HA-800A Servo Drive Debugging Guide

Troubleshooting Quick Check

7.1 Common alarms and countermeasures

Main reasons and solutions for alarm code names

AL20 overload load is too large, friction torque is high, brake is not released. Check the load and release the brake; Reduce acceleration and deceleration speed

AL30 IPM overcurrent motor wire short circuit, regeneration resistor wiring error, acceleration and deceleration too fast check U/V/W insulation; Increase acceleration and deceleration time

AL40 overvoltage regeneration energy is too large, deceleration time is too short, and external regeneration resistor is connected; Extend deceleration time

AL41 regeneration resistor overheating regeneration resistor capacity insufficient external larger power resistor; Let SP64=1 (HA-800A -24)

AL50 encoder disconnected, CN1 poor contact, cable broken, re plug or replace encoder cable

If the deviation of AL60 is too large, the direction input is prohibited from being effective, the machine is stuck, and the gain is too low, check the FWD/REV inhibit signal; Increase AJ00 or SP49

AL81 (17 bit) system fault: Battery voltage is exhausted or the battery needs to be replaced after the first power on. Perform T08 multiple rounds of zeroing

UA91 battery voltage low, battery nearing end of life, battery replacement (HAB-ER17/33)

UA93 main circuit voltage low input voltage insufficient, phase loss check power supply voltage and wiring

7.2 Warning Handling

UA90 overload state: When the overload rate exceeds 50%, the output should be reduced or the gain adjusted.

UA97/UA98 FWD/REV disabled: Check the input signal logic. If not needed, set the logic to normally open (00) and do not allocate pins.

UA99 error actuator: The actuator code stored in the drive does not match the physical object, and the parameter (T05) needs to be replaced or reinitialized.

Maintenance and Drive Replacement

8.1 Battery replacement

The absolute encoder battery (model ER17/33) has a lifespan of approximately 1 year (in a power-off state). When UA91 appears, please replace it according to the following steps:

Open the panel cover and remove the old battery.

Insert the new battery with the positive pole facing downwards into the battery holder.

For 13 bit encoders or SHA20/FHA-Cmini, the alarm will automatically reset; For the other 17 bit encoders, an alarm reset and power on again are required.

If AL81 is still reported after replacing the battery, perform T08 multiple rounds of zeroing and reset the origin.

8.2 Driver replacement process

When the drive hardware fails and needs to be replaced, it is recommended to follow the following steps:

Record the parameters of the old drive (upload and save as a. psf file using PSF-800 software).

Record the positions of the rotary switch (SW5) and DIP switch (SW6).

Turn off the power and discharge all remaining electricity (wait for 15 minutes after the CHARGE light goes out).

Remove the old drive, install the new drive, and complete the wiring of the main circuit, control circuit, encoder, and motor wires.

First, connect the control power and use PSF-800 to write the previously saved parameter file.

Connect the main power supply, perform T08 multi turn zeroing, and reconfirm the origin position.

Conduct trial operation confirmation.

Key points for using communication software PSF-800

PSF-800 is an official Windows parameter setting and monitoring software (free download). Its main functions:

Real time status monitoring (speed, torque, overload rate, I/O status).

Parameter editing and batch reading and writing.

Waveform capture (speed, current, position error).

Automatic tuning and JOG testing.

Connection method: Use a dedicated cable EWA-RS03 to connect the driver CN3 port (RS-232C). Multiple drivers can be cascaded with RS-485, up to a maximum of 16.

Key operations:

After writing system parameters, it must be powered off and restarted to take effect.

When comparing parameter files, the difference in system reservation does not affect functionality.

The waveform data can be saved as CSV for easy import into Excel for analysis.