Harmonic Drive CHA - Page 53

531018854 12/2015 V01
C1024
Incremental motor feedback with SIN / COS signals
reference and commutation signals
Signal Wave Form
Table 53.1
Ordering code Symbol [Unit] C1024
Manufacturer's designation CCK
Power supply
1)
U
b
[VDC] 5 ± 10%
Current consumption
1)
I [mA] 150
Incremental signals u
pp
[V
ss
] 1 +20% / -25%
Signal form sinusoidal
Number of pulses n
1
[A / B] 1024
Commutation signals u
pp
[V
ss
] 1
Signal form sinusoidal
Number of pulses n
2
[C / D] 1
Reference signal n
3
[R] 1
Accuracy
1)
[arcsec] ±12
Incremental resolution (motor side)
2)
inc [ ] 262144
Resolution (output side)
2)
Gear ratio CHA
i [ ] 30 50 80 100 120 160
[arcsec] 0.16 0.10 0.06 0.05 0.04 0.03
1)
Source: Manufacturer
2)
For interpolation with 8 bit
Valid for direction of rotation
- CW at the motor shaft (when viewed from the front face of the motor)
- CCW at the output flange
Illustration 53.2
ϕ
ϕ
ϕ
ϕ
ϕ
ϕ
0
0
0
0
0
0
A
B
R
C
D
R
U[V]
45°el.
360°el.= 360°mech.
180°el. ± 90°el.
360°el.=
360° mech.
1024