Harmonic Drive SC-610 Series User manual

Operations Manual
AC-Servo Controller
SC-610
No. 900105 11/2005
24.11.2005-FA

Harmonic Drive AG 900105 11/2005
HARMONIC DRIVE AG has tried to ensure that the information given in this manual is
correct at time of going to print.
However Harmonic Drive AG may not be held responsible for any typographical
mistakes or errors in contents of this manual. The information is subject to change
without prior notice. Harmonic Drive AG would appreciate notice of any mistakes in
the text.
HARMONIC DRIVE AG owns the copyright to this document, which is supplied to
customers on the understanding that it will not be reproduced or disclosed in whole or
in part, without the express permission of Harmonic Drive AG.
Harmonic Drive AG
Hoenbergstraße 14
D-65555 Limburg/ Lahn
Germany
Tel.: [phone]
Fax.: [phone]
Internet www.harmonicdrive.de
©2005

Operations Manual SC-610 Page 1
Harmonic Drive AG 900105 11/2005
Contents
General Information and
Safety Guide Lines 2
1.0 Specification ................................... 5
1.1 Usage Definitions ......................... 5
1.2 Identification ................................. 5
1.3 Features ....................................... 6
1.4 Declaration of Conformity ............. 6
1.5 EMC Conformity and CE Marking. 7
1.6 Technical Data ............................. 7
1.6.1 Power Section .............................. 7
1.6.2 24VDC Input ................................. 8
1.6.3 Velocity Controller ........................ 8
1.6.4. Encoder Inputs ............................. 8
1.6.4.1 Master-Encoder Input (X9)............. 8
1.6.4.2 Hiperface (X8)............................... 8
1.6.4.3 EnDat (X8) .................................... 8
1.6.4.4 TTL-Encoder (X8) ........................ 8
1.6.5 Encoder Output (X7)..................... 9
1.6.6 Pulse/Direction Input .................... 9
1.6.7 Serial Interface ............................. 10
1.6.8 Mechanical Section ...................... 10
1.6.9 Environmental Section ................. 10
1.6.10 Power Supply Section .................. 11
1.6.10.1Regeneration ................................ 11
1.6.10.2Rectifier Section ........................... 11
2.0 Installation Recommendations .... 12
2.1 Safety Notice ................................ 12
2.2 Electrical Installation .................... 12
2.3 Mechanical Installation ................. 13
3.0 Interconnection Diagrams ............ 14
3.1 Interconnection Diagram
Hiperface/EnDat .............................. 14
3.2 Interconnection Diagram Resolver 15
3.3 Interconnect. Diagram TTL-Encoder 16
3.4 Connector Configuration
I/O-Expansion ............................... 17
4.0 Wiring .............................................. 18
4.1 Power Wiring ................................ 18
4.1.1 Power Supply ............................... 18
4.1.2 Mains Filter ................................... 19
4.1.3 Motor Wiring ................................. 20
4.1.4 24VDC Connection ...................... 20
4.1.5 Regeneration Resistor Wiring ...... 21
4.2 Control- and Signal Wiring ........... 22
4.2.1 Control Inputs ............................... 22
4.2.2 Control Outputs ............................ 25
4.2.3 Resolver ....................................... 25
4.2.4 Encoder Output ............................ 26
4.2.5 Master Encoder Input ................... 26
4.2.6 Command Input ............................ 27
4.2.7 Interface Cables ........................... 28
4.3 Minimum Wiring Diagram ............. 29
5.0 System Set Up Procedure ............ 35
5.1 Presets ......................................... 35
5.2 System Set Up Step by Step ....... 36
6.0 Status Indicators ........................... 39
6.1 Status Monitor .............................. 39
6.2 LED Regeneration Load .............. 41
7.0 I/O Hardware Description ............. 41
7.1 Input Signals ................................ 41
7.2 Output Signals ............................. 43
7.3 Resolver (X8) ............................... 44
7.4 Encoder Output (X7) .................... 45
7.5 Encoder (X8) Hiperface/ EnDat.... 45
7.6 Encoder (X8) TTL-Encoder........... 46
7.7 I/O-Expansion for 256 Pos. (X12) 47
7.7.1 Input Signals (X12) ...................... 47
7.7.2 Output Signals (X12) ................... 48
APPENDIX
Appendix A
EMC Installation Instruction ......... A2
EMC Wiring Principle ................... A3
Appendix B
Dimensions .................................. A5
Appendix C
Troubleshooting ........................... A7
Appendix D
Multi-Drop-Applications ................ A10
Appendix E
Software Installation .................... A11
Appendix F
Definition of Motor Parameters .... A12
Appendix G
Wiring description for cables for FHA-C-
-series actuators with Hiperface... A13
Appendix H
Wiring description for cables for
FFA-series actuators with resolver A14
Appendix I
Wiring description for cables for
FFA-series actuators with EnDat-
encoder......................................... A15
Appendix J
Wiring description for cables for
FHA-Cmini-series actuators with TTL-
encoder......................................... A16
Appendix K
Wiring description for cables for
CHA-series actuators with HiperfaceA17

Page 2 Operations Manual SC-610
Harmonic Drive AG 900105 11/2005
General Information and Safety Guidelines
Microsoft and MS-DOS are registered trademarks, and Windows is a trademark of Microsoft Corporation.
UL and cUL are registered trademarks of Underwriters Laboratories.
CE Compliance
A custom unit may be required, contact Harmonic Drive. Compliance to Directive 89/336/EEC is the
responsibility of the system integrator. Servo controller, motor and all system components must have proper
shielding, grounding and filtering.
Product NoticeIntended use:
These drives are intended for use in stationary ground based applications in industrial power installations
according to the standards EN60204 and VDE0160. They are designed for machine applications that require
variable speed controlled three phase brushless AC motors.
These drives are not intended for use in applications such as:
- Home appliances
- Medical instrumentation
- Mobile vehicles
- Ships
- Airplanes
Unless otherwise specified, this drive is intended for installation in a suitable enclosure. The enclosure must
protect the control from exposure to excessive or corrosive moisture, dust and dirt or abnormal ambient
temperatures. The exact operating specifications are found in Section 1 of this manual.
The installation, connection and control of drives is a skilled operation, disassembly or repair must not be
attempted.
In the event that a control fails to operate correctly, contact the place of purchase for return instructions.
Safety Notice:
This equipment contains high voltages. Electrical shock can cause serious or fatal injury. Only qualified
personnel should attempt the start-up procedure or troubleshoot this equipment.
This equipment may be connected to other machines that have rotating parts or parts that are driven by this
equipment. Improper use can cause serious or fatal injury. Only qualified personnel should attempt the start-
up procedure or troubleshoot this equipment.
- System documentation must be available at all times.
- Keep non–qualified personnel at a safe distance from this equipment.
- Only qualified personnel familiar with the safe installation, operation and maintenance of this device
should attempt start–up or operating procedures.
- Always remove power before making or removing any connections to this control.

Operations Manual SC-610 Page 3
Harmonic Drive AG 900105 11/2005
PRECAUTIONS: Classifications of cautionary statements.
WARNING: Indicates a potentially hazardous situation which, if not avoided, could result in injury
or death.
Caution: Indicates a potentially hazardous situation which, if not avoided, could result in
damage to property.
WARNING: Do not touch any circuit board, power device or electrical connection before you first
ensure that power has been disconnected and there is no high voltage present from this equipment
or other equipment to which it is connected. Electrical shock can cause serious or fatal injury.
WARNING: Be sure that you are completely familiar with the safe operation of this equipment.
This equipment may be connected to other machines that have rotating parts or parts that are
controlled by this equipment. Improper use can cause serious or fatal injury.
WARNING: Be sure all wiring complies with the National Electrical Code and all regional and local
codes or CE Compliance. Improper wiring may cause a hazardous condition.
WARNING: Be sure the system is properly grounded before applying power. Do not apply AC
power before you ensure that grounds are connected. Electrical shock can cause serious or fatal
injury.
WARNING: Do not remove cover for at least five (5) minutes after AC power is disconnected to
allow capacitors to discharge. Electrical shock can cause serious or fatal injury.
WARNING: Improper operation of control may cause violent motion of the motor shaft and driven
equipment. Be certain that unexpected motor shaft movement will not cause injury to personnel or
damage to equipment. Peak torque of several times the rated motor torque can occur during control
failure.
WARNING: Motor circuit may have high voltage present whenever AC power is applied, even
when motor is not rotating. Electrical shock can cause serious or fatal injury.
WARNING: If a motor is driven mechanically, it may generate hazardous voltages that are
conducted to its power input terminals. The enclosure must be grounded to prevent a possible
shock hazard.
WARNING: When operating a motor with no load coupled to its shaft, remove the shaft key to
prevent injury if it were to fly out when the shaft rotates.
WARNING: The motor shaft will rotate during the autotune procedure. Be certain that unexpected
motor shaft movement will not cause injury to personnel or damage to equipment.
WARNING: A DB Resistor may generate enough heat to ignite combustible materials. To avoid
fire hazard, keep all combustible materials and flammable vapors away from brake resistors.
WARNING: The user must provide an external hard–wired emergency stop circuit to disable the
control in the event of an emergency.
Caution: Suitable for use on a circuit capable of delivering not more than the RMS symmetrical
short circuit amperes listed here at rated voltage.
Horsepower RMS Symmetrical Amperes
1-50 5,000
Caution: To prevent equipment damage, be certain that the input power has correctly sized
protective devices installed as well as a power disconnect.

Page 4 Operations Manual SC-610
Harmonic Drive AG 900105 11/2005
Caution: Avoid locating control immediately above or beside heat generating equipment, or
directly below water or steam pipes.
Caution: Avoid locating control in the vicinity of corrosive substances or vapors, metal
particles and dust.
Caution: For UL installations, do not connect any resolver cable shields to the motor frame. At
a minimum, resolver signal integrity will be compromised and damage to the control may result.
For CE installations, refer to CE guidelines stated in Sections 3 and A1 of this manual.
Caution: Do not connect AC power to the control terminals U, V and W. Connecting AC power
to these terminals may result in damage to the control.
Caution: Harmonic Drive recommends not using „Grounded Leg Delta“ transformer power
leads that may create ground loops and degrade system performance. Instead, we recommend using
a four wire Wye.
Caution: Logic signals are interruptible signals; these signals are removed when power is
removed from the drive.
Caution: Controls are intended to be connected to a permanent main power source, not a
portable power source. Suitable fusing and circuit protection devices are required.
Caution: The safe integration of the drive into a machine system is the responsibility of the
machine designer. Be sure to comply with the local safety requirements at the place where the
machine is to be used. In Europe this is the Machinery Directive, the ElectroMagnetic Compatibility
Directive and the Low Voltage Directive. In the United States this is the National Electrical code and
local codes.
Caution: Controls must be installed inside an electrical cabinet that provides environmental
control and protection. Installation information for the drive is provided in this manual. Motors and
controlling devices that connect to the drive should have specifications compatible to the drive.
Caution: Violent jamming (stopping) of the motor shaft during operation may damage the
motor and control.
Caution: Do not tin (solder) exposed wires. Solder contracts over time and may cause loose
connections.
Caution: Electrical components can be damaged by static electricity. Use ESD (electro–static
discharge) procedures when handling this control.
Caution: Ensure that resolver or encoder wires are properly connected. Incorrect installation
may result in improper rotation or incorrect commutation.
Caution: The holes in the top and bottom of the enclosure are for cable clamps. Be sure to use
an M4 bolt 12mm in length. Longer bolts may short circuit the electrical components inside the
control.

Operations Manual SC-610 Page 5
Harmonic Drive AG 900105 11/2005
1.0 Specification
1.1 Usage Definitions
The drives of the SC-610 series are electrical equipment for industrial power installations. They are designed
for machine applications, which need variable speed controlled three-phase A.C. motors.
This product is only for use in industrial applications as described in norms EN60204 and VDE0160. This
means use drive in stationary ground based applications only. It is not meant for use in home appliances,
medical equipment, cars, ships or airplanes.
Before the drive is put into operation, please contact your Electric-Supply-Company for special operating
conditions.
1.2 Identification
SC 610 5 A A A H
Product
Series
(Op. Modes) Nominal
Current Power Supply Not used this time Demand/ Input Motor Feedback
Servo
Controller
Current
Control,
Velocity
Control,
Pulse
Follower,
Hand-
wheel,
Position
Control
2: 2.5 Amp.
5: 5 Amp.
7: 7.5 Amp.
A: 230VAC
B: 115VAC
C: 230VAC
plus 24VDC
D: 115VAC
plus 24VDC
A: ±10V,
4 bin.
Inputs
B: ±10V,
8 bin.
Inputs
A/B: Pulse
Follower,
Handwheel
R: Resolver
H: Hiperface
D: EnDat
E: TTL-Encoder

Page 6 Operations Manual SC-610
Harmonic Drive AG 900105 11/2005
1.3 Features
The SC610 series are 1 axis drives with integrated power supply.
They provide the following features:
POWER SECTION:
•Input-voltage: 1- (direct) or 1-phase with trans-
former (250VAC max)
•3 output current versions (2.5A/5A/7.5A) available.
•Ratio peak : nominal current = 2:1.
Both values independently adjustable.
•All drives are short circuit proof (phase/
phase and phase/PE) and require no minimum
load.
CONTROL I/O Section:
•9 opto-isolated control inputs for dedicated drive
functions
•Optional point-to-point positioning for up
to 16/256 predefined positions
•Resolver / Hiperface input
•Master Encoder input
•Serial interface (RS232C / RS485) for
communication
and programming
GENERAL:
•Protection class IP20 (acc. To DIN40 050 / IEC144)
•Cooling: self-ventilation (internal ventilator)
•UL approved (UL-File-No.: E128059)
•Output power up to 3kVA
•Internal power supply consisting of rectification,
smoothing, regeneration circuit and surge current
protection
•Brushless-servomotors (2 to 12 poles) can be
connected. (Feedback: 1-pole pair resolver or
Hiperface)
•Power wiring via terminal screws (max. wiring dia-
meter 2.5mm²)
•Resolver feedback
•Hiperface feedback
•Diagnostic display on front panel
•Amplifier configuration adjustable via software
•Software amplifier tuning capability with graphic
program.
•Wiring of control inputs and outputs via plug type
screw connection (max. wiring diameter 1,5mm²)
or SUB-D connector
•Isolation classification according to DIN 0110 with
overvoltage category III
1.4 Declaration of Conformity
Herewith we declare, that our products are components only and not ready for immediate or instant use
within the meaning of "Safety law of appliance", "EMC Law" or "Machine directive".
The final mode of operation is defined only by the insertion into the user’s construction.
It is the responsibility of the user to verify that his construction is in accordance with existing regulations.
It is prohibited by law to put the machine into operation before verifying that the machine is in accordance
with EC directive 89/392 and 921/368.
The supplier declares product conformity with the following standards:
DIN VDE 0160 / 05.88 Electronic equipment for use in electrical power installations
DIN VDE 0100 Erection of power installations with nominal voltages up to 1000V
DIN IEC 326 Part 1 / 10.90 Design and use of printed boards
DIN VDE 0110 Part 1-2 / 01.89 Dimensioning of clearance and creepage distances
DIN VDE 0110 Part 20 / 08.90
EN 60529 / 10.91 Degrees of protection provided by enclosures

Operations Manual SC-610 Page 7
Harmonic Drive AG 900105 11/2005
1.5 EMC - Conformity and CE - Marking
The application of EMC conformal component and part systems relieves the observance of EMC Guidelines
and the guarantee of conformity for the manufacturer of machines. Therefore all standard components and
part systems will be tested according to the requirements of EMC regulation.
Those tests will be executed by a competent and independent institution. The conformity of the products will
be confirmed by a declaration of conformity from the European Community.
The installation instructions refer to elimination of radio interference as well as to immunity from noise for
Harmonic Drive Systems.
Thereby the user is informed about the EMC critical parts. The examples don’t show the complete
possibilities of cabinet components or constructions.
Guidelines for CE Conformity
•Machine Guideline (89/392/EWG) - Machine Safety Law
•EMV Guideline (89/336/EWG) - EMC Law
•Low Voltage Guideline (73/23/EWG) - Machine Safety Law
1.6 Technical Data
All values at Tamb = 40 °C, if not otherwise specified. NOTE: Operation at maximum ratings
1.6.1 Power Section
General Unit SC-610-2 SC-610-5 SC-610-7
Nominal DC-Bus-Voltage VDC 160 / 320 160 / 320 160 / 320
Output Voltage Line/Line
fundamental wave;
@VDC-Bus= 320V VRMS 0 ... 230
Nominal Phase Current (±10%) ARMS 2,5 5,0 7,5
Peak Phase Current (±10%) ARMS 5
1) 2,4s (+0,5/-0)s
10
1) 2,4s (+0,5/-0)s
15
1) 1,25s (+0,5/-0)s
Nominal Output Power kVA 1,01 2,17 2,99
Efficiency % > 95
Output Frequency Hz 0 ... 1000
Nominal Switching Frequency kHz 8,0
1) valid for zero current initial condition
1.6.2 24VDC Input (optional)
24V-Input (optional) Unit SC-610-X
Input Voltage Range
absolute min./max.1)
max. Vripple = ±10%
VDC 20.4 ... 28.8
Input Current; @ 24VDC A
RMS 1.75
Surge Current at Power On
@ 24VDC; @ 100ms ARMS 4,0
1) NOTE: Operation at maximum ratings may impair the useful life time

Page 8 Operations Manual SC-610
Harmonic Drive AG 900105 11/2005
1.6.3 Velocity Controller
Velocity Controller Unit SC-610-X
Command Input VDC 0 ... ±10
Command Signal Resolution bit 14 bit
Cycle time µs 250
Velocity Feedback Unit SC-610-X
Feedback System - Resolver
Feedback-Resolution
set automatically by software - Resolution: 14bit ±4,9mV
Pole Pairs - 1
Resolver – Winding-Ratio - 0.5
1.6.4 Encoder-Inputs
1.6.4.1 Master Encoder-Input (X9)
Encoder Input Unit SC-610-X
Signal - RS422
Operating Mode - A, A/ ; B, B/ and C, C/ (quadrature)
Max. Input Frequency MHz 2.5 (quadrature) / 1.25 Pulse and Direction
1.6.4.2 Hiperface (X8)
Hiperface Input Unit SC-610-X
Signal - Sinosoidal / Parameter channel RS485
Operating Mode - 1024 Sin/Cos periods per motor revolution and absolute
multiturn position / quadrature counting
Power Supply 8V / 800mA max.
1.6.4.3 EnDat (X8)
Hiperface Input Unit SC-610-X
Signal - Sinosoidal / Parameter channel RS485/ Clock
Operating Mode - 2048 Sin/Cos periods per motor revolution and absolute
multiturn position / quadrature counting
Power Supply 5V / 800mA max.
1.6.4.4 TTL-Encoder (X8)
TTL-Encoder Input Unit SC-610-X
Signal - Rectangular (A, A/, B, B/, C, C/, U, U/, V, V/, W, W/
Operating Mode - 2000 pules per motor revolution / quadrature counting
Power Supply 5V / 250mA max.

Operations Manual SC-610 Page 9
Harmonic Drive AG 900105 11/2005
1.6.5 Encoder-Output (X7)
Encoder-Output Unit SC-610-X
Signal - RS422
Max. frequency KHz 100
Supply voltage VDC 5 ±5 %
Output voltage VDC VOH = 2.5 min. / VOL = 0.5 max.
Output current mA max. 20
Signal form Rectangular, pos. logic
Pulse lengths P1= 0.5 P0; PC= 0.25 P0
Encoder-Resolution at Hiperface and
EnDat-feedback ppr same as the number of sine/cosine cycles per
revolution
Encoder-Resolution at resolver feedback ppr 512 / 1024 / 2048 / 40961)
1) factory default
The above given signal sequence depends on the connected servo actuator and its feedback system and is
specified as follows:
Actuator type Direction of rotation at motor shaft Direction of rotation at gear outputt
FHA-C-HIPERFACE Counter clockwise Clockwise
FFA-Resolver/ EnDat Clockwise Counter clockwise
FPA-Resolver/ EnDat Clockwise Clockwise
FHA-Cmini/ TTL-Encoder Clockwise Counter clockwise
1.6.6 Pulse / Direction-Input (X3)
Pulse / Direction Input Unit SC-610-X
Signal VDC 12-29 / opto-isolated
Operating Mode - Pulse and Direction
Max. Input Frequency MHz 1
Cycle time ms 1

Page 10 Operations Manual SC-610
Harmonic Drive AG 900105 11/2005
1.6.7 Serial Interface
STANDARD
RS232 - Interface Unit SC-610-X
Communication (4 wire) - RS232C (not galvanically isolated, with RTS / CTS)
Transmission Rate Baud up to 57600 max (Software selectable)
Adjustable by DIP-switch AS1.10
RS485 – Interface Unit SC-610-X
Communication - RS485 (not galvanically isolated)
Transmission Rate Baud 9600, 19200
1.6.8 Mechanical Section
Mechanical Unit SC-610-2 SC-610-5 SC-610-7
Mounting - Panel
Dimensions of Basic Units mm 67,5 x 173 x 152,5 92,5 x 173 x 152,5 109 x 173 x 152, 5
Dimensions for Units with
I/O- Expansion for 256 Positions mm 84 x 173 x 152,5 109 x 173 x 152,5 109 x 173 x 152,5
Weights for Basic Units kg 1,24 2,13 2,19
Weights for Units with I/O-
Expansion for 256 Positions kg 1,55 2,45 2,45
1.6.9 Environmental Section
Environmental Unit SC-610-X
Operating Temperature Range °C +5 ... +40 (Derating 2,5% / K bei 40°C < T ≤50°C )
Storage Temperature Range °C -25 ... +70
Humidity % 10 ... 90 non-condensing; IEC 68-2-38
Class of Protection (Enclosure) - IP20
Max. Installation Altitude / M.S.L. m 1000
Derating: 1,1% / 100m
Shock - 10G; according to DIN IEC 68-2-6/29
Vibration - 1G; 10 ... 150 Hz; according to DIN IEC 68-2-6/29

Operations Manual SC-610 Page 11
Harmonic Drive AG 900105 11/2005
1.6.10 Power Supply Section
1.6.10.1 Regeneration
Regeneration Control Internal
Regeneration Resistor External
Unit SC-610-X
Switching Threshold; On / Off VDC 383 ... 373 (at 230 VAC)
195... 188 (at 115 VAC)
Nominal / Peak Power kW 0,25 / 2,7
Max. Regeneration Switching Current A 7/10
Max. Load Inductance µH 100
1.6.10.2 Rectifier Section
Power Supply Internal Unit SC-610-X
Input Voltage (+15% / -20%)
f = 50 bis 60Hz VAC Vin: 230 / 115
Nominal: 230 / 115
Maximal: 265 / 130
Minimal: 90 / 90
DC-Bus-Voltage
absolute min./max.1) VDC 125 ... 360 (at 230 VAC) 125 ... 175 (at 115 VAC)
DC-Bus-Voltage
absolute min./max. for 24V-Option VDC 0 ... 350 VDC
1) NOTE: Operation at maximum ratings may impair the useful life time.
Legend:
This is an INFORMATION sign.
By observing this information whilst installing
the drive future operating problems may be
avoided.
This sign means ATTENTION.
Information in an ATTENTION box must
always be observed otherwise dangerous
situations for equipment and personnel may
result.

Page 12 Operations Manual SC-610
Harmonic Drive AG 900105 11/2005
2.0 Installation and Safety Recommendations
2.1 Safety Notice
Qualified or trained personnel only should install the machine.
Electrical rotating equipment can result in property damage, serious
injury, or death, when improperly installed. Equipment should be
installed in accordance with the local and safety standards for
construction and guide for selection, installation and use of electrical
motors and generators.
Suitable for use on a circuit capable of delivering not more than
5000Arms symmetrical amperes, 250VAC maximum per drive rating.
Electrical and/or mechanical alterations are permitted only when
power is removed.
Drives with the 24V option (C, D) can have power to connector X1
without any indication. The monitor illuminates only if 24V is switched
on.
2.2 Electrical Installation
The wiring, fusing and grounding must be in accordance to the
national electrical code and any local codes.
Use of motor thermo switch:
It is recommended to survey the status of this protective device in the
position control.
Since the leads can carry high voltage-spikes, isolation by means of a
relay should be installed.
The thermal sensor mounted inside the motor of the FFA- and FHA-C-
series actuators is not used in conjunction with the controllers
described herein. The motor is protected by an additional motor-I²t-
function running at the controller, by means of monitoring the motor
effective current. As a result the thermal sensor is not used in this
case!
Connect the PE of all systems to a central point. The diameter of the
cable-lead must be (10mm²) min.
The following chapter contains important information
regarding the mechanical and electrical installation
as well Safety Notes.
It is strongly recommended to read and observe this
chapter carefully.

Operations Manual SC-610 Page 13
Harmonic Drive AG 900105 11/2005
2.3 Mechanical Installation
For installation of your system use a cabinet with a protection class
that suits your environmental conditions.
As cooling air freely enters the unit, the environment must be free
from corrosive chemical substances, oil, vapor, steam, metal particles
and dust.
Make sure that cooling is provided.
Make sure that the top of the unit is covered during installation to
prevent particles from falling into the unit.
Mount all drives vertical (Connector X1 to the top).
Use the controller in stationary ground based applications only.
For the terminal block connections the following tightening torque
has to be observed: 0.5 to 0.6Nm
Furthermore only copper conductors should be used.
Sudden blocking of the rotating motor shaft can cause serious
damage to motor and drive. It is strongly recommended to install
elastic stoppers in the driven machine.
For safe drive operation a clearance distances around and between
the drives must be observed.

Page 14 Operations Manual SC-610
Harmonic Drive AG 900105 11/2005
3.0 Interconnection Diagrams
3.1 Interconnection Diagram Hiperface/ EnDat
1 CMD +
2 CMD -
3 AGND
4 FAULT RELAY
5 FAULT RELAY
6 CIV
7 CREF
8 CGND
9 ENABLE
10 DIN 0, CW-Limit
11 DIN 1, CCW-Limit
12 DIN 2, HOLD
13 DIN 3, FRESET
14 DIN 4, PULSE
15 DIN 5, DIRECTION
16 DIN 6
17 DIN 7
18 DOUT 0
19 DOUT 1
20 DOUT 2, DrOK
1 CHA
2 CHB
3 CHC
4 N.A.
5 DGND
6 CHA /
7 CHB /
8 CHC /
9 +5V
Master Encoder
X9
X8
X3
Motor
2
3
2
Rx
24V 2
Main
Power
1
20
X
8
X
7
AS1 1
2
3
4
5
6
7
8
X1
PE
NC
L
N
U
V
W
R1
R2
+24 V
0 V
X
3
9
10
X
9
X
6
1 CHA
2 CHB
3 CHC
4 N.A.
5 DGND
6 CHA /
7 CHB /
8 CHC /
9 N.A.
X7
1 N.A.
2 RX
3 TX
4 N.A.
5 DGND
6 N.A.
7 RTS
8 CTS
9 8VKeyp.
N.A.
RX-
TX-
N.A.
DGND
N.A.
TX+
RX+
8V Keyp.
RS232 / RS485
X6
5 min
Dangerous to accidental contact up to 5 minutes after switching off the main supply.
OL. Adjustment. See Manual Use Copper Conductors only.
Encoder-Output
Hiperface/EnDat
1 Data+ / Data+
2 Data- / Data-
3 +8V / n. a.
4 n. a. / +5V
5 DGND / DGND
6 Inside shield
7 CosRef / CosRef
8 n. a. / n. a.
9 n. a. / Clock-
10 n. a. / Clock+
11 DGND / DGND
12 SinRef / SinRef
13 Sin / Sin
14 Cos / Cos
15 n. a. / n. a.
Control Signals
&
Digital I/O´s
Content of delivery: mating connectors to X1, X3 and X8.
Overview of mating connectors:
X1: (10 pole, female) X6: (9 pole, female, UNC)
X3: (20 pole, female) X7: (9 pole, male, UNC)
X8: (15 pole, male, UNC) X9: (9 pole, male, UNC)

Operations Manual SC-610 Page 15
Harmonic Drive AG 900105 11/2005
3.2 Interconnection Diagram Resolver
1 Ref +
2 Cos +
3 Sin +
4 N.A.
5 AGND
6 Ref -
7 Cos -
8 Sin -
9 Screen
1 CHA
2 CHB
3 CHC
4 N.A.
5 DGND
6 CHA /
7 CHB /
8 CHC /
9 +5V
Master Encoder
X9
X3
Motor
2
3
2
Rx
24V 2
Main
Power
1
20
X
8
X
7
AS1 1
2
3
4
5
6
7
8
X1
PE
NC
L
N
U
V
W
R1
R2
+24 V
0 V
X
3
9
10
X
9
X
6
1 CHA
2 CHB
3 CHC
4 N.A.
5 DGND
6 CHA /
7 CHB /
8 CHC /
9 N.A.
X7
1 N.A.
2 RX
3 TX
4 N.A.
5 DGND
6 N.A.
7 RTS
8 CTS
9 8VKeyp.
N.A.
RX-
TX-
N.A.
DGND
N.A.
TX+
RX+
8V Keyp.
RS232 / RS485
X6
X8
Resolver
5 min
Dangerous to accidental contact up to 5 minutes after switching off the main supply.
OL. Adjustment. See Manual Use Copper Conductors only.
Encoder-Output
1 CMD +
2 CMD -
3 AGND
4 FAULT RELAY
5 FAULT RELAY
6 CIV
7 CREF
8 CGND
9 ENABLE
10 DIN 0, CW-Limit
11 DIN 1, CCW-Limit
12 DIN 2, HOLD
13 DIN 3, FRESET
14 DIN 4, PULSE
15 DIN 5, DIRECTION
16 DIN 6
17 DIN 7
18 DOUT 0
19 DOUT 1
20 DOUT 2, DrOK
Control Signals
&
Digital I/O´s
The Resolver wiring diagram is only valid for BSM motors, with FFA-motors you must change Sin+
and Sin-.
Content of delivery: mating connectors to X1, X3 and X8.
Overview of mating connectors:
X1: (10 pole, female) X6: (9 pole, female, UNC)
X3: (20 pole, female) X7: (9 pole, male, UNC)
X8: (9 pole, female, UNC) X9: (9 pole, male, UNC)

Page 16 Operations Manual SC-610
Harmonic Drive AG 900105 11/2005
3.3 Interconnection Diagram TTL-Encoder
Control Signals
&
Digital I/O´s
Content of delivery: mating connectors to X1, X3 and X8.
Overview of mating connectors:
X1: (10 pole, female) X6: (9 pole, female, UNC)
X3: (20 pole, female) X7: (9 pole, male, UNC)
X8: (15 pole, male, UNC) X9: (9 pole, male, UNC)

Operations Manual SC-610 Page 17
Harmonic Drive AG 900105 11/2005
3.4 Connector Configuration I/O-Expansion for 256 Positions
Caution
1
20