Harmonic Drive SC-610 Series, Operation Manual

Page: 37 / 69

Page 34 Operations Manual SC-610
Harmonic Drive AG 900105 11/2005
red
blue
green
yellow
pink
grey
13)
(CREF)
(Enable)
(CW Limit)
(CCW Limit)
(CMD+)
(CMD-)
(AGND)
1)
1)
(REF+; R1)
(REF-; R3)
(COS+; S1)
(COS-; S3)
(SIN+; S2)
(SIN-; S4)
(AGND)
CONTROL
WIRING
0 ... +/-10V / AGND
14)
(CHA)
(CHA/)
(CHB)
(CHB/)
(CHC)
(CHC/)
(DGND)
12 ... 29V
Any polarity
12)
Screen connection with screen-rails or with screen clamps
(see also appendix A)
11)
10)
16)
PC
RS232/422
Resolver Feedback
Housing
1) 1)
10) If a very strong affect of EMI will be expected, it is recommended to connect the inside screens
to AGND.
11) Resolver cable; BSM1R has flying leads
12) Functional description of the control inputs see chapter 4.2.1. The control inputs must be supplied with
an external voltage source.
13) The Control cable is not available from Harmonic Drive. Drawing shows the wiring principle only. Can
be one or more cables.
NOTE: DGND and AGND are internally linked together. If the used controller does not have two
independent grounds, only one GND should be wired to the controller to avoid ground-loops.
14) If the wiring is done like shown in the drawing, the motor rotates clock wise (view at motor shaft) with
a positive voltage on X3.1 referenced to X3.2.
15) Encoder cable, twisted and screened
16) Interface cable refer to 4.2.7
ATTENTION: Please note also chapters 4.0. to 4.2. and Appendix A
1) Please note that servo axes incorporating Harmonic Drive gears (i. e. FHA-, CHA-, FFA- and RS-C-
series) will be effected by a change of the turning direction. In this case CW- and CCW-limit have to be
cross wired.