HarmonicDrive H A - 800A, Manual

Page: 148 / 314

5-8 Connection example in control mode
5-31
1
2
3
4
5
6
7
8
9
10
11
Appe
I/O
si
gnal
s
5-8 Connection example in control mode
Connection example with default settings
2.2k
26
2.2k
CN2
HA-800A
Terminal voltage (Vin): Set to 3.5V or more.
Am26LS31 (EIA422A) or equivalent
FWD command pulse
signal input
Vin
FWD+
27
130
75
FWD-
28
75
TB2
REV command pulse
signal input
Vin
REV+
29
130
r
REV-
30
s
IN-COM
R
0V
2.2k
DC24V
External
power supply
Servo-ON
2.2k
2
S-ON
S
T
Note:
The encoder wiring varies depending
on the actuator model. Refer to
[Chapter 4 Encoder system].
In-position complete
M
AC Servo Actuator
FHA-**C
Alarm output
26LS31
Current value data output-
Current value data
41
40
Z (OC) output
Warning output
Zero speed output
Operation preparation
complete
FWD enable
2.2k
2.2k
FWD-EN
7
REV-EN
9
IN-POS
READY
18
17
Servo-ON input enable
S-READY
16
TLMT-OUT
19
Output signal common
OUT-COM
Torque limiting output
Z (OC)
WARNING
ZERO-SPD
ALARM
24/25
23
22
21
20
Shield
Control modes
REV inhibit
MOD-SEL
REV-IH
6
2.2k
10
2.2k
5
2.2k
4
2.2k
3
FWD inhibit
Clear
Reset
FWD-IH
CLEAR
RESET
49/50
48
46
47
Encoder phase Z- signal output
Encoder phase Z+ signal output
Encoder phase B- signal output
Encoder phase B+ signal output
Encoder phase A- signal output
Encoder phase A+ signal output
45
44
43
42
Shield
Be sure to ground each point.
Green/
Yellow
Black
White
Red
W
V
U
R3
R2
TB1
1/8
REV enable
Power input
AC200V
(50/60Hz)
or
AC100V
(50/60Hz)
Noise filter
N/F
Magnetic switch
Circuit breaker
CN1
Red
E
Black
Yellow
Blue
Connector
shell
Shield
SD 7
+5V 1
0V 8
SD 5
Incremental encoder
Use a twisted pair shield cable.
Securely connect the shield to
the cable-clamp with
grand-brain of the connector.
R1