Harmonic Drive SC-610 Series, Operation Manual

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Page 26 Operations Manual SC-610
Harmonic Drive AG 900105 11/2005
Control Output Wiring:
The control outputs can be wired like shown below. Chapter 7 shows the hardware circuits of the outputs.
All outputs are active "HIGH" (source) and referred to CGND (X3.8).
4.2.3 Resolver (optional)
The resolver must be wired to drive connector X8 and on the motor side with signal connector.
Wiring of the resolver in- and outputs:
The wiring is shown in chapter 4.3.
Maximum cable length is 25m
SIGNAL COLOUR CODE
Connector - Pin
Standard-
Resolver cable
Cable Exit
BSM1R
REF + / X8 - 1 red red / white
REF - / X8 - 6 blue yellow / white
COS + / X8 - 2 green red
COS - / X8 - 7 yellow black
SIN + / X8 - 3 pink yellow
SIN - / X8 - 8 grey grey
All cables have to be screened.[3x(2x0,14mm
2
)]
4.2.4 Encoder Output
The controller has an encoder output (X7), which can be used for position- and/or velocity feedback for a
superset controller. The encoder output resolution (
p ulse p er r evolution; ppr) can be configured via software.
The following resolutions are available; using resolver feedback
512ppr 1024ppr 2048ppr
2)
4096ppr
2)
2)
only available if feedback is set to 4096 using the
ENCODERLINESOUT
keyword.
In case Hiperface-encoder feedback is used the output (X7) corresponds to the physical encoder resolution
multiplied by 4 (ex. 1024ppr x 4)
Wiring of the encoder output:
A wiring proposal is shown in chapter 4.3.
It is strongly recommended to make the wire connection with a twisted and screened cable.