Harmonic Drive LLC | 247 Lynnfield St. Peabody, MA 01960 | 800-921-3332
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REL

  • Command Interface

    • CANopen over EtherCAT (CoE)
    • ASCII and discrete I/O
    • Stepper commands
    • ±10V position/velocity/torque command
    • PWM velocity/torque command
    • Master encoder (Gearing/Camming)

Catalog

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14 Wire Standard Incremental Encoder

Driver P/N Actuator P/N Supply Voltage

Actuator Cont. Current (Apk)

Actuator Peak Current (Apk)

REL-230-18

FHA-8C-30 / 50 / 100-US200

AC100/200V 0.4 / 0.5 / 0.4 A 0.9 / 0.9 / 0.7 A

FHA-11C-30 / 50 / 100-US200

1.0 / 1.0 / 0.8 A 2.1 / 2.3 / 1.6 A

FHA-14C-30 / 50 / 100-US200

1.8 / 1.5 / 1.2 A 4.1/4.5 / 3.4 A

FHA-17C-50 / 100 / 160-US250-A

AC100V 2.7 / 2.1 / 1.4 A 5.9 / 4.5 / 3.1 A

FHA-25C-100 / 160-US250-A

5.7 / 4.5 A 15.6 / 11.3 A

FHA-32C-160-US250-A

5.7 A 17.0 A

FHA-17C-50 / 100 / 160-US250

AC200V 1.3 / 1.1 / 0.7 A 3.0 / 2.3 / 1.6 A

FHA-25C-50 / 100 / 160-US250

3.0 / 3.0 / 2.3 A 10.3 / 8.0 / 5.7 A

FHA-32C-50 / 100 / 160-US250

4.4 / 4.4 / 4.2 A 16.1 / 11.3 / 8.3 A

FHA-40C-100 / 160-US250

5.7 / 5.4 A 16.7 / 12.7 A
REL-230-36

FHA-25C-50-US250-A

AC100V 5.7 A 21.2 A

FHA-32C-50 / 100-US250-A

5.7 / 5.7 A 33.5 / 22.6 A

FHA-40C-50-US250

AC200V 5.7 A 24.5 A

4 Wire Serial Communication Incremental Encoder

Driver P/N Actuator P/N Supply Voltage

Actuator Cont. Current (Apk)

Actuator Peak Current (Apk)

REL-230-18

FHA-8C-30 / 50 / 100-E200

AC100/200V 0.4 / 0.5 / 0.5 A 0.9 / 0.9 / 0.7 A

FHA-11C-30 / 50 / 100-E200

1.0 / 1.0 / 0.8 A 2.1 / 2.3 / 1.6 A

FHA-14C-30 / 50 / 100-E200

1.8 / 1.5 / 1.2 A 4.1 / 4.5 / 3.4 A

FHA-17C-50 / 100 / 160-E250-A

AC100V 2.7 / 2.1 / 1.4 A 5.9 / 4.5 / 3.1 A

FHA-25C-100 / 160-E250-A

5.7 / 4.5 A 16 / 11 A

FHA-32C-160-E250-A

5.7 A 17 A

FHA-17C-50 / 100 / 160-E250

AC200V 1.3 / 1.1 / 0.7 A 3.0 / 2.3 / 1.6 A

FHA-25C-50 / 100 / 160-E250

3.0/3.0/2.3 A 10/8.0/5.7 A

FHA-32C-50 / 100 / 160-E250

4.4/4.4/4.2 A 16/11/8.3 A

FHA-40C-100 / 160-E250

5.7/5.4 A 17/13 A
REL-230-36

FHA-25C-50-E250-A

AC100V 5.7 A 21 A

FHA-32C-50 / 100-E250-A

5.7/5.7 A 33/23 A

FHA-40C-50-E250

AC200V 5.7 A 24.5 A

HD Absolute Encoder A

SHA-SG

Driver P/N Actuator P/N Supply Voltage Actuator Cont. Current (Apk) Actuator
Peak Current (Apk)
REL-230-18 SHA20A - 51 / 81 / 101 / 121 / 161 AC200V 3.0 / 2.8 / 2.8 / 2.7 / 2.3 8.5 / 6.9 / 6.4 / 5.7 / 4.8
SHA25A-51 / 81 / 101 / 121 / 161 4.2 / 4.2 / 4.1 / 3.7 / 3.0 A 12 / 11 / 9.9 / 8.9 / 7.4 A
SHA32A-161 5.8 A 14 A
REL-230-36 SHA32A-51 / 81 / 101 / 121 8.5 / 8.5 / 8.1 / 7.1 24.5 / 21.5 / 19.1 / 17.3 A
SHA40A-121 / 161 12.4 / 10.2 A 25.3 / 20.6 A
REL-230-40 SHA40A-51 / 81 / 101 12.7 / 12.7 / 12.7 A 37.8 / 30./8 / 27.4 A

SHA-CG

Driver P/N Actuator P/N Supply Voltage Actuator Cont. Current (Apk) Actuator
Peak Current (Apk)
REL-230-18 SHA20A - 50 / 80 / 100 / 120 / 160 AC200V 3.0 / 3.0 / 3.0 / 2.7 / 2.4 8.6 / 7.1 / 6.5 / 5.8 / 4.8
SHA25A-50 / 80 / 100 / 120 / 160 4.2 / 4.2 / 4.2 / 3.7 / 3.0 A 12.3 / 10.7 / 9.9 / 8.9 / 7.4 A
SHA32A-160 5.8 A 14.1 A
REL-230-36 SHA32A-50 / 80 / 100 / 120 8.5 / 8.5 / 8.1 / 7.1 25 / 21.8 / 19.4 / 17.3 A
SHA40A- 160 12.4 / 10.2 A

25.5 / 20.8 A

REL-230-40 SHA40A-50 / 80 / 100 / 120 12.7 / 12.7 / 12.7 A 38.5 / 31.1 / 27.7 A


Control Modes

  • Indexer, Point-to-Point, PVT
  • Camming, Gearing, Position, Velocity, Torque

Command Interface

  • CANopen over EtherCAT (CoE)
  • ASCII and discrete I/O
  • Stepper commands
  • ±10V position/velocity/torque command
  • PWM velocity/torque command
  • Master encoder (Gearing/Camming)

Encoder Interface

  • 14 wire Incremental Encoder
  • 4 wire Incremental Encoder
  • Absolute Encoder

Communications

  • EtherCAT
  • RS-232
  • RS-485 (Optional)

I/O – Digital

  • 15 inputs, 6 outputs

I/O – Analog

  • 2, 16 bit inputs
  • 1, 12 bit output

Dimensions: mm

    • 202 x 139 x 52


Accessories for REL Driver

P/N

Description

XEL-CK

Solder Cup Connector Kit

XEL-HL

Heat Sink Kit Low Profile

XEL-HS

Heat Sink Kit Standard Profile

XEL-NC-10

EtherCAT Network Cable 10'

XEL-NC-01

EtherCAT Network Cable 1'

XTL-RA-03

Regen Resistor, 30 Ohms (XEL-230-18 only)

XTL-RA-04

Regen Resistor, 15 Ohms (XEL-230-36 or XEL-230-40 only)

XTL-FA-01

Edge Filter Accessory XTL-FA-01

XTL-FK

Edge Filter Connector Kit XTL-FK

SER-CK

Serial Cable Kit ( 1 per computer ) (to be used with CME2 software only)
See
Manual
Extension cabele to FHA-mini
Extension cabele to FHA-C
Absolute encoder multi turn signal back up battery


Encoder Wire Connection for REL Driver

Pin Signal Wire Color
RSF/RKF FHA-C mini FHA-C SHA
14 Wire Incremental 14 Wire Incremental 4 Wire Serial (HD Incremental) Absolute (HD Absotute A) 14 Wire Incremental 4 Wire Serial (HD Incremental) Absolute (HD Absotute A) BISS-C (HD BISS-C)
1 FG Shield Shield Shield Shield Shield Shield Shield Shield
5 GND Black Black Black Black Black Black Black Black
6 (+5V)Vcc Red Red Red Red Red Red Red Red
13 A Blue Green - - Green - - -
12 A/ Blue/Black Dark Green - - Green/White - - -
11 B Green Gray - - Gray - - -
10 B/ Green/Black White - - Gray/White - - -
9 Z Yellow Yellow - - Yellow - - Yellow
8 Z/ Yellow/Black Clear - - Yellow/White - - Brown
15 S - - Yellow Yellow - Yellow Yellow Green
14 S/ - - Blue Blue - Blue Blue Black
2 U Brown Brown - - Brown - - -
3 V Gray Blue - - Blue - - -
4 W White Orange - - Orange - - -
7 Motemp[IN15] - - - - - - - -
16 GND - - - - - White - -
/ Battery + - - - Orange - - Orange Blue
/ Battery - - - - Brown - - Gray White


Wiring Example for REL Driver

wiring-example-for-rel-driver

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