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


14 Wire Standard Incremental Encoder Type

Driver P/N

Combined Actuator

Supply Voltage

Actuator
Cont. Current

Actuator
Peak Current

DEP-090-09

RSF-3B-30 / 50 / 100-US020

DC24V

0.9 / 0.9 / 0.8 A

2.1 / 2.0 / 1.6 A

RSF-5A-30 / 50 / 100-US050

1.6 / 1.3 / 1.1 A

3.2 / 3.1 / 2.4 A

RSF-8B-30 / 50 / 100-F100-24B

2.8 / 2.8 / 2.1 A

5.4 / 5.5 / 4.1 A

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

2.3 / 2.4 / 1.8 A

4.2 / 4.7 / 3.4 A

DEP-090-18

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

5.2 / 5.0 / 4.0 A

11 / 12 / 7.9 A

DEP-090-36

RSF-11B-30 / 50 / 100-F100-24B

7.1 / 6.9 / 6.9 A

20 / 22 / 13 A

RSF-14B-30 / 50 / 100-F100-24B

6.9 / 6.7 / 6.7 A

20 / 24 / 17 A

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

8.5 / 7.6 / 6.2 A

21 / 23 / 17 A

FHA-17C-50* / 100* / 160-US250-E-SP

12* / 12* / 11 A

36* / 31 / 23 A

4 Wire Serial Communication Incremental Encoder Type

Driver P/N

Combined Actuator

Supply Voltage

Actuator
Cont. Current

Actuator
Peak Current

DEP-090-09

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

DC24V

2.3 / 2.4 / 1.8 A

4.2 / 4.7 / 3.4 A

DEP-090-18

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

5.2 / 5.0 / 4.0 A

11 / 12 / 7.9 A

DEP-090-36

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

8.5 / 7.6 / 6.2 A

21 / 23 / 17 A

HD Absolute Encoder A Type

Driver P/N Combined Actuator Supply Voltage Actuator Actuator
Cont. Current Peak Current
DEP-090-09 FHA-8C-30 / 50 / 100 DC24V 2.3 / 2.4 / 1.8 A 4.2 / 4.7 / 3.4 A
DEP-090-18 FHA-11C-30 / 50 / 100 5.2 / 5.0 / 4.0 A 11 / 12 / 7.9 A
DEP-090-36 FHA-14C-30 / 50 / 100 8.5 / 7.6 / 6.2 A 21 / 23 / 17 A
DEP-090-36 SHA25A-51/81/101/121/161 DC48 to 90 V 12.1 A 35.4/35.4/35.4/32.6/26.9 A
DEP-090-36 SHA32A-51/81/101/121/161 12.1 A 35.4 A

Incremental Encoder Type ( Line driver output )

Driver P/N Combined Actuator Supply Voltage Actuator Actuator
Cont. Current Peak Current
DEP-090-09 RH -5A-8802/5502/4402 E-xxxAL DC20V 0.7A 1.2/1.1/1.1A
RH -8D-6006/3006 E-xxxAL DC24V 1.4/1.1A 2.3/1.6A
RH -11D-6001/3001 E-xxxAL 1.8A 3.4/3.0A
RH -14D-6002/3002 E-xxxAL 2.5A 7.6/5.8A

Control Modes

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

Command Interface

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

Encoder Interface

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

Communications

  • EtherCAT
  • RS-232

I/O – Digital

  • 8 inputs, 3 outputs

Dimensions: mm [in]

  • 196 x 99 x 31 [7.7 x 3.9 x 1.2]


Accessories for DEP Driver

P/N

Description

AEP-CK

Solder Cup Connector Kit

AEP-CA

Cable Assembly Connector Kit

AEP-HK

Heat Sink Kit

AEP-NC-10

EtherCAT Network Cable 10'

AEP-NC-01

EtherCAT Network Cable 1'

SER-CK

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



Extention cabele to RSF-supermini (include open corrector to line dliver converter)

Extention cabele to RSF-mini

Extention cabele to FHA-mini

Absolute encoder multi turn signal buck up battery


Encoder Wire Connection for DEP Driver

Pin Signal Wire Color
RSF-Supermini RSF-B mini FHA-C mini FHA-C SHA (Low-Voltage)
Incremental (Extension Cable) 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 S) Absolute (HD Absotute A) BISS-C (HD BISS-C)
1 FG Shield Shield Shield Shield Shield Shield Shield Shield Shield Shield
2 GND Black/White (Enc) Black Black Black Black Black Black Black Black Gray
3 +5V(Vcc) Red/White (Hall) White Red Red Red Red Red Red Red Red
(Enc) White
4 A White (Enc) Brown Green - - Green - - - -
5 A/ Black (Enc) Blue Dark green - - Green/White - - - -
6 B Red (Enc) Red Gray - - Gray - - - -
7 B/ Blue (Enc) Green White - - Gray/White - - - -
8 Z Green (Enc) Yellow Yellow - - Yellow - - - Yellow
9 Z/ Yellow (Enc) Orange Clear - - Yellow/White - - - Brown
10 S - - - Yellow Yellow - Yellow Yellow Yellow Green
20 S/ - - - Blue Blue - Blue Blue Blue Black
11 U Orange (Hall) Brown Brown - - Brown - - - -
12 V Purple (Hall) Red Blue - - Blue - - - -
13 W Pink (Hall) Yellow Orange - - Orange - - - -
14 Motemp[IN8] - - - - - - - - - -
15 GND - (Hall) Black - - - - - White White -

Wiring Example for DEP Driver

wiring-example-for-dep-driver

Catalog

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