Harmonic Drive RSF supermini Series Manual Download Page 42

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Rev 7-14

Group Companies

Harmonic Drive Systems, Inc.

6-25-3 Minami-Ohi, Shinagawa-ku

Tokyo 141-0013, Japan
Harmonic Drive AG

Hoenbergstrasse, 14, D-6555

Limburg/Lahn Germany

Harmonic Drive is a registered trademark of Harmonic Drive LLC.

Harmonic Drive LLC

Boston US Headquarters

247 Lynnfield Street

Peabody, MA 01960

New York Sales Office

100 Motor Parkway

Suite 116

Hauppauge, NY 11788

California Sales Office

333 W. San Carlos Street

Suite 1070

San Jose, CA 95110

Chicago Sales Office

137 N. Oak Park Ave., Suite 410

Oak Park, IL 60301

T: 800.921.3332
T: 978.532.1800
F: 978.532.9406

www.HarmonicDrive.net

Summary of Contents for RSF supermini Series

Page 1: ...RSF Supermini Actuator RSF Brushless Servo Actuator Total Motion Control HarmonicDrive 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...

Page 2: ...e 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 for improveme...

Page 3: ...it may cause uncontrollable 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 Precauti...

Page 4: ...adial load when the operating point is different 14 1 11 Rotary direction 15 1 12 Impact resistance 15 1 13 Vibration resistance 15 1 14 Torque speed characteristics 16 1 15 Cable specifications 18 Ch...

Page 5: ...ention brake RSF 5B 32 4 1 Motor shaft retention brake specifications 32 4 2 Controlling the brake power supply 32 4 2 1 Using a relay cable Recommended method 32 4 2 2 Not using a relay cable 33 Chap...

Page 6: ...ith the precision control deceleration device Harmonic Drive realizes a high torque and has a very high output torque for the outer dimensions compared to the direct driving method with a high capacit...

Page 7: ...drivers refer to the driver manual or data sheet Extension cables are required for connection between the actuator and the driver RSF 5 B 50 US 050 C Model AC servo actuator RSF series Output shaft i...

Page 8: ...V r min 0 015 0 025 0 05 0 04 0 07 0 13 Phase resistance at 20 C 1 34 0 82 Phase inductance 0 18 0 27 Moment of inertia Note 4 GD 2 4 Kg m 2 0 11 10 0 29 10 1 17 10 0 66 10 1 83 10 7 31 10 0 11 10 3...

Page 9: ...Overview of the RSF supermini series 9 1 5 External dimensions of actuators The external drawings are shown as follows Note For detailed outside dimensions check the delivery specification drawing is...

Page 10: ...Chapter 1 Overview of the RSF supermini series 10 Note For detailed outside dimensions check the delivery specification drawing issued by us...

Page 11: ...rc min 10 4 3 3 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 perform pos...

Page 12: ...and K3 respectively 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 fo...

Page 13: ...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 accuracy The m...

Page 14: ...C RSF 5B Allowable radial load Fr N 36 90 kgf 3 6 9 1 Allowable thrust load FS N 130 270 kgf 13 27 1 10 2 Radial load when the operating point is different If the operating point of radial load is dif...

Page 15: ...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 300 m s 2 Directio...

Page 16: ...eration and deceleration usually Continuous duty range The range allows continuous operation for the actuator 50 duty range The range allows the 50 duty time operation of a cycle time RSF 3C 30 US020...

Page 17: ...SF 5B 30 US050 C RSF 5B 50 US050 BC RSF 5B 30 US050 C RSF 5B 100 US050 BC Note The values of the graph are obtained when the aluminum radiation plate shown at the upper right of the graph Note Even in...

Page 18: ...ct 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 001T P0 5 Recom...

Page 19: ...able load moment of inertia to 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 o...

Page 20: ...a 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 allowab...

Page 21: ...d deceleration time Calculate acceleration and deceleration times for the selected actuator Acceleration ta JA JL x x 1 Deceleration td JA JL x x 2 Ta acceleration time sec Td deceleration time sec JA...

Page 22: ...sumed 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...

Page 23: ...Similarly from the 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 expresse...

Page 24: ...of duty factor RSF 3C 30 US020 C RSF 3C 50 US020 C RSF 3C 100 US020 C Allowed range Speed r min Torque Nm Radiation plate 85 85 3 mm Radiation plate 85 85 3 mm Allowed range Torque Nm Allowed range Ra...

Page 25: ...range Torque Nm Speed r min Speed r min RSF 5B 50 US050 BC Radiation plate 150 150 3 mm Allowed range Torque Nm RSF 5B 50 US050 C Radiation plate 150 150 3 mm Allowed range Torque Nm Speed r min Spee...

Page 26: ...of Example 1 and 2 1 Effective torque From the parameters of Ta 8 3 Nm Tr 0 N m ta 0 113 s tr td 0 03 s t 0 4 s Tm 0 92 x 0 03 0 03 0 4 0 349 Nm The value exceeds the allowable continuous torque 0 29...

Page 27: ...SF supermini series 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 limi...

Page 28: ...river 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 driver...

Page 29: ...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 it in highl...

Page 30: ...ose 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 conditions of inst...

Page 31: ...at washers and high strength bolts Use a torque wrench when tightening the fasteners The recommended tightening torque is shown in the table below Model RSF 3C RSF 5B Number of bolts 4 2 Bolt size M1...

Page 32: ...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 entire...

Page 33: ...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 the brake...

Page 34: ...uator you ordered Extension cable model HA 680 Driver 1 For encoders EWA E JST09 SP 2 For motors EWA M JST04 SP 3 For brakes EWA B JST03 TMC Cable length 03 3m 05 5m 10 10m Cable length 03 3m 05 5m 10...

Page 35: ...ect an appropriate type according to the model of the actuator you ordered Extension cable model DCJ DDP DEP Driver 1 For encoders EWA E JST09 SP 2 For motors EWA M JST04 SP 3 For brakes EWA B JST03 T...

Page 36: ...Crimp Connector Kit DDP Series ADP CK Solder Cup Connector Kit DEP Series AEP CK Solder Cup Connector Kit Connector for actuator connection Mfg by Phoenix Contact Model MC1 5 6 ST 3 81 Or Mfg by Omron...

Page 37: ...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...

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Page 41: ...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 imperfection caused by the...

Page 42: ...red trademark of Harmonic Drive LLC Harmonic Drive LLC Boston US Headquarters 247 Lynnfield Street Peabody MA 01960 New York Sales Office 100 Motor Parkway Suite 116 Hauppauge NY 11788 California Sale...

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