Harmonic Drive LLC | 247 Lynnfield St. Peabody, MA 01960 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive LLC.


RTL

  • AC Supply Voltage
  • CANopen
  • Supports Stepper Command
  • Multiple Supported Operating Modes

Catalog

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14 Wire Standard Incremental Encoder Type

Driver P/N

Actuator P/N

Supply Voltage

Actuator
Cont. Current

Actuator
Peak Current

RTL-230-18

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

AC100/200V

0.4 / 0.5 / 0.5 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

16 / 11 A

FHA-32C-160-US250-A

5.7 A

17 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 / 8.0 / 5.7 A

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

4.4 / 4.4 / 4.2 A

16 / 11 / 8.3 A

FHA-40C-100 / 160-US250

5.7 / 5.4 A

17 / 13 A

RTL-230-36

FHA-25C-50-US250-A

AC100V

5.7 A

21 A

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

5.7 / 5.7 A

33 / 23 A

FHA-40C-50-US250

AC200V

5.7 A

24 A

Control Modes

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

Command Interface

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

Communications

  • CANopen
  • RS-232

I/O – Digital

  • 12 inputs, 4 outputs

Dimensions: mm

191 x 140 x 64


Accessories for RTL Driver

P/N

Description

XTL-CK

Solder Cup Connector Kit

XTL-NK

CANopen Network Kit

XTL-HL

Heat Sink Kit Low Profile

XTL-HS

Heat Sink Kit Standard Profile

XTL-CV

DB9 Female to RJ45 Adapter Assembly

XTL-NC-10

CANopen Network Cable 10'

XTL-NC-01

CANopen Network Cable 1'

XTL-NT

CANopen Network Terminator

XTL-RA-03

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

XTL-RA-04

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

XTL-FA-01

Edge Filter Accessory

XTL-FK

Edge Filter Connector Kit

SER-CK

Serial Cable Kit ( 1 per computer ) (to be used with CME2 software only)



Extention cabele to FHA-mini

Extention cabele to FHA-C


Encoder Wire Connection for RTL Drive

Pin Signal Wire Color
RSF/RKF FHA-C mini FHA-C
14 Wire Incremental 14 Wire Incremental 14 Wire Incremental
1 FG Shield Shield Shield
2 +5V(Vcc) - - -
3 U Brown Brown Brown
4 +5V(Vcc) Red Red Red
5 GND Black Black Black
6 V Gray Blue Blue
7 Z/ Yellow/Black Clear Yellow/White
8 Z Yellow Yellow Yellow
9 W White Orange Orange
10 Motemp[IN5] - - -
11 B/ Green/Black White Gray/White
12 B Green Gray Gray
13 A/ Blue/Black Cdark Green Green/White
14 A Blue Green Green
15 GND - - -

wiring-example-for-rtl-driver

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