On 25 March 2017 at 04:08, hubert <[email protected]> wrote: > I am looking for recommendations and/or advice for driving a > Harmonic-drive-systems FHA-40C-100-E250 Actuator that I will be using as > part of the 4th AXIS on my Mill. The motor appears to be about a 1KW > unit with max RPM of 3000 and has an encoder that provides 2500 pulses > per revolution.
The HD web site only seems to list the US250 encoder currently. The E250 encoder is mentioned in this version of the manual https://www.hds.co.jp/products/data/pdf/technicaldocument/rotary/FHA-C_Series_Manual_en_0211-1R-TFHAC-E.pdf Which gives the encoder pinout: Color Signal Ref Red +5V Power Black 0V Power Yellow SD Serial Blue /SD Serial Shield FG But doesn't give the data format for the serial data. Looking at the manual for the recommended driver: ( HA-655-4-200 ) http://www.harmonicdrive.net/_hd/content/catalogs/pdf/ha-655_manual.pdf There is a fair bit of information about the format of the encoder signals _out_ of the drive, but very little about what is going in to the drive on CN1. I think you might need to get the drive hooked up to an oscilloscope to work out what data format is being used. I think that despite being called "incremental" it must actually be single-turn absolute data as there are no separate commutation outputs. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
