Harmonic Drive SC-610 Series, Operation Manual

Page: 17 / 69

Page 14 Operations Manual SC-610
Harmonic Drive AG 900105 11/2005
3.0 Interconnection Diagrams
3.1 Interconnection Diagram Hiperface/ EnDat
1 CMD +
2 CMD -
3 AGND
4 FAULT RELAY
5 FAULT RELAY
6 CIV
7 CREF
8 CGND
9 ENABLE
10 DIN 0, CW-Limit
11 DIN 1, CCW-Limit
12 DIN 2, HOLD
13 DIN 3, FRESET
14 DIN 4, PULSE
15 DIN 5, DIRECTION
16 DIN 6
17 DIN 7
18 DOUT 0
19 DOUT 1
20 DOUT 2, DrOK
1 CHA
2 CHB
3 CHC
4 N.A.
5 DGND
6 CHA /
7 CHB /
8 CHC /
9 +5V
Master Encoder
X9
X8
X 3
Motor
2
3
2
Rx
24V
2
Main
Power
1
20
X
8
X
7
AS1
1
2
3
4
5
6
7
8
X1
PE
NC
L
N
U
V
W
R1
R2
+24 V
0 V
X
3
9
10
X
9
X
6
1 CHA
2 CHB
3 CHC
4 N.A.
5 DGND
6 CHA /
7 CHB /
8 CHC /
9 N.A.
X7
1 N.A.
2 RX
3 TX
4 N.A.
5 DGND
6 N.A.
7 RTS
8 CTS
9 8V Keyp. N.A.
RX-
TX-
N.A.
DGND
N.A.
TX+
RX+
8V Keyp.
RS232 / RS485
X6
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Encoder-Output
Hiperface/EnDat
1 Data+ / Data +
2 Data- / Data-
3 +8V / n. a .
4 n. a. / +5V
5 DGN D / DG ND
6 Inside sh ield
7 CosRef / CosRef
8 n. a. / n. a .
9 n. a. / Clock-
10 n. a. / Clock+
11 DG ND / DG ND
12 SinRef / SinRe f
13 Sin / S in
14 Cos / Co s
15 n. a. / n. a.
Control Signals
&
Digital I/O´s
Content of delivery: mating connectors to X1, X3 and X8.
Overview of mating connectors:
X1 : (10 pole, female) X6 : (9 pole, female, UNC)
X3 : (20 pole, female) X7 : (9 pole, male, UNC)
X8 : (15 pole, male, UNC) X9 : (9 pole, male, UNC)