Chapter 1 Overview of the RSF-B mini series
- 3 -
1-4 Specifications of RSF-B mini actuators
Specifications of actuators are as follows:
Time rating:
Continuous
Service temperature:
0~40
°
C
Excitation method:
Permanent magnet type
Storage temperature:
-20~+60
°
C
Insulation class:
B
Service/ storage temp.:
20~80%RH (no condensation)
Withstanding voltage:
500VAC/min
Vibration resistance:
25m/s
2
Note6
Insulation resistance:
500VDC 100M
Ω
or more
Lubricant:
Grease (Harmonic Grease)
Structure:
Totally enclosed self cooling
type
Model
Item
RSF-8B
RSF-11B
RSF-14B
30
50
100
30
50
100
30
50
100
Rated output
*
W
7.7
8.2
6.3
11.5
12.6
12.6
17.8
18.9
18.9
Input power voltage
*
V
24DC±10
％
Rated current
*
Ａ
2.0
1.5
5.0
4.9
4.9
4.7
Rated torque
*
Nm
0.78
1.4
2.0
1.1
2.0
4.0
1.7
3.0
6.0
ｋｇｆ
cm
8.2
14
29
11
20
41
17
31
61
Rated rotating speed
*
r/min
100
60
30
100
60
30
100
60
30
Stall torque
Nm
0.95
1.7
3.5
1.7
3.0
5.7
2.5
4.5
9.0
ｋｇｆ
cm
9.3
17
36
17
31
58
26
46
92
Instantaneous
maximum current
*
Ａ
3.8
3.9
2.9
14.4
15.8
9.4
14.4
17.2
12.3
Instantaneous
maximumtorque
*
Nm
1.8
3.3
4.8
4.5
8.3
11
9.0
18
28
ｋｇｆ
cm
18
34
49
46
85
112
92
184
286
Max. speed
*
r/min
200
120
60
200
120
60
200
120
60
Torque constant
Nm/A
0.62
1.1
2.1
0.40
0.66
1.5
0.76
1.3
2.6
ｋｇｆ
cm/A
6.3
11
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
Ω(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
0.06
×10
⁻
²
0.16
×10
⁻
²
0.65
×10
⁻
²
0.18
×10
⁻
²
0.49
×10
⁻
²
2.0
×10
⁻
²
0.41
×10
⁻
²
1.1
×10
⁻
²
4.5
×10
⁻
²
J
kgfcms
2
0.60
×10
⁻
²
1.7
×10
⁻
²
6.6
×10
⁻
²
1.8
×10
⁻
²
5.0
×10
⁻
²
20
×10
⁻
²
4.1
×10
⁻
²
11
×10
⁻
²
46
×10
⁻
²
Allowable radial load
N
196
245
392
kgf
20
25
40
Allowable thrust load
N
98
196
392
kgf
10
20
40
Encoder pulses (motor
shaft)
p/rev
1000
Encoder resolution
(Output shaft) Note 5
p/rev
120,000
200,000
400,000
120,000
200,000
400,000
120,000
200,000
400,000
Mass
g
300
500
800
Combined driver
HA-680-4B-24
HA-680-6B-24
Note 1: The table shows typical output values of actuators including the efficiency of HarmonicDrive
®
.
Note 2: The values in the table above are obtained when it is combined with the combined driver
(HA-680-4B-24) and the actuator is mounted on the aluminum radiator plate (150 x 150 x 6(mm)).
Note 3: Values indicated by an asterisk (
*
) are those for the saturated temperature rise. Other values indicate
the temperature at 20
º
C. All values are typical.
Note 4: The moment of inertia is the total value of the motor shaft and HarmonicDrive
®
moment of inertia
values converted to the output side.
Note 5: The encoder resolution is (motor shaft encoder resolution when multiplied by 4) x (gear ratio).
Note 6: Refer to "1-13 Vibration resistance" on page 11 for the test conditions.
