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REL Series
Description
REL combines EtherCAT networking with 100% digital control of brushless or brush motors in an AC-line powered package that can operate from single or three-phase mains with continuous power output to 4 kW.
Product’s features
- AC Supply Voltage
- CANopen over EtherCAT (CoE)
- Supports Stepper Command
- Multiple Communication Modes
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14 Wire Standard Incremental Encoder Type
Driver P/N |
Actuator P/N |
Supply Voltage |
Actuator
Cont. Current |
Actuator
Peak Current |
REL-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 |
REL-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 |
4 Wire Serial Communication Incremental Encoder Type
Driver P/N |
Actuator P/N |
Supply Voltage |
Actuator
Cont. Current |
Actuator
Peak Current |
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 |
25 A |
HD Absolute Encoder S Type
Driver P/N |
Actuator P/N |
Supply Voltage |
Actuator
Cont. Current |
Actuator
Peak Current |
REL-230-18 |
FHA-17C-50 / 100 / 160-S248-A |
AC100V |
2.7/2.1/1.4 A |
5.9/4.5/3.1 A |
FHA-25C-100 / 160-S248-A |
5.7/4.5 A |
16/11 A |
FHA-32C-160-S248-A |
5.7 A |
17 A |
FHA-17C-50 / 100 / 160-S248 |
AC200V |
1.3/1.1/0.7 A |
3.0/2.3/1.6 A |
FHA-25C-50 / 100 / 160-S248 |
3.0/3.0/2.3 A |
10/8.0/5.7 A |
FHA-32C-50 / 100 / 160-S248 |
4.4/4.4/4.2 A |
16/11/8.3 A |
FHA-40C-100 / 160-S248 |
5.7/5.4 A |
17/13 A |
REL-230-36 |
FHA-25C-50-S248-A |
AC100V |
5.7 A |
21 A |
FHA-32C-50 / 100-S248-A |
5.7/5.7 A |
33/23 A |
FHA-40C-50-S248 |
AC200V |
5.7 A |
25 A |
HD Absolute Encoder A Type
Driver P/N |
Actuator P/N |
Supply Voltage |
Actuator
Cont. Current |
Actuator
Peak Current |
REL-230-18 |
SHA-25-51 / 81 / 101 / 121 / 161 |
AC200V |
4.2 / 4.2 / 4.1 / 3.7 / 3.0 A |
12 / 11 / 9.9 / 8.9 / 7.4 A |
SHA-32-161 |
5.8 A |
14 A |
REL-230-36 |
SHA-32-51 / 81 / 101 / 121 |
8.5 / 8.5 / 8.1 / 7.1 / 5.8 A |
24 / 22 / 19 / 17 A |
SHA-40-121 / 161 |
12 / 10 A |
25 / 21 A |
REL-230-40 |
SHA-40-51 / 81 / 101 |
13 / 13 / 13 A |
38 / 31 / 27 A |
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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
I/O – Analog
- 2, 16 bit inputs
- 1, 12 bit output
Dimensions: mm [in]
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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) |
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Extention cabele to FHA-mini |
Extention cabele to FHA-C |
Absolute encoder multi turn signal buck up battery |
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Encoder Wire Connection for REL Driver
Pin |
Signal |
Wire Color |
RSF/RKF Incremental |
FHA-C mini |
FHA-C |
SHA
HD Absolute A |
Incremental |
HD Incremental |
HD Absolute A |
Incremental |
HD Incremental |
HD Absolute S |
1 |
FG |
Shield |
Shield |
Shield |
Shield |
Shield |
Shield |
Shield |
Shield |
2 |
U |
Brown |
Brown |
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Brown |
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3 |
V |
Gray |
Blue |
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Blue |
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4 |
W |
White |
Orange |
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Orange |
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5 |
GND |
Black |
Black |
Black |
Black |
Black |
Black |
Black |
Black |
6 |
(+5V)Vcc |
Red |
Red |
Red |
Red |
Red |
Red |
Red |
Red |
7 |
Motemp |
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8 |
Z/ |
Yellow/Black |
Clear |
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Yellow/White |
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9 |
Z |
Yellow |
Yellow |
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Yellow |
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10 |
B/ |
Green/Black |
White |
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Gray/White |
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11 |
B |
Green |
Gray |
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Gray |
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12 |
A/ |
Blue/Black |
Dark green |
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Green/White |
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13 |
A |
Blue |
Green |
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Green |
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14 |
S/ |
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Blue |
Blue |
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Blue |
Blue |
Blue |
15 |
S |
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Yellow |
Yellow |
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Yellow |
Yellow |
Yellow |
16 |
GND |
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White |
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17 |
(+5V)Vcc |
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18 |
Sin- |
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19 |
Sin+ |
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20 |
Cos- |
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21 |
Cos+ |
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22 |
Ref- |
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23 |
Ref+ |
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24 |
Enc Fault |
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25 |
GND |
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26 |
GND |
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Wiring Example for REL Driver
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PAGE: "Products | Servo Drives | REL servo drives :: Harmonic Drive LLC"
