HA-800A Servo Drive Debugging Guide

3.3 Incremental Encoder (FHA-Cmini/RSF, etc.)

No battery, feedback pulse accumulates from 0 after power on.

After each power outage, it is necessary to perform a return to origin operation (completed by the upper control).

I/O signal allocation and parameter setting

The input and output functions of HA-800A can be fully reassigned through system parameters, greatly improving flexibility.

4.1 Input signal (CN2, fixed pin+programmable pin)

Description of default signal programmable parameters for pins

2 S-ON (servo ON) fixed cannot be changed

3 Alarm reset SP01 can be changed to other inputs

4 Deviation counter reset SP02-

FWD prohibits SP03 NC logic (factory)

6 REV prohibits SP04 NC logic

7 FWD Enable SP05-

9 REV Enable SP06-

10 Control Mode Switching SP15 Default Switching Speed ↔ position

Example setting: Assign torque limit function to pin 10 (IN8): Set SP13=0008 and SP15=0000. At this point, when pin 10 is turned on, the internal torque limit value (AJ11) is enabled.

4.2 Output signal (pins CN2 16-22)

The assignable signals include: READY, ALARM, IN-POS, ZERO-SPD, etc. Logic options include normally open/normally closed.

Recommended output allocation:

16 feet: READY (normally open)

18 feet: ALARM (normally closed, output OFF when alarm)

19 feet: IN-POS (positioning completed)

21 feet: ZERO-SPD (zero speed, used for mode switching interlock)

4.3 Function Extension Parameters (SP40-SP79)

SP42: Command pulse input mode (2 pulses/single pulse/90 ° phase difference).

SP44-SP47: Electronic gear numerator/denominator (supports two sets of gears, selected by input signal).

SP50: Instruction polarity (0/1/2), affecting rotation direction, monitoring polarity, etc.

SP55: Dynamic braking enabled/disabled (recommended to be set to 1, enabled).

SP69: Feedforward control function setting (0=compatibility mode, 2-4=simple adjustment mode).

Gain adjustment and servo tuning

HA-800A provides two gain adjustment modes: manual and automatic.

5.1 Auto tuning

Automatically estimate load inertia and set appropriate gain through test mode T09.

Operation steps:

Ensure that the servo is ON (CN2-2 input ON) and there are no prohibited direction inputs.

Enter T09, press the SET key, display "- A.c.", and then press SET to start.

The actuator will rotate forward and backward by a certain angle (default 6000 ° motor shaft angle, can be modified through T10).

After completion, display "FINSH" and automatically write the position loop gain AJ00, velocity loop gain AJ01, velocity loop integral AJ02, and load inertia ratio AJ21.

Notes:

The speed limit and torque limit functions are disabled during automatic tuning.

If the mechanical limit of the system is small, the T10 angle can be reduced (1500-6000 °).

If there is still vibration after tuning, it can be manually adjusted.

5.2 Manual gain adjustment (position control)

Parameter name adjusts direction

AJ01 speed loop gain increases response but is prone to vibration, gradually increasing to the critical point and then decreasing by 5%

AJ02 speed loop integral compensation reduces the impact of load fluctuations by setting a larger value (such as 100) first, and then gradually reducing it to no vibration

The gain of AJ00 position loop decreases and the tracking error gradually increases after the velocity loop stabilizes

AJ03 feedforward gain reduction position deviation is usually set at 50-80, too high will cause impact

Recommended adjustment process:

Set AJ02 to a larger value (e.g. 100), increase AJ01 from small until slight vibration occurs, and then adjust it back by 10%.

Reduce AJ02 until vibration reappears, then increase by 5-10.

Increase AJ00, observe the completion time of positioning, and call back when overshoot occurs.

If using feedforward (SP69=3), then adjust AJ03.

5.3 Simple Adjustment of Feedforward Control (SP69=3)

This mode only requires setting AJ03 (feedforward gain) and AJ21 (load inertia ratio), with internal automatic matching filters. Suitable for most rigid connection systems. If high-frequency vibration occurs, you can try SP69=2 (stable mode) or SP69=5 (manual mode) and manually set AJ20 (filter frequency).

Test mode and trial operation

The test mode (T00-T11) is used for functional verification that does not rely on the upper system.

Typical uses of code functionality

T00 I/O signal monitoring check input/output wiring

T01 forced output signal ON/OFF test output circuit and external relay

T02 JOG speed setting 1-3000 r/min

T03 JOG acceleration and deceleration time 1~9999 ms

T04 JOG operation using UP/DOWN key jog

T05 parameter initialization restores factory settings (retains AJ16/AJ17)

T06/T07 speed/torque command offset automatic adjustment eliminates zero drift

Before setting the origin of the T08 multi turn zeroing absolute encoder, it must be executed

T09 automatic tuning, see previous section

T10 tuning stroke modification: rotation angle during automatic tuning

T11 tuning level selection is 1-5, the higher the value, the faster the response

Attention to JOG operation: In JOG mode, speed and torque limits are invalid and not constrained by external FWD/REV prohibition signals. It is necessary to confirm safety before operation.