Harmonic Drive CHA - Page 55

551018854 12/2015 V01
M128S
Multi-turn absolute motor feedback system with incremental
SIN / COS signals and SSI data interface
Table 55.1
Ordering code Symbol [Unit] M128S
Manufacturer's designation GEL
Protocol SSI
Power supply
1)
U
b
[VDC] 5 … 30
Current consumption (without load)
1)
P [W] 0.1
Incremental signals u
pp
[V
ss
] 1
Signal form sinusoidal
Number of pulses n
1
128
Absolute position / revolution (motor side)
3)
131072
Number of revolutions
4096
Battery back up
(internal battery available)
Available memory in EEPROM [Bytes] -
Accuracy
1)
[arcsec] ± 360
Resolution of the absolute value (output side)
Gear ratio CHA
i [ ] 30 50 80 100 120 160
[arcsec] 0.4 0.2 0.2 0.1 0.1 0.1
Number of revolutions (at output side) 136 81 51 40 34 25
Incremental resolution (motor side)
2)
inc [ ] 32768
Resolution (output side)
2)
Gear ratio CHA
i [ ] 30 50 80 100 120 160
[arcsec] 1.32 0.79 0.49 0.40 0.33 0.25
1)
Source: Manufacturer
2)
for Interpolation with 8 bit
3)
increasing position values
- for rotation in clockwise direction, looking at the motor shaft
- for rotation in counter clockwise direction, looking at the output flange
The theoretical battery lifetime can be determined based on the previous storage time and the daily time of operating.
ADVICE
Regardless of the results from the theoretical battery lifetime calculation, we specify to change the complete motor feedback
system latest 10 years after delivery.
Abbildung 55.2
Number of operating hours per day [h]
Storage 1a
Storage 2a
Storage 3a
max. service live
Theoretical battery service life [a]
Theoretical battery service life, depending on the
previous time of storag