position / speed mode - Harmonic Drive LLC

Chapter 4 Installing HA-655 driver
4-5Connecting power cables
4-5-1Instructions for power supply
CAUTION
(1) Before connecting the power cable to the HA-655 driver, turn-OFF
the electricity to avoid electric shock.
(2) Connect the power cable to the HA-655 driver only after installing
the driver on a wall.
(3) Ground the HA-655 driver, to avoid electric shock, malfunctions
caused by external noise, and for the suppression of radio noise
emissions.
4-5-2Power cable and ground cable
The minimum allowable wire sizes of power cables, ground wires, and other cables are listed below. We
recommend the thickest wires possible.
Terminals
Allowable Wire Sizes (mm 2 )
and
Symbol
HA-655-2
HA-655-4
Connectors
FHA-17C FHA-25C FHA-32C FHA-40C
Main Power Supply R,S,T 1.25 1.25 1.25 1.25
Control Power Supply r, s 1.25 1.25 1.25 1.25
Motor Leads U,V,W,E 0.75 Note 3 0.75 Note 3 1.25 Note 3 1.25 Note 3
Ground Ground mark 3.5 3.5 3.5 3.5
Regeneration Resister R1,R2 0.75 0.75 1.25 1.25
Encoder Port CN1 0.3mm 2 twist pair shielded cable Note 3.
I/O Signal Port CN2 0.35mm 2 twist pair, or twist pair whole-shielded cable
Note 1: When bundling wires or encasing into conduits (plastic or metal pipes), use the wire of
one size thicker.
Note 2: In hot environments, such as the temperature in a cabinet, use heat-resistant cable (IV
or HIV).
Note 3: Optional cables of 3m/5m/10m long are available as follows:
for a motor:
for an incremental encoder:
for an absolute encoder:
EWC-MB * * -M08-TN
EWC-E * * -B04-3M14
EWC-S * * -B08-3M14
Cable length 03 3m
05 5m
10 10m
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