Harmonic Drive RSF-11B Manual Download Page 29 | Manualshive

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RSF-B mini series AC servo actuator manual

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Summary of Contents for RSF-11B

Page 1: ...perating the equipment so as to prevent an accident resulting in a serious physical injury damaged by a malfunction or improper operation Product specifications are subject to change without notice fo...

Page 2: ...ntrollable operation Avoid handling of motor by cables Failure to observe this caution may damage the wiring causing uncontrollable or faulty operation of direct drive motor Precautions when using a d...

Page 3: ...and allowable thrust load 10 1 10 2 Radial load when the operating point is different 10 1 11 Rotary direction 11 1 12 Impact resistance 11 1 13 Vibration resistance 11 1 14 Torque speed characterist...

Page 4: ...RSF B mini series AC servo actuator manual contents 2 Memo...

Page 5: ...stics Small lightweight and high torque The RSF B mini series with the precision control deceleration device HarmonicDrive realizes a small lightweight high torque and has a very high output torque fo...

Page 6: ...ratio of gearing 30 1 30 50 1 50 100 1 100 Motor power voltage specification 24 24V Encoder specifications E incremental encoder pole sensor Frame size 8 11 14 Resolution of the encoder 100 1000P rev...

Page 7: ...21 4 1 6 7 15 7 8 13 27 MEF constant V r min 0 07 0 11 0 22 0 04 0 07 0 15 0 08 0 13 0 28 Phase resistance 20 0 93 0 19 0 26 Phase inductance mH 0 45 0 10 0 19 Moment of inertia N o t e GD 2 4 kgm 2...

Page 8: ...n drawing issued by us Tolerances may vary due to product manufacturing method foundry piece machine finished good If necessary please contact us for the tolerance when it is not indicated in the dime...

Page 9: ...e delivery specification drawing issued by us Tolerances may vary due to product manufacturing method foundry piece machine finished good If necessary please contact us for the tolerance when it is no...

Page 10: ...tuators are indicated in the table below Machine accuracy Unit mm A B C RSF 8B 0 04 0 04 0 03 RSF 11B 0 04 0 04 0 03 RSF 14B 0 04 0 04 0 03 Note Values by T I R Total Indicator Reading A Squareness of...

Page 11: ...4 7 27 10 4 5 82 10 4 7 27 10 4 5 82 10 4 Reference Accuracy display and measurement method according to JIS B 6201 1987 One way positioning of rotation shaft motion First perform positioning at any o...

Page 12: ...que region T1 T2 K3 spring rate for torque region over T2 The wind up for each region is expressed as follows wind up for torque region 0 T1 wind up for torque region T1 T2 wind up for torque region o...

Page 13: ...re the resolution per one rotation of the actuator output shaft is multiplied by gear ratio of the actual encoder resolution In addition the encoder signal is electrically multiplied by 4 The followin...

Page 14: ...kgf 10 20 40 1 10 2 Radial load when the operating point is different If the operating point of radial load is different the allowable radial load value is also different The relation between radial l...

Page 15: ...RSF 3A is also the same For details of the driver refer to AC Servo Driver HA 680 Series Technical Data 1 12 Impact resistance The impact resistance of the actuators is as follows Impact acceleration...

Page 16: ...B 30 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 1 8 2 0 50 100 150 200 250 Speed r min Torque N m RSF 8B 50 0 0 5 1 1 5 2 2 5 3 3 5 0 20 40 60 80 100 120 140 Speed r min Torque N m 150X150X6 mm RSF 8B 100 0 1 2...

Page 17: ...150X6 mm RSF 14B 30 0 1 2 3 4 5 6 7 8 9 10 0 50 100 150 200 250 Speed r min Torque N m RSF 14B 50 0 2 4 6 8 10 12 14 16 18 20 0 20 40 60 80 100 120 140 Speed r min Torque N m 150X150X6 mm RSF 14B 100...

Page 18: ...GRN E 5 6 Connector used Plug 350715 1 AMP Pin 350690 1 AMP Pole sensor connector cable Connector used Housing 51047 0800 Molex Terminal 50133 8000 Molex Encoder connector cable Connector used Housin...

Page 19: ...el symbols refer to 1 2 Models on page 2 3 The model code of the RSF B mini series actuator to be driven is indicated on the ADJUSTED FOR USE WITH line of the driver label Match the actuator with its...

Page 20: ...of the actuator Vibration 25 m sec2 10Hz 400Hz or less Impact 300 m sec2 or less Make sure the actuator is in an area free from dust water condensation metal powder corrosive gas water water drops an...

Page 21: ...he actuator with flat washers and high strength bolts Use a torque wrench when tightening the fasteners The recommended tightening torque is shown in the table below Model Item RSF 8B RSF 11B RSF 14B...

Page 22: ...ing driver HA 680 series For motors EWC MB A06 TN2 2 For motors EWA M JST04 TN2 For an incremental encoder pole sensor EWB F M0809 3M14 Cable length 03 3m 05 5m 10 10m Cable length 03 3m 05 5m 10 10m...

Page 23: ...ype CNK HA68 S2 For CN2 power supply connection 2 types Connector for actuator connection Mfg by Phoenix Contact Model MC1 5 6 ST 3 81 Or Mfg by Omron Model XW4B 06B1 H1 Connector for power supply Mfg...

Page 24: ...s in s Coefficient 0 0167 5 08x10 3 0 3048 0 0254 Unit m min ft min ft s in s Coefficient 60 196 9 3 281 39 37 SI unit m s 3 Linear acceleration SI unit m s 2 Unit m min 2 ft min 2 ft s 2 in s 2 Coeff...

Page 25: ...Nm Unit kgfm lbft lbin ozin Coefficient 9 81 1 356 0 1130 7 06x10 3 Unit kgfm lbft lbin ozin Coefficient 0 102 0 738 8 85 141 6 SI unit Nm 10 Moment of inertia SI unit kgm 2 Unit kgfms 2 kgfcms 2 lbft...

Page 26: ...ss inertia position of center of gravity Circular cylinder Round pipe Tilted circular cylinder Sphere Elliptic circular cylinder Cone Prism Regular square pipe R L z x y L R m 2 2 R m 2 1 Ix 3 L R m 4...

Page 27: ...alculated by the following formula I Moment of inertia when axis of center of gravity and axis of revolution do not match kgm2 Ig Moment of inertia when axis of center of gravity and axis of revolutio...

Page 28: ...ape Circular cylinder Outside diameter 100mm Since the outside diameter is 100mm the radius is 50mm Based on the top graph moment of inertia is about 1 9 x 10 4 kgm 2 Calculated value 0 000186kgm2 Rad...

Page 29: ...RSF B mini series AC servo actuator manual Memo...

Page 30: ...RSF B mini series AC servo actuator manual Memo...

Page 31: ...t that has been subject to 1 user s misapplication improper installation inadequate maintenance or misuse 2 disassembling modification or repair by others than Harmonic Drive Systems Inc 3 imperfectio...

Page 32: ...rive AG Hoenbergstra e 14 65555 Limburg Germany TEL06431 5008 0 FAX06431 5008 18 Harmonic Drive L L C 247 Lynnfield Street Peabody MA 01960 U S A TEL 1 978 532 1800 FAX 1 978 532 9406 1703 6R TRSFB E...

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