Encoder wiring

[Gregore]

I just purchased a harmonic drive fha -c mini e200.

It has 45 wires for the incremental Encoder

The manual has the 5 wires as the following .


+5
0v
Sd
Sd ( with a line on top )
Shield

Is there anyone who can help me figure out how to wire it up to the snapamp ?

Here is a link to the manual if that helps , chapter 1/14

http://www.harmonicdrive.net/_hd/con...al)%20100V.pdf

And if anyone has the patience to explain what the wires actual do I would certainly be willing to learn

Many thanks

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[TomKerekes]

Hi Gregore,

45 wires??

That doesn't look like incremental encoder signals. Are you sure you have the right manual?

I found this.
http://www.harmonicdrive.net/_hd/con...c100v-200v.pdf

1-15-1 shows a more typical A B Z type of single ended incremental encoder.

Regards

[Gregore]

Sorry typo , should be 5 wires

And yes that is the same company but the USA models is with 14 wires , the Asian model has only 5 wires like mine , I posted a link to the manual for the one I have

It is hard look things up when your a newbie as a lot of websites that explain things assume you know enough to understand them , and it is difficult to look things up because instructions use abbreviations, and google is bad with uncommon technical abbreviations.

Thanks for the quick reply

[Al_The_Man]

I
The manual has the 5 wires as the following .


+5
0v
Sd
Sd ( with a line on top )
Shield
Many thanks

Sd = A channel
/Sd = B channel
shield
No marker pulse on this non-differential type encoder.

+5 and 0v supply
Not a standard way of indication.
Al.

[Gregore]

So that means that it has no Z wire , so no homing markers ?

If so I guess it is a paper weight , as it will not do what I need it to do ...... good thing it was cheap

Also I noticed it is an AC 100volt servo , Can snapamp even handle that ?

[TomKerekes]

Hi Gregore,

So that means that it has no Z wire , so no homing markers ?

If so I guess it is a paper weight , as it will not do what I need it to do ...... good thing it was cheap

I believe that is true.

Also I noticed it is an AC 100volt servo , Can snapamp even handle that ?

SnapAmp is limited to an 80V supply. It might still work but max speed would be limited.

Regards

[PCW_MESA]

An encoder with just power and SD, /SD is pretty much guaranteed to be a serial absolute encoder...

[Gregore]

Thanks every one

[TomKerekes]

Hi Gregore,

I tend to agree with PCW_MESA. With a scope or even voltmeter you should be able to tell the difference. SnapAmp will only work with an incremental encoder.

Regards

[Gregore]

I intend to order the us200 version which I know is an incremental encoder . My friend already set a bunch up on a snapamp last year .

But the lead time is 6 months and $2500 each

They do list this as an incremental encoder though

How do I go about checking it ? I know it has a glass disc inside with stripes all the way around .

[Gregore]

I looked under a microscope and the 2 stripes on the glass are really hundreds of segmented lines , I think that sounds more like a an absolute encoder ????

[TomKerekes]

Hi Gregore,

Well the actual encoder is likely to be absolute for purposes of commutating the motor and such. But based on circuitry it could either output incremental quadrature or serial absolute to the outside world. Do you have an oscilloscope?

If it is differential serial absolute (very likely) I would expect the SD and \SD to be complements of one another (not quadrature - always opposite levels). I'd expect to see a serial stream of data maybe 20 bits long shifting out periodically.

If it is single ended incremental quadrature the SD and \SD would be quadrature. They would toggle with 50% duty cycles 90 degrees out of phase when moving and so not always be opposite levels.

Regards

[Al_The_Man]

An encoder with just power and SD, /SD is pretty much guaranteed to be a serial absolute encoder...

Now you mention it. SD and /SD would make more sense for a serial encoder, SD = serial data and the / would = the RS485 complement.
Most are absolute.
But generally practically all encoders start off as sin/cos encoders at the root detection level, even simple square wave quadrature, in these, the sin/cos is simply squared up.
With others such as absolute, use the sin/cos to a 16bit A/D also the sin/cos is used to calculate the co-tangent result.
A precise converter for resolvers and sinusoidal encoders based on a novel ratiometric technique - IEEE Xplore Document
There are some with 8 bit 10bit binary.
Al.

[Gregore]

I have a friend with an oscilliscope

I will have to do a little reading to make sure I understand all that was said before I hook it up to the scope , but I am sure my friend will understand some of it too.