 1125 29.1 16384 5625 2.91
100 16384 45 364.1 8192 225 36.4 4096 1125 3.64
120 32768 75 436.9 16384 375 43.7 8192 1875 4.37
160 131072 225 582.5 65536 1125 58.3 32768 5625 5.83

A-27
 A-5 Notices for using SHA-CG(-S)

Examples of combined operations

Ex. 1: SHA-CG, when output shaft divide function is not used (SP67=0)
Ex. 2: SHA-CG, when output shaft divide function is used (SP67=1)
Ex. 3: SHA-CG-S (output shaft 1 revolution absolute model), when output shaft divide function is
not used (SP67=0)
Ex. 4: SHA-CG-S (output shaft 1 revolution absolute model), when output shaft divide function is
used (SP67=1)

Ex. 1: SHA-CG, when output shaft divide function is not used (SP67=0)
SHA25A50CG (Resolution of output shaft: 6553600 [pls/r]), [SP67: when output shaft divide setting] is
0, electronic gear = 1/1

When Forward command is input (command pulses: 819200)

SP50=0 (default) SP50=1 SP50=2
Clockwise rotation with command Counter clockwise rotation with Counter clockwise rotation with
pulse increase command pulse increase command pulse increase
45° operation to clockwise 45° operation to counter 45° operation to counter
direction clockwise direction clockwise direction
0°/360° 0°/360° 0°/360°

270° 90° 270° 90° 270° 90°

180° 180° 180°

Current value data output Current value data output Current value data output
Increase with clockwise Increase with clockwise rotation Increase with counter-clockwise
rotation Current value data: -819200 rotation
Current value data: 819200 Current value data: 819200

When Reverse command is input (command pulses: 819200)

SP50=0 (default) SP50=1 SP50=2
Counter clockwise rotation with Clockwise rotation with command Clockwise rotation with command
command pulse decrease pulse decrease pulse decrease
45° operation to counter 45° operation to clockwise 45° operation to clockwise
clockwise direction direction direction
0°/360° 0°/360° 0°/360°

Apx
270° 90° 270° 90° 270° 90°
Appendix

180° 180° 180°

Current value data output Current value data output Current value data output
Increase with clockwise rotation Increase with clockwise Increase with clockwise rotation
Current value data: rotation Current value data: -819200
-819200 Current value data: 819200

A-28
 A-5 Notices for using SHA-CG(-S)

Ex. 2: SHA-CG, when output shaft divide function is used (SP67=1)

SHA25A50CG (Resolution of output shaft: 6553600 [pls/r]), [SP67: when output shaft divide setting] is
1

When Forward command is input (command pulses: 4500)

SP50=0 (default) SP50=1 SP50=2
Clockwise rotation with command Counter clockwise rotation with Counter clockwise rotation with
pulse increase command pulse increase command pulse increase
45° operation to clockwise 45° operation to counter 45° operation to counter
direction clockwise direction clockwise direction
0°/360° 0°/360° 0°/360°

270° 90° 270° 90° 270° 90°

180° 180° 180°

Current value data output Current value data output Current value data output
Increase with clockwise Increase with clockwise rotation Increase with counter-clockwise
rotation Current value data: -4500 rotation
Current value data: 4500 Current value data: 4500

When Reverse command is input (command pulses: 4500)

SP50=0 (default) SP50=1 SP50=2
Counter clockwise rotation with Clockwise rotation with command Clockwise rotation with command
command pulse decrease pulse decrease pulse decrease
45° operation to counter 45° operation to clockwise 45° operation to clockwise
clockwise direction direction direction
0°/360° 0°/360° 0°/360°

270° 90° 270° 90° 270° 90°

180° 180° 180°

Current value data output Current value data output Current value data output
Increase with clockwise rotation Increase with clockwise rotation Increase with clockwise rotation
Current value data: -4500 Current value data: 4500 Current value data: -4500
Apx
Appendix

A-29
 A-5 Notices for using SHA-CG(-S)

Ex. 3: SHA-CG-S (output shaft 1 revolution absolute model), when output shaft
divide function is not used (SP67=0)
SHA25A50CG-S (Resolution of output shaft: 6553600 [pls/r]), [SP67: when output shaft divide setting]
is 0, electronic gear = 1/1

When Forward command is input (command pulses: 819200)

SP50=0 (default) SP50=1 SP50=2
Clockwise rotation with command Counter clockwise rotation with Counter clockwise rotation with
pulse increase command pulse increase command pulse increase
45° operation to clockwise 45° operation to counter 45° operation to counter
direction clockwise direction clockwise direction
0°/360° 0°/360° 0°/360°

270° 90° 270° 90° 270° 90°

180° 180° 180°

Current value data output Current value data output Current value data output
Increase with clockwise rotation Increase with clockwise rotation Increase with clockwise rotation
Current value data: 819200 Current value data: 5734400 Current value data: 819200

When Reverse command is input (command pulses: 819200)

SP50=0 (default) SP50=1 SP50=2
Counter clockwise rotation with Clockwise rotation with command Clockwise rotation with command
command pulse decrease pulse decrease pulse decrease
45° operation to counter 45° operation to clockwise 45° operation to clockwise
clockwise direction direction direction
0°/360° 0°/360° 0°/360°

270° 90° 270° 90° 270° 90°

180° 180° 180°

Current value data output Current value data output Current value data output
Increase with clockwise rotation
Current value data:
Increase with clockwise rotation
Current value data: 819200
Increase with clockwise rotation
Current value data: 5734400 Apx
5734400
Appendix

A-30
 A-5 Notices for using SHA-CG(-S)

Ex. 4: SHA-CG-S (output shaft 1 revolution absolute model), when output shaft
divide function is used (SP67=1)
SHA25A50CG-S (Resolution of output shaft: 6553600 [pls/r]), [SP67: when output shaft divide setting]
is 1

When Forward command is input (command pulses: 4500)

SP50=0 (default) SP50=1 SP50=2
Clockwise rotation with command Counter clockwise rotation with Counter clockwise rotation with
pulse increase command pulse increase command pulse increase
45° operation to clockwise 45° operation to counter 45° operation to counter
direction clockwise direction clockwise direction
0°/360° 0°/360° 0°/360°

270° 90° 270° 90° 270° 90°

180° 180° 180°

Current value data output Current value data output Current value data output
Increase with clockwise rotation Increase with clockwise rotation Increase with clockwise rotation
Current value data: 4500 Current value data: 31500 Current value data: 4500

When Reverse command is input (command pulses: 4500)

SP50=0 (default) SP50=1 SP50=2
Counter clockwise rotation with Clockwise rotation with command Clockwise rotation with command
command pulse decrease pulse decrease pulse decrease
45° operation to counter 45° operation to clockwise 45° operation to clockwise
clockwise direction direction direction
0°/360° 0°/360° 0°/360°

270° 90° 270° 90° 270° 90°

180° 180° 180°

Current value data output Current value data output Current value data output
Increase with clockwise rotation Increase with clockwise rotation Increase with clockwise rotation

Apx Current value data: 31500 Current value data: 4500 Current value data: 31500
Appendix

A-31
 A-6 Control block diagram

A-6 Control block diagram

An internal control block diagram of this driver is shown here.

Position control mode

*1: When [SP50: Command polarity] is set to 0, this is equivalent to multiplying the command pulses by +1.
When it is set to 1 or 2, this is equivalent to multiplying the command pulses by -1.When it is set to 0 or 1,
this is equivalent to multiplying [CN2-40, 41 current value data output] by +1. When it is set to 2, this is
equivalent to multiplying [CN2-40, 41 current value data output] by -1.
*2: For details on the calculation of the motor rpm [r/min] and current A from the [Speed monitor] and [Current
monitor] monitor voltage, refer to [Monitor output] (P5-28).
*3: Converts the encoder pulse units to command pulse units according to [SP67: Output shaft divide function
setting].

Apx
Appendix

A-32
 A-6 Control block diagram

Speed control mode

Torque control mode

Apx
Appendix

*1: When [SP50: Command polarity] is set to 0, this is equivalent to multiplying the command pulses by +1.
When it is set to 1 or 2, this is equivalent to multiplying the command pulses by -1.When it is set to 0 or 1,
this is equivalent to multiplying [CN2-40, 41 current value data output] by +1. When it is set to 2, this is
equivalent to multiplying [CN2-40, 41 current value data output] by -1.
*2: For details on the calculation of the motor rpm [r/min] and current A from the [Speed monitor] and [Current
monitor] monitor voltage, refer to [Monitor output] (P5-28).
*3: Converts the encoder pulse units to command pulse units according to [SP67: Output shaft divide function
setting].

A-33
 1-18
Index
Display panel ············································ 1-15
Ａ Driver model ··············································· 1-5
Absolute encoder function setting···················8-12 Driver replacement procedures ····················· A-24
Acceleration time constant ····························7-17 Dynamic brake actuated ······························ 5-26
Alarm code ················································5-26 Ｅ
Alarm reset················································· 5-9
Alarms······················································ 5-26 Electronic gear selection······························ 5-14
Alarm history clear ······································ 7-11 Electronic gear setting··································· 8-6
Alarm mode ················································ 7-9 Emergency stop··········································· 5-9
Allowable position deviation ··························· 8-7 Emergency stop········································· 11-2
Analog waveform monitoring ·························5-29 Encoder output ·········································· 5-28
Angle compensation enable/disable setting ······ 8-11 Encoder combination ···································· 4-2
Attained speed ···········································5-26 Encoder disconnection ································ 11-7
Attained torque···········································5-26 Encoder monitor output pulses······················ 8-11
Attained speed judgment value ······················7-15 Encoder receiving error ······························· 11-7
Attained torque judgment value ·····················7-15 Environment ··············································· 2-2
Automatic adjustment of speed command offset· 9-8 Error pulse count display ······························· 7-3
Automatic adjustment of torque command offset 9-9 Error counter overflow ························ 11-9, 11-10
Automatic positioning gain setting enable/disable Extension cable combinations ························· 1-6
setting ··················································· 8-11 External power supply ··································· 5-4
Auto-tuning················································ 9-11 External speed command offset ···················· 7-18
Auto-tuning displacement ·····························9-13 External torque command offset ···················· 7-18
Auto-tuning level selection ····························9-14 External drawing ········································ 1-13
External speed limit enable/disable ················ 8-10
Ｂ External torque limit enable/disable················ 8-10
Battery ····················································· 3-23 Ｆ
Battery voltage low······································5-27
Battery replacement method ·························3-24 Feedback pulse display ································· 7-5
Battery voltage low···································· 11-15 Feed-forward filter ······································ 7-19
BUSY error·············································· 11-12 Feed-forward gain ······································ 7-14
Feed-forward control function setting·············· 8-16
Ｃ FPGA configuration error ···························· 11-11
Cable size ·················································· 2-5 FPGA setting error ···································· 11-11
CN9-CP3 output signal setting························ 8-4 FWD enable·············································· 5-11
Command polarity········································ 8-7 FWD inhibit ··············································· 5-10
Command pulse display ································ 7-5 FWD selection ··········································· 5-12
Command pulse input pattern setting ··············· 8-5 FWD inhibit status ······································ 5-27
Command pulse frequency display ·················· 7-1 FWD inhibit input effective··························· 11-15
Communication error ································· 11-13 FWD/REV inhibit operation ·························· 8-12
Configuration diagram ·································· 1-3 Ｇ
Connecting the encoder ·······························2-18
Control mode selection ································5-15 Gain adjustment ········································ 3-15
Control modes ···········································5-26 Ground ······················································ 2-8
Control block diagram ································· A-32
Control mode switching setting ······················· 8-4 Ｉ
Control modes ············································ 7-2 I/O signal monitor ········································· 9-2
Cooling fan stopped ····································5-27 In-position complete ··································· 5-26
Cooling fan stopped ·································· 11-15 In-position range ········································ 7-14
Current monitor ··········································5-29 Internal speed ··········································· 5-12
Current value output ····································5-28 Internal speed limit ····································· 5-13
Current monitor offset ··································7-18 Internal speed command ····························· 7-16
Ｄ Internal function block diagram ······················· 1-2
IPM error ·················································· 11-4
DB enable/disable setting ·····························8-10
Deceleration time constant ···························7-17 Ｊ
Default settings ··········································· A-1 JOG acceleration/deceleration time constant setting
Deviation counter········································· 5-9 ····························································· 9-5
Deviation clear upon servo-ON setting ············· 8-7 JOG speed setting ······································· 9-4
Digital signal monitor ···································5-30 JOG operation ············································· 9-6
Discharge time ············································ 7-2
 Index

Ｌ Regenerative resistor ··································· A-7

Regenerative resistor overheat ····················· 11-5
List of data retained in the drive ···················· A-21 Regenerative resistor selection (HA-800-24 only)
Load inertia moment ratio ·····························7-19 ··························································· 8-12
Ｍ REV enable ·············································· 5-11
REV inhibit ··············································· 5-10
Main circuit voltage low ································5-27 REV selection ··········································· 5-12
Main circuit power voltage ····························· 7-1 REV inhibit status ······································· 5-27
Main circuit voltage low ······························ 11-15 REV inhibit input effective ··························· 11-16
Main circuit voltage low ································ 11-6
MEMORY error ········································ 11-11 Ｓ
Memory failure (EEPROM) ························· 11-11 Servo ON input enable ································ 5-26
Memory failure (RAM)································ 11-11 Servo-ON ··················································· 5-9
Motor code ··········································· 7-7, 7-8 Single rotation data error ···························· 11-12
Motor rotation speed indication ······················· 7-1 Specifications ·············································· 1-7
Multi revolution clear ···································9-10 Speed command mode ······························· 5-20
Multi revolution data error ···················· 11-9, 11-12 Speed limiting ············································ 5-26
Multi revolution overflow ······························· 11-8 Speed monitor ··········································· 5-29
Multiplication of 2-phase input setting··············· 8-5 Speed loop gain ········································· 7-13
Ｎ Speed loop integral compensation ················· 7-14
Speed monitor offset ··································· 7-18
Noise ······················································· 2-14 Speed command voltage ······························· 7-6
Notices for using SHA-CG(-S) ······················ A-26 Speed input factor setting ······························ 8-9
Spring constant compensation factor ·············· 7-20
Ｏ Status display ·············································· 7-1
Operation preparation complete ·····················5-26 Status display setting ·································· 8-10
Option ······················································· 1-5 System failure ·································· 11-8, 11-11
Output signal operation ································· 9-3 System parameters ······································ 8-1
Output shaft divide function setting ·················8-13 Ｔ
Output torque monitor ··································· 7-1
Overheat error ········································· 11-12 Torque command mode ······························· 5-21
Overload ··················································· 11-3 Torque limit ··············································· 5-14
Overload status ··········································5-27 Torque limiting ··········································· 5-26
Overload rate display······························ 7-1, 7-4 Torque limit ··············································· 7-16
Overload status ········································ 11-15 Torque constant compensation factor ············· 7-19
Overspeed ········································ 11-2, 11-3 Torque command voltage ······························· 7-6
Overvoltage ··············································· 11-5 Torque input factor setting ······························ 8-9
Tune mode ··············································· 7-12
Ｐ
Ｕ
Panel display ·············································· 6-3
Parameter initialization·································· 9-7 UVW error ················································ 11-8
Periodically replaced part ·····························3-23
Phase Z ···················································· 5-27 Ｗ
Position command disable ····························5-15 Warnings ·················································· 5-27
Position command mode ······························5-16 Wrong actuator ········································· 11-16
Position loop gain ·······································7-13
Positioning Automatic Gain ···························7-20 Ｚ
Present alarm/warning display ·······················7-10
PSF-800 ···················································10-1 Zero speed ··············································· 5-26
Zero speed judgment value ·························· 7-15
Ｒ Zero clamp ················································· 8-9
Rating ······················································· 1-7
Regenerative resistance·······························2-17
 Warranty period and terms

The warranty period of the HA-800A 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 1 year
after delivery or 2,000 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:
(1) Improper handling or use by the customer;
(2) Modification or repair carried out other than by Harmonic Drive Systems, Inc.;
(3) Failure not attributable to this product; or
(4) 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.
Certified to ISO14001（HOTAKA Plant）／ISO9001 (TÜV Management Service GmbH)
All specifications and dimensions in this manual subject to change without notice.
This manual is correct as of August 2013.

Head Office／Believe Omori 7F 6-25-3Minami-Ohi,Shinagawa-ku,Tokyo,Japan

〒140-0013 TEL+81(0)3-5471-7800 FAX+81(0)3-5471-7811

Overseas Division／1856-1 Hotakamaki Azumino-shi Nagano,Japan

〒399-8305 TEL+81(0)263-83-6935 FAX+81(0)263-83-6901

HOTAKA Plant／1856-1 Hotakamaki Azumino-shi Nagano,Japan

〒399-8305 TEL+81(0)263-83-6800 FAX+81(0)263-83-6901

Harmonic Drive AG／Hoenbergstraβe 14,65555 Limburg,Germany

TEL06431-5008-0 FAX06431-5008-18
Harmonic Drive L.L.C／247 Lynnfield Street, Peabody, MA, 01960, U.S.A.
TEL+1- 978-532-1800 FAX+1- 978-532-9406

"HarmonicDrive" is a trademark of Harmonic Drive Systems Inc.

The academic or general nomenclature of our products "HarmonicDrive" is "strain wave gearing." №1308-11R-THA800A
The trademark is registered in Japan, Korea and Taiwan.