Harmonic Drive SC-610 Series, Operation Manual, Page: 12 / 69

Operations Manual SC-610 Page 9
Harmonic Drive AG 900105 11/2005
1.6.5 Encoder-Output (X7)
Encoder-Output Unit SC-610-X
Signal - RS422
Max. frequency KHz 100
Supply voltage VDC 5 ±5 %
Output voltage VDC V
OH
= 2.5 min. / V
OL
= 0.5 max.
Output current mA max. 20
Signal form Rectangular, pos. logic
Pulse lengths P
1
= 0.5 P
0
; P
C
= 0.25 P
0
Encoder-Resolution at Hiperface and
EnDat-feedback
ppr
same as the number of sine/cosine cycles per
revolution
Encoder-Resolution at resolver feedback ppr 512 / 1024 / 2048 / 4096
1)
1)
factory default
The above given signal sequence depends on the connected servo actuator and its feedback system and is
specified as follows:
Actuator type Direction of rotation at motor shaft Direction of rotation at gear outputt
FHA-C-HIPERFACE Counter clockwise Clockwise
FFA-Resolver/ EnDat Clockwise Counter clockwise
FPA-Resolver/ EnDat Clockwise Clockwise
FHA-Cmini/ TTL-Encoder Clockwise Counter clockwise
1.6.6 Pulse / Direction-Input (X3)
Pulse / Direction Input Unit SC-610-X
Signal VDC 12-29 / opto-isolated
Operating Mode - Pulse and Direction
Max. Input Frequency MHz 1
Cycle time ms 1