Harmonic Drive CHA - Page 56

56 1018854 12/2015 V01
D2048
Incremental motor feedback system with square wave signals, reference signal
and commutation signals (RS 422 standard)
Table 56.1
1)
Source: Manufacturer
2)
for quadcounting
Signal Wave Form
Valid for direction of rotation
- CW motor shaft (with a view from the front of the motor shaft)
- CCW output flange for CHA
T = 360° / 2048
a, b, c, d = 0,25 T
T
z
= 1/4 T
H
N
= 360° / 5 = 72°
d ≤ ± 5° el.
Illustration 56.2
Ordering code Symbol [Unit] D2048
Manufacturer's designation EBG
Power supply
1)
U
b
[VDC] 5 ± 10%
Current consumption (without load)
1)
I [mA] 40
Incremental signals RS422
Wave form square wave
Number of pulses n
1
[A / B] 2048
Commutation signals RS422
Signal form square wave
Number of pulses n
2
[U / V / W] 5
Reference signal n
3
[Z] 1
Accuracy
1)
[arcsec] ± 600
Incremental resolution (motor side)
2)
[qc] 8192
Resolution (output side)
2)
Gear ratio CHA
i [ ] 30 50 80 100 120 160
[arcsec] 5.3 3.2 2.0 1.6 1.4 1.0