HARMONIC DRIVE SYSTEM HA-655-4-200

Applicable actuator FHA-17C / FHA-25C FHA-32C / FHA-40C Driver’s nominal current 2.4 A 4.0 A Driver’s maximum current 7.3 A 18.0 A 

Power voltage Main circuit AC200 to 240V(1 / 3-phase) ＋10 to －15% 50/60Hz 

Control circuit AC 100 to 115V(1-phase) or AC200 to 240V(1-phase) ＋10 to －15% 50/60Hz Power Control Method Sinusoidal PWM control Allowed Environment Operating temperature: 0 to 50℃ Storage temperature:-20 to 85℃ Operating/storage humidity: below 95%RH (No condensation) 

Vibration resistance: 4.9 m/s2（10 to 55Hz） Impact resistance: 98m/s2 Ventilation Self cooling Installation Base mount (Wall mount) Applicable feedback encoder Incremental or absolute encoder Encoder interface Serial transmission line driver input type Control mode Position mode, speed mode Command voltage DC±10V / maximum speed Input impedance: approx. 68kW Input signal Servo-ON, Alarm clear, FWD-enable, REV-enable, Command alternation, *Absolute date request, *Absolute multi-turn data clear (Insulated by opt-isolators) Output signal Attained speed, Alarm, Alarm code (4-bit) (Insulated by opt-isolators) Speed control range 1:1000 or more Speed mode Speed regulation By load Below ±0.05% at nominal speed by load change from zero to maximum torque By voltage Below ±0.05% at nominal speed by voltage change in its allowance By temperature Below ±0.2% at nominal speed by temperature change from 0℃ to 50℃ Command pulse interface Line driver(compliant with EIA422A standard), open collector Command configuration 1-pulse train (step and direction), 2-pulse train (FWD/REV pulses), 2-phase pulse (A-B phase pulses with 90 degree difference) Command frequency Line driver: 500kpps(max) Open collector: 200kpps(max) , limited by actuator’s maximum speed Input signal Servo-ON, Error counter alarm clear, FWD inhibit, REV inhibit, *

Absolute date request, *Absolute multi-turn data clear (Insulated by opt-isolators) Position mode Output signal In-position, alarm, ready, alarm code (4-bit) (Insulated by opt-isolators) Position signal output Phase-A, -B, -Z; line driver output; Phase-Z: Photo-coupler output Analog monitor 2ch: motor speed, current command Configuration Display: 7-segment LED 6 digits (red) Operation key: ４ keys Monitor function Motor speed (r/min), torque (%), over load rate (%) Input signal monitor, output signal monitor, alarm history (up to 8 alarms ) Front panel Parameters System parameters Tune parameters