Harmonic Drive SC-610 Series, Operation Manual

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Operations Manual SC-610 Page 1
Harmonic Drive AG 900105 11/2005
Contents
General Information and
Safety Guide Lines 2
1.0 Specification ................................... 5
1.1 Usage Definitions ......................... 5
1.2 Identification ................................. 5
1.3 Features ....................................... 6
1.4 Declaration of Conformity ............. 6
1.5 EMC Conformity and CE Marking . 7
1.6 Technical Data ............................. 7
1.6.1 Power Section .............................. 7
1.6.2 24VDC Input ................................. 8
1.6.3 Velocity Controller ........................ 8
1.6.4. Encoder Inputs ............................. 8
1.6.4.1 Master-Encoder Input (X9)............. 8
1.6.4.2 Hiperface (X8) ............................... 8
1.6.4.3 EnDat (X8) .................................... 8
1.6.4.4 TTL-Encoder (X8) ........................ 8
1.6.5 Encoder Output (X7) ..................... 9
1.6.6 Pulse/Direction Input .................... 9
1.6.7 Serial Interface ............................. 10
1.6.8 Mechanical Section ...................... 10
1.6.9 Environmental Section ................. 10
1.6.10 Power Supply Section .................. 11
1.6.10.1
Regeneration ................................ 11
1.6.10.2 Rectifier Section ........................... 11
2.0 Installation Recommendations .... 12
2.1 Safety Notice ................................ 12
2.2 Electrical Installation .................... 12
2.3 Mechanical Installation ................. 13
3.0 Interconnection Diagrams ............ 14
3.1 Interconnection Diagram
Hiperface/EnDat .............................. 14
3.2 Interconnection Diagram Resolver 15
3.3 Interconnect. Diagram TTL-Encoder 16
3.4 Connector Configuration
I/O-Expansion ............................... 17
4.0 Wiring .............................................. 18
4.1 Power Wiring ................................ 18
4.1.1 Power Supply ............................... 18
4.1.2 Mains Filter ................................... 19
4.1.3 Motor Wiring ................................. 20
4.1.4 24VDC Connection ...................... 20
4.1.5
Regeneration Resistor Wiring ...... 21
4.2 Control- and Signal Wiring ........... 22
4.2.1 Control Inputs ............................... 22
4.2.2 Control Outputs ............................ 25
4.2.3 Resolver ....................................... 25
4.2.4 Encoder Output ............................ 26
4.2.5 Master Encoder Input ................... 26
4.2.6 Command Input ............................ 27
4.2.7 Interface Cables ........................... 28
4.3
Minimum Wiring Diagram ............. 29
5.0 System Set Up Procedure ............ 35
5.1 Presets ......................................... 35
5.2 System Set Up Step by Step ....... 36
6.0 Status Indicators ........................... 39
6.1 Status Monitor .............................. 39
6.2 LED Regeneration Load .............. 41
7.0 I/O Hardware Description ............. 41
7.1 Input Signals ................................ 41
7.2 Output Signals ............................. 43
7.3 Resolver (X8) ............................... 44
7.4 Encoder Output (X7) .................... 45
7.5 Encoder (X8) Hiperface/ EnDat .... 45
7.6 Encoder (X8) TTL-Encoder........... 46
7.7 I/O-Expansion for 256 Pos. (X12) 47
7.7.1 Input Signals (X12) ...................... 47
7.7.2 Output Signals (X12) ................... 48
APPENDIX
Appendix A
EMC Installation Instruction ......... A2
EMC Wiring Principle ................... A3
Appendix B
Dimensions .................................. A5
Appendix C
Troubleshooting ........................... A7
Appendix D
Multi-Drop-Applications ................ A10
Appendix E
Software Installation .................... A11
Appendix F
Definition of Motor Parameters .... A12
Appendix G
Wiring description for cables for FHA-C-
-series actuators with Hiperface ... A13
Appendix H
Wiring description for cables for
FFA-series actuators with resolver A14
Appendix I
Wiring description for cables for
FFA-series actuators with EnDat-
encoder ......................................... A15
Appendix J
Wiring description for cables for
FHA-Cmini-series actuators with TTL-
encoder ......................................... A16
Appendix K
Wiring description for cables for
CHA-series actuators with Hiperface A17