FHA-C Series - Harmonic Drive LLC

Chapter 1 Overview of the FHA-C series1-14 Cable specificationsThe following tables show the lead specifications for the motors and the encoders of the FHA-C actuators.• Motor CableColorStandardBrake optionRed Motor phase-U Motor phase-UWhite Motor phase-V Motor phase-VBlack Motor phase-W Motor phase-WGreen/yellow PE PEBlue No connection BrakeYellow No connection Brake(Shield) FG FG• Encoder Lead for 14 Wire Incremental Encoder INCColor Signal Color SignalRed Vcc Black GNDGreen A Green/White AGray B Gray/White BYellow Z Yellow/White ZBrown U Brown/White UBlue V Blue/White VOrange W Orange/White WOutput circuitInput circuit of user’s device (Ex.)V CCAM26LS31C (Equivalent)A,B,Z,U,V,W_A, _ B, _ Z, _ U, _ V, _ WR1AM26LS32C (Equivalent)V CCGNDR1:120_C1C2GNDFGFGVoltage strength of capacitor C1,C2 : 50V• Encoder Lead for 4 Wire Incremental Encoder INCColor Signal ReferenceRed +5V PowerBlack 0V SupplyYellow SD Serial SignalBlue SD Differential Output(Shield)FG• Encoder Lead for Absolute Encoder ABS17Color Signal ReferenceRed +5VBlack 0V Power SupplyWhite0VYellow SD Serial SignalBlue SD Differential OutputOrange BAT+ Battery+Gray BAT- Battery-Green CLR Clear Signal(Shield)FG