HarmonicDrive H A - 800A, Manual

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5-7 Monitor output
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5-7 Monitor output
The following explains how to output the encoder signal monitor output and current value data output
signals from the CN2 connector and to output the speed, current analog monitor and status digital
monitor signals from the CN9 connector.
Encoder output
The encoder's phase A, B, and Z signals are output via a line driver (26LS31).
Receive the signals by a line receiver (AM26LS32 or equivalent).
For details on signals, refer to the following according to the actuator model you use.
Encoder type Actuator model Driver model Details
17-bit absolute encoder
(17-bit encoder incremental model)
SHA series
FHA-Cmini series
HA-800A-*D/E-100/200 P4-11
13-bit absolute encoder FHA-C series HA-800A-*A-100/200 P4-21
4-wire wire-saving incremental encoder FHA-C series HA-800A-*C-100/200
P4-28 4-wire wire-saving incremental encoder FHA-Cmini series HA-800A-*C-100/200
14-wire incremental encoder RSF/RKF series HA-800A-*B-100/200
Current value data output
This is used to acquire the current value data when the servo is ON in order to manage the absolute
position with the absolute encoder.
The current value is sent divided into 9 times and output with the line collector (26LS31), so receive
using a line receiver (AM26LS32 or equivalent).
For details, refer to [Outputting the current value data from the pins CN2-40 and 41] (P4-9).
Output format Start-stop
Communication
speed
9,600 bps
Stop bit 1 bit
Data length 8 bits
Parity bit Even parity
Format LSB first
26LS31
Encoder phase A+ signal output
Encoder phase A- signal output
Encoder phase B+ signal output
Encoder phase B- signal output
Encoder phase Z+ signal output
Encoder phase Z- signal output
48 Monitor ground
49/50
42
43
46
47
44
45
CN2
CN2
26LS31
Current value data
Current value data output-
40
41
48 Monitor ground