FHA-C Series - Harmonic Drive LLC

Chapter 1 Overview of the FHA-C series1-15 Signal WaveformSignal waveform specifications of new version FHA-17C / 25C / 32C / 40C for US marketFigure 1 shows A, B and Z signal and relationship with U signal with CW rotationfacing the encoder end (the end of the actuator output shaft.)Figure 1a, b, c, d = 1/4T ± 1/10T(a + b), (b+c) = 1/2T ± 1/8TTz = 1/2T ~ 3/2T(The Z phase includes a HIGH statein case of both of A and B phase isHIGH state.)T = 360º / 2500a < ± 10º (Mechanical angle)Figure 2shows U, V, and W signal and relationship[ with motor’s EMF with CW rotationfacing the encoder end (the end of the actuator output shaft.)Figure 2Voltage of U-W (G) means of voltageof U terminal grounding W terminal.R = 60º ± 3ºHn = 10º ± 3º (Mechanical angle)a < ± 10º / 6 (Mechanical angle)Encoder OutputHarmonic Drive LLC 800-921-3332 18