On 3/25/17 5:52 AM, andy pugh wrote: > 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. > I see what you mean. Section 2-2-3 implies that the driver is receiving from the actuator 2-phase pulse trains plus a phase-Z pulse signal. In addition the absolute encoder sends absolute signals. We can only sit here and speculate until we can see what is actually on the encoder cable. The unit is scheduled to be delivered Monday. Until then all I can do is try to dream up a method to rotate the servo while reading the encoder output. Are you familiar with any techniques of serially encoding 2-phase pulse trains?
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