Harmonic Drive RSF Series Manual Download

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RSF Supermini Actuator

P r e c i s i o n G e a r i n g & M o t i o n C o n t r o l

Total Motion Control

RSF Brushless Servo Actuator

Summary of Contents for RSF Series

Page 1: ...RSF Supermini Actuator P r e c i s i o n G e a r i n g M o t i o n C o n t r o l Total Motion Control RSF Brushless Servo Actuator...

Page 2: ...s caution could damage the encoder and may cause uncontrollable operation Avoid handling of actuators by cables Failure to observe this caution may damage the wiring causing uncontrollable or faulty o...

Page 3: ...10 2 Radial load when the operating point is different 9 1 11 Rotary direction 10 1 12 Impact resistance 10 1 13 Vibration resistance 10 1 14 Torque speed characteristics 11 1 15 Cable specifications...

Page 4: ...4 1 Motor shaft retention brake specifications 27 4 2 Controlling the brake power supply 27 4 2 1 Using a relay cable Recommended method 27 4 2 2 Not using a relay cable 28 Chapter 5 Options 29 5 1 Re...

Page 5: ...cs it can also be used for small equipment and for research 1 1 Major characteristics Small lightweight and high torque The RSF supermini series with the precision control deceleration device Harmonic...

Page 6: ...o Driver for 24VDC Power Supply HA 680 Series Technical Data The optional relay cable is required for connection between the actuator and the driver RSF 5 A 50 E 050 C Model AC servo actuator RSF seri...

Page 7: ...4 08 3 06 5 51 11 22 MEF constant V r min 0 015 0 025 0 050 0 04 0 07 0 13 Phase Resistance at 20 C 1 34 0 82 Phase Inductance mH 0 18 0 27 Moment of Inertia Note 4 GD2 4 kg m2 0 11x10 4 0 29x10 4 1 1...

Page 8: ...shown as follows RSF 3B XXX E020 C Note For detailed outside dimensions check the delivery specification drawing issued by us 12 h7 0 0 018 3 5 h6 0 0 008 4 M1 6 tap 3 2 evenly spaced Maximum diamete...

Page 9: ...drawing issued by us 3 M2x3 evenly spaced 3 2x2 5 evenly spaced 2 2 3 evenly spaced Maximum diameter of rotation part FG line Motor lead wire Encoder lead wire Clamp filter ZCAT1518 0730 TDK 3 M2x3 ev...

Page 10: ...y positioning accuracy rad 2 9 10 3 1 20 10 3 0 87 10 3 0 87 10 3 Reference Accuracy display and measurement method according to JIS B 6201 1987 One way positioning of rotation shaft motion First perf...

Page 11: ...ectively K1 spring rate for torque region 0 T1 K2 spring rate for torque 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 re...

Page 12: ...50 100 Detector resolution when multiplied by 4 Pulse Rotation 24 000 40 000 80 000 60 000 100 000 200 000 Angle per one pulse Angle second arc sec 54 32 4 16 2 21 6 12 96 6 48 1 9 Mechanical accurac...

Page 13: ...SF 3B RSF 5A N 36 90 Allowable radial load Fr kgf 3 6 9 1 N 130 270 Allowable thrust load FS kgf 13 27 1 10 2 Radial load when the operating point is different If the operating point of radial load is...

Page 14: ...is RSF 5A RSF 3B 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 ac...

Page 15: ...values of the graph are obtained when the aluminum radiation plate shown at the upper right of the graph Note Even in the continuous range if it is used continuously in one direction please consult wi...

Page 16: ...is used continuously in one direction please consult with us 0 0 0 2 0 4 0 6 0 8 1 0 0 50 100 150 200 250 r min Nm Continuous range 50 duty range Acc dec range Radiation plate 150 150 3 mm Torque Nm...

Page 17: ...tainer Contact S B PA 001T P0 5 Manufactured by J S T Mfg Co Ltd Brake lead wire Pin No Line color 1 Blue BLU 2 Yellow YEL 3 Gray GRY Connector used Housing PALR 03VF with retainer Contact S B PAL 001...

Page 18: ...o the total inertia converted into motor shaft is as follows The symbols in the formulas are JS total moment of inertia converted into motor shaft L Ratio of load moment of inertia to motor inertia JM...

Page 19: ...tia Calculate the load moment of inertia driven by the RSF supermini series actuator Refer to appendix 1 for the calculation Tentatively select an RSF supermini actuator referring to section 2 1 allow...

Page 20: ...alculate acceleration and deceleration times for the selected actuator Acceleration L M L A a T T N 60 2 J J t 1 Deceleration L F M L A d T T 2 T N 60 2 J J t 2 Ta acceleration time sec Td deceleratio...

Page 21: ...acceleration deceleration time is 0 03sec 30msec or less the temporarily selected actuator can be used for acceleration deceleration based on the result of 4 6 If the calculation results of the accel...

Page 22: ...duty factor graphs KLr 0 29 can be read 3 The movement angle can be obtained from the area in the Rotation speed Time diagram above In other words the movement angle can be expressed as follows N 60 x...

Page 23: ...150 200 250 300 350 r min Nm KL 0 33 0 67 1 0 1 5 0 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 50 100 150 200 250 r min Nm KL 0 33 0 67 1 0 1 5 0 0 05 0 1 0 15 0 2 0 25 0 20 40 60 80 100 120 r min Nm K...

Page 24: ...1 0 0 50 100 150 200 250 r min Nm RSF 5A 50 E050 C KL 0 33 0 67 1 1 5 Radiation plate 150 150 3 mm Allowed range Torque Nm Speed r min 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 0 50 100 150 200 250...

Page 25: ...itions of Example 1 and 2 1 Effective torque From the parameters of Ta 8 3 N m Tr 0 N m ta 0 113 s tr td 0 03 s t 0 4 s m N 349 0 4 0 03 0 03 0 9 0 T 2 m The value exceeds the allowable continuous tor...

Page 26: ...ies is intermittently operated in allowable continuous torque or more the overloaded time is limited by the protective function in the driver even if the duty cycle is allowed The limits are shown in...

Page 27: ...680 driver the model code of the actuator to be driven is indicated on the ADJUSTED FOR USE WITH line Match the actuator with its driver so as not to confuse the item with the other actuators 4 The HA...

Page 28: ...to 60 C Do not expose it to the sunlight for a long time and do not store it in areas with widely fluctuating temperatures 4 The allowable relative humidity for storage is less than 80 Do not storage...

Page 29: ...o not expose it to the sunlight 3 3 2 Considerations into External Noise Pay sufficient attention when installing the actuator The actuator may malfunction by external noise depending on the condition...

Page 30: ...d high strength bolts Use a torque wrench when tightening the fasteners The recommended tightening torque is shown in the table below Model RSF 3B RSF 5A Number of bolts 4 2 Bolt size M1 6 M2 Installa...

Page 31: ...132 10 3 3 151 10 3 12 58 10 3 Weight Note 2 g 86 0 Number of allowable brake operations Note 3 100 000 times Note 1 This is a value at the output shaft of the actuator Note 2 This is a value for the...

Page 32: ...pplied to the brake release coil gray yellow is 100ms or less The brake will not be released only by the power supply to the brake release retention coil To release the brake also supply the power to...

Page 33: ...rs EWA E M09 3M14 2 For motors EWA M JST04 TN2 3 For brakes EWA B JST03 TMC Cable length 03 3m 05 5m 10 10m Cable length 03 3m 05 5m 10 10m Cable length 03 3m 05 5m 10 10m Connector 10114 3000VE Cover...

Page 34: ...Connector 53048 0910 Molex Connector 10114 3000VE Cover 10314 52F0 008 3M 2 For motors EWA M JST04 TN2 Actuator side Driver side Pin NO Signal name Signal name Connector 1 U phase U phase 2 V phase V...

Page 35: ...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 by Phoenix...

Page 36: ...min ft 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...

Page 37: ...SI unit 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 kgfcm...

Page 38: ...of object Mass 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...

Page 39: ...do not match is calculated 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...

Page 40: ...h 7mm Shape 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 000186...

Page 41: ...at has been subject to 1 user s misapplication improper installation inadequate maintenance or misuse 2 disassembling modification or repair by others than Harmonic Drive LLC 3 imperfection caused by...

Page 42: ...c Minamiohi 6 25 3 Shinagawa ku Tokyo 140 Japan Harmonic Drive AG Hoenbergstr 14 Limburg Lahn D 65555 Germany RSF manual rev_01 08 Harmonic Drive LLC Boston 247 Lynnfield Street Peabody MA 01960 800 9...

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