HarmonicHarmonic Drive™ servo

Read this manual thoroughly before designing the application, installation, maintenance or inspection of the actuator.

Indicates a potentially hazardous situation, 

which, if not avoided, could result in death 

or serious personal injury.

Indicates a potentially hazardous situation, which, if 

not avoided, may result in minor or moderate personal 

injury and/or damage to the equipment.

LIMITATION OF APPLICATIONS: 

The equipment listed in this document may not be used for the applications listed below:

¨ Space equipment ¨ Automobile, automotive parts

¨ Aircraft, aeronautic equipment ¨ Amusement equipment, sport equipment, game machines

¨ Nuclear equipment ¨ Machine or devices acting directly on the human body

¨ Household apparatus ¨ Instruments or devices to transport or carry people

¨ Vacuum equipment ¨ 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.

CAUTIONS FOR ACTUATORS AT APPLICATION DESIGNING 

Always use under followings conditions:

-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

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 solid, the output element may be

uncontrollable.

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.

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.

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.

-Ambient temperature: 0℃ to 50℃

-Ambient humidity: less than 95% RH (Non

condensation)

-No contamination by water, oil or foreign matters

-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.

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. 

Do not touch terminals or inspect products at least 

5 minutes after turning OFF power.

-Otherwise residual electric charges may resul t in 

electric shock.

-Make installation of products not easy to touch their 

inner electric components. 

Do not make a voltage resistance test.

-Failure to observe this caution may result in damage of 

the control unit.

-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 parts and dispose them separately.

Functions

◆ LED display

Indicates operating states of the HA-655 driver, parameters, alarms, by a 6-digit 7segment-LED.

◆ Keys labeled [UP], [DOWN], [ADJ], and [SET] 

Are used for changing indications, setting and tuning functional parameters, and operating an actuator 

manually in a JOG mode.

◆ CN1: encoder connector

Accepts a connector of an encoder cable form an actuator.

◆ CN2: I/O connector

Accepts I/O signals to/from a host device.

◆ CN3: Serial port connector (compliant with RS-232C)

Is connected to a PC with a dedicated cable. You can monitor, set, and tune parameters on the PC’s