REL
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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 | ||
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FHA-14C-30 / 50 / 100-US200 |
1.8 / 1.5 / 1.2 A | 4.1/4.5 / 3.4 A | ||
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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 | ||
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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 | |
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FHA-25C-50 / 100 / 160-US250 |
3.0 / 3.0 / 2.3 A | 10.3 / 8.0 / 5.7 A | ||
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FHA-32C-50 / 100 / 160-US250 |
4.4 / 4.4 / 4.2 A | 16.1 / 11.3 / 8.3 A | ||
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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 | ||
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FHA-14C-30 / 50 / 100-E200 |
1.8 / 1.5 / 1.2 A | 4.1 / 4.5 / 3.4 A | ||
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SHA25A-50 / 80 / 100 / 120 / 160 -51 / 81 / 101 / 121 / 161 |
4.2 / 4.2 / 4.2 / 3.7 / 3.0 A | 12.3 / 10.7 / 9.9 / 8.9 / 7.4 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 | ||
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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 | ||
| SHA32A-160 / 161 | 5.8 A | 14.1 A | ||
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RSF-17A - 50 / 100 RSF-20A - 50 / 100 RSF-25A - 50 / 100 RSF-32A - 50 / 100 |
1.06/1.02 1.56/1.41 3.11/3.11 4.81/4.67 |
3.39/3.11 4.53/3.39 9.33/7.78 17.68/14.14 |
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RKF-20A - 50 / 100 RKF-25A - 50 / 100 RKF-32A - 50 / 100 |
1.56/1.41 3.11/3.11 4.81/4.67 |
4.53/3.39 9.33/7.78 17.68/14.14 |
||
| 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 | |
|
SHA32A-50 / 80 / 100 / 120 -51 / 81 / 101 / 121 |
8.5 / 8.5 / 8.1 / 7.1 | 25 / 21.8 / 19.4 / 17.3 A | ||
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SHA40A- 120 / 160 -121 / 161 |
12.4 / 10.2 A | 25.5 / 20.8 A | ||
| REL-230-40 |
SHA40A-50 / 80 / 100 -51 / 81 / 101 |
AC200V | 12.7 / 12.7 / 12.7 A | 38.5 / 31.1 / 27.7 A |
HD Absolute Encoder A
| 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 - 51 / 81 / 101 / 121 / 161 |
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 -51 / 81 / 101 / 121 / 161 |
4.2 / 4.2 / 4.2 / 3.7 / 3.0 A | 12.3 / 10.7 / 9.9 / 8.9 / 7.4 A | ||
| SHA32A-160 / 161 | 5.8 A | 14.1 A | ||
| REL-230-36 |
SHA32A-50 / 80 / 100 / 120 -51 / 81 / 101 / 121 |
8.5 / 8.5 / 8.1 / 7.1 | 25 / 21.8 / 19.4 / 17.3 A | |
|
SHA40A- 120 / 160 -121 / 161 |
12.4 / 10.2 A |
25.5 / 20.8 A |
||
| REL-230-40 |
SHA40A-50 / 80 / 100 -51 / 81 / 101 |
12.7 / 12.7 / 12.7 A | 38.5 / 31.1 / 27.7 A | |
| REL-230-18 |
FHA-8C-30 / 50 / 100 |
AC100/200V | 0.4 / 0.5 / 0.5 A | 0.9 / 0.9 / 0.7 A |
|
FHA-11C-30 / 50 / 100 |
1.0 / 1.0 / 0.8 A | 2.1 / 2.3 / 1.6 A | ||
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FHA-14C-30 / 50 / 100 |
1.8 / 1.5 / 1.2 A | 4.1 / 4.5 / 3.4 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
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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 |
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XEL-HS |
Heat Sink Kit Standard Profile |
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XEL-NC-10 |
EtherCAT Network Cable 10' |
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XEL-NC-01 |
EtherCAT Network Cable 1' |
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XTL-RA-03 |
Regen Resistor, 30 Ohms (XEL-230-18 only) |
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XTL-RA-04 |
Regen Resistor, 15 Ohms (XEL-230-36 or XEL-230-40 only) |
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XTL-FA-01 |
Edge Filter Accessory XTL-FA-01 |
|
XTL-FK |
Edge Filter Connector Kit XTL-FK |
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SER-CK |
Serial Cable Kit ( 1 per computer ) (to be used with CME2 software only) |
| See Manual |
Extension cable to FHA-mini |
| Extension cable to FHA-C | |
| Extension cable to SHA | |
| 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
