HarmonicDrive H A - 800A, Manual

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2-5 Wiring the driver and motor
2-18
4
2
2
1
Appe
11
10
Appe
11
7
6
5
In
sta
lla
tio
n/wir
in
g
Connecting the encoder
To connect the encoder, connect the CN1 connector, as shown below.
For the encoder signal wire, use a twisted pair shield cable with a wire size of 0.3mm
2
or larger and
having the necessary number of cores.
Shorten the wiring length as much as possible.

If provided by the customer
Wiring length: 10m or less Wire conductivity: 0.04Ω/m or less

We have optional cables of 3m/5m/10m long.
Encoder connector (CN1)
Connector Cover
Manufacturer 3M 3M
Model 10114-3000PE 10314-52F0-008
Pin layout of encoder connector (CN1)
The pin layout shown below is viewed from the soldered side.
4-wire wire-saving incremental encoder 13-bit absolute encoder
17-bit absolute encoder 14-wire incremental encoder
(*: In the 17-bit encoder incremental model, there is no need to connect BAT+/BAT-.)

Do not connect NC terminals. If NC terminals are connected by mistake,
malfunctions may result.
Encoder
CN1
E
5
SD
3
NC
1
+5V
7
SD
6
NC
4
NC
2
NC
13
NC
11
NC
9
NC
14
NC
12
NC
10
NC
8
0V
5
SD
3
NC
1
+5V
7
SD
6
NC
4
BAT
－
2
BAT
＋
13
NC
11
NC
9
NC
14
NC
12
NC
10
NC
8
0V
5
SD
3
NC
1
+5V
7
SD
6
CLR
4
BAT
－
2
BAT
＋
13
NC
11
NC
9
NC
14
NC
12
NC
10
NC
8
0V
5
A
3
Z
1
+5V
7
A
6
Z
4
B
2
B
13
W
11
V
9
U
14
W
12
V
10
U
8
0V