Harmonic Drive FHA Mini Series, Manual

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Appendix 1 Incremental encoder
FHA-mini
41
Appendix 1
Incremental Encoder Detailed Specifications
Signal Waveform
Fig. 1 A, B and Z signal and relationship with U-N motor EMF waveform
with
CW rotation facing the output flange end
a,b,c,d = 0.25T ± 0.15T
Tz = T ± 0.5T
(The Z phase includes a HIGH state
in case of both of A and B phase is H
IGH state.)
T =
360˚/2000
<
±3˚ (Mechanical angle)
U-N
Motor EMF waveform
R =
72˚±3˚ (Mechanical angle)
Hn =
12˚±3˚ (Mechanical angle)
<
±3˚ (Mechanical angle)
Fig. 2 U, V and W signal and relationship with
motor’s EMF with CW rotation
fac
ing the output flange end
Motor Commutation Output