Harmonic Drive RSF B mini Series Скачать руководство пользователя

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Chapter 3 Options

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Chapter 3 Options

3-1 Extension cables

There are 2 types of extension cables for motors and an incremental e pole sensor. Note that
the model and shape vary depending on the connecting driver.

●

Extension cable type

(XX indicates the cable length 3m, 5m, or 10m.)

■

Connecting driver: HA-680 series

①

For motors:

EWC

－

MB**

－

A06

－

TN2

(2) For motors

EWA-M

××

-JST04-TN2

②

For an incremental e pole sensor:

EWB

－

F**

－

M0809

－

3M14

Cable length (03=3m, 05=5m, 10=10m)

Clamp filter
ZCAT2032-0930 (TDK)

Wafer right angle type
53048-0910

Mfg by Molex

Cable length (03=3m, 05=5m, 10=10m)

Round crimping
terminal

E Green/yellow

Note-1

Shield

W Black

V White

U Red

Mfg by Omron

Cap type: 350781-1
Socket (Terminal) type: 350689-1

(Mfg by AMP)

Motor pole sensor
connector

Encoder
connector

Driver side connector

Содержание RSF B mini Series

Страница 1: ...iate safety measures when installing and operating the equipment Failure to do so may result in malfunction of the unit and personal injury Product specifications are subject to change without notice...

Страница 2: ...erve this caution may damage the wiring causing uncontrollable or faulty operation of direct drive motor Precautions when using a driver CAUTIONS FOR DRIVERS AT APPLICATION DESIGN PHASE Always use dri...

Страница 3: ...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 characteristics 12 1 15 Cable specification...

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

Страница 5: ...zero backlash Harmonic Drive gear for precise motion control RSF B mini series actuators are ideal for robot joint drives semi conductor LCD panel manufacturing machine tools and other various types...

Страница 6: ...8B HA 680 4B 24 DCJ 055 09 DDP 090 09 DEP 090 09 RSF 11B HA 680 6B 24 DDP 090 36 DEP 090 36 RSF 14B HA 680 6B 24 DDP 090 36 DEP 090 36 RSF 8 B 30 F 100 24 B C SP Model AC servo actuator Design version...

Страница 7: ...Chapter 1 Overview of the RSF B mini series 3...

Страница 8: ...3 2 6 EMF constant V rpm 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 GD2 4 kgm2 0 06 10 0 16 10 0 65 10...

Страница 9: ...wn as follows RSF 8B RSF 11B Note For detailed outside dimensions check the confirmation drawing Motor connector Pole sensor connector Encoder connector UL vinyl tube See the detailed drawing Motor co...

Страница 10: ...Chapter 1 Overview of the RSF B mini series 6 RSF 14B Note For detailed outside dimensions check the confirmation drawing Motor connector UL vinyl tube Pole sensor connector Encoder connector...

Страница 11: ...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...

Страница 12: ...high rotational position accuracy Because of the gearing s high ratio any rotational error at the input i e motor shaft position error or motor feedback error is reduced by a factor of the ratio 1 ra...

Страница 13: ...rque 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...

Страница 14: ...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 following tabl...

Страница 15: ...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...

Страница 16: ...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...

Страница 17: ...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...

Страница 18: ...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...

Страница 19: ...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 Housing 51...

Страница 20: ...nt immediately contact the dealer it was purchased from The model code is interpreted as follows For details of model symbols refer to 1 2 Models on page 2 3 The INPUT VOL line of the driver label ind...

Страница 21: ...n 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 a...

Страница 22: ...r for coupling installation 2 Fasten the flange of the actuator with flat washers and high strength bolts Use a torque wrench when tightening the fasteners The recommended tightening torque is shown i...

Страница 23: ...rs 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 Clamp filter ZCAT2032 0930 TDK Cl...

Страница 24: ...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...

Страница 25: ...nt 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 s2 Unit m min2 ft min2 ft s2 in s2 Coefficient 2 78 x10 4 8 4...

Страница 26: ...nit 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 kgm2 Unit kgfms2 kgfcms2 lbf...

Страница 27: ...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...

Страница 28: ...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...

Страница 29: ...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 kgm2 Calculated value 0 000186kgm2 Ra...

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

Страница 31: ...RSF B mini series AC servo actuator manual Memo...

Страница 32: ...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 other t...

Страница 33: ...arlos 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 Group Companies Harmoni...

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