HA-800A Servo Drive Debugging Guide

HA-800A Servo Drive Debugging Guide

Introduction

The HA-800A series is an AC servo drive designed by Harmonic Drive Systems specifically for high-precision harmonic reduction actuators, such as the SHA, FHA-C, FHA-Cmini, RSF/RKF series. It supports three control modes: position, speed, and torque, and integrates 17 bit/13 bit absolute encoders and incremental encoder interfaces. The driver adopts advanced functions such as modular I/O signal distribution, automatic tuning, and feedforward control, which can significantly shorten the positioning stability time.

This article is based on the original factory technical manual, and provides engineers with a direct reference debugging guide by summarizing the installation points, initial encoder settings, manual/automatic gain adjustment, parameter configuration, and troubleshooting process of HA-800A from a practical perspective.

Installation and wiring points

1.1 Environment and Mechanical Installation

The driver must be installed in the control cabinet, with an ambient temperature of 0-50 ℃ and humidity ≤ 95% without condensation. The installation direction must be vertical, and sufficient heat dissipation space must be left around (up and down ≥ 50mm, left and right ≥ 30mm). For HA-800A and above models, there is an internal cooling fan, and it is necessary to ensure good ventilation.

1.2 Wiring of main circuit and control circuit

Driver model Main circuit power supply Recommended wire diameter for control power supply (mm ²)

HA-800A single-phase/three-phase 200V single-phase 200V 0.75

HA-800A-3 three-phase 200V single-phase 200V 1.25

HA-800A-6 three-phase 200V single-phase 200V 2.0

HA-800A 24 three-phase 200V single-phase 200V 5.5

Attention when wiring:

Main circuit terminals R, S, T (three-phase) or R, S (single-phase); Control the power supply r and s.

The power lines U, V, and W of the motor must correspond one-to-one with the actuator terminals. Phase sequence errors will not trigger an alarm but may cause runaway.

The grounding wire (FG) must be independently grounded with a grounding resistance of ≤ 100 Ω.

The encoder cable uses twisted pair shielded wire (above 0.3mm ²) with a length of ≤ 10m (it is recommended to use original extension cable).

1.3 Anti interference measures

The driver adopts PWM modulation, which will generate switch noise. To comply with CE/EMC requirements, noise filters (such as RASMI RF3020 series) and ferrite magnetic rings (such as JFE MA070R) should be installed at the power input end. The signal line and power line should be wired separately (with a spacing of ≥ 30cm) and grounded at one end.

Power on and initial inspection

2.1 First Power On Process

Only connect the control power supply (r, s). The panel LED should light up, and if an alarm is displayed (such as AL81, AL53, UA99), it belongs to the normal initial state.

Confirm that the actuator combination is correct. Panel d13 will display the currently matched actuator code; If UA99 is displayed, it indicates that the driver and actuator do not match and need to be replaced with the model specified on the nameplate.

Perform multiple rounds of zeroing. For absolute encoders, AL81 (17 bits) or AL53 (13 bits) may appear after the first power on or battery replacement. It is necessary to enter test mode T08, perform multi revolution clear, and then power off and on again.

Connect the main circuit power supply (R, S, T). At this point, the CHARGE light is on and the DC bus voltage is established.

Input the servo ON signal (CN2-2). Normally, the excitation sound of the actuator should be heard, and the panel should display the "S-ON" status.

2.2 Common initialization alarms and their handling

Solution to the meaning of alarm codes

UA99 actuator model mismatch replaced with actuator corresponding to nameplate

AL81 (17 bits)/AL53 (13 bits) system failure (multiple data loss) execution T08 multiple round zeroing

UA91 Absolute Encoder Battery Voltage Low Replacement Battery (HAB-ER17/33)

AL50 encoder wire breakage inspection CN1 connector and cable

Encoder system configuration

HA-800A supports three types of encoders and needs to be set correctly according to the actuator model.

3.1 17 bit absolute encoder (SHA series FHA‑Cmini）

Resolution: 131072 pulses per revolution (motor shaft).

Multi circle range: -32768 to+32767.

Battery backup: Keep the location after power failure.

Parameter settings:

SP61: Encoder monitors the number of output pulses (default 8192).

SP66:0=used as an absolute encoder; 1=Used as an incremental encoder (battery free).

SP67: Output axis indexing function (used for SHA-CG series angle unit commands).

Origin setting steps:

Move the output shaft to the mechanical origin through JOG or manually.

Perform T08 multiple rounds of zeroing, and then power on again.

Read the current value data output by CN2-40/41 (or monitor d05/d06 feedback pulses through PSF-800), and store the value as the origin offset in the upper computer.

3.2 13 bit absolute encoder (FHA-C series)

Resolution: 8192 pulses per revolution.

Multi circle range: -4096 to+4095.

Battery backup is also required. Perform multiple rounds of zeroing when AL53 appears.