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Harmonic Drive LLC | 247 Lynnfield St. Peabody, MA 01960 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive LLC.


REL

  • 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

Don't see what you need or not sure where to start?

Our team can help you find the right gear for your application!



14 Wire Standard Incremental Encoder

亚搏下载

Driver P/N Actuator P/N Supply Voltage

actuator cont. current (apk)

亚搏下载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

亚搏下载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

亚搏下载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

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

亚搏下载fha-25c-50 / 100 / 160-us250

3.0 / 3.0 / 2.3 A 10.3 / 8.0 / 5.7 A

亚搏下载fha-32c-50 / 100 / 160-us250

4.4 / 4.4 / 4.2 A 16.1 / 11.3 / 8.3 A

fha-40c-100 / 160-us250

5.7 / 5.4 A 16.7 / 12.7 A
REL-230-36

亚搏下载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

亚搏下载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

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

1.8 / 1.5 / 1.2 A 4.1 / 4.5 / 3.4 A

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

亚搏下载fha-25c-100 / 160-e250-a

5.7 / 4.5 A 16 / 11 A

亚搏下载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

亚搏下载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
SHA32A-160 / 161 5.8 A 14.1 A
RSF- 50 / 100
RKF- 50 / 100
REL-230-36

亚搏下载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

亚搏下载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

亚搏下载

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

亚搏下载25.5 / 20.8 a

REL-230-40

亚搏下载sha40a-50 / 80 / 100

亚搏下载-51 / 81 / 101

12.7 / 12.7 / 12.7 A 38.5 / 31.1 / 27.7 A
REL-230-18

亚搏下载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

亚搏下载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

    • 亚搏下载202 x 139 x 52


Accessories for REL Driver

亚搏下载

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)
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

wiring-example-for-rel-driver

contact

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Call: 978-532-1800

Hours 8:00am - 5:00pm EST
亚搏下载Monday through Friday

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