Harmonic Drive RSF-B mini Series Скачать руководство пользователя страница 32

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Head Office

／

Ichigo Omori Building,7F 6-25-3Minami-Ohi,Shinagawa-ku,

Tokyo,Japan

〒

140-0013 TEL+81(0)3-5471-7800 FAX+81(0)3-5471-7811

Overseas Division

／

1856-1 Hotakamaki Azumino-shi Nagano,Japan

〒

399-8305 TEL+81(0)263-83-6935 FAX+81(0)263-83-6901

HOTAKA Plant

／

1856-1 Hotakamaki Azumino-shi Nagano,Japan

〒

399-8305 TEL+81(0)263-83-6800 FAX+81(0)263-83-6901

Harmonic Drive 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

"HarmonicDrive

" is a registered trademark of Harmonic Drive Systems, Inc.

"HarmonicDrive

" represents the academic concept generally referred to as wave motion gearing.

Certified to ISO14001

／

ISO9001 (TÜV Management Service GmbH)

All specifications and dimensions in this manual subject to change without notice.

This manual is correct as of March 2017

http://www.hds.co.jp/

Содержание RSF-B mini Series

Страница 1: ...operating 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 for improvement purposes Keep this manual in a convenient location and refer to it whenever necessary in operating or maintaining the units The end user of the actuator should have a copy of this manua...

Страница 2: ...ncontrollable 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 driver CAUTIONS FOR DRIVERS AT APPLICATION DESIGNING Always use drivers under followings conditions Mount in a vertical position keeping sufficient distance to other devices to let heat generated by...

Страница 3: ...d 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 characteristics 12 1 15 Cable specifications 14 Chapter 2 Installing the actuator 15 2 1 Receiving Inspection 15 2 2 Notice on handling 16 2 3 Location and installation 16 2 3 1 Environment of location 16 2 3 2 ...

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

Страница 5: ...istics 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 for the outer dimensions compared to the direct driving method with a high capacity motor alone Superior positioning precision The characteristics of the control deceleration device HarmonicDrive such ...

Страница 6: ...n 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 Option No symbol No connector C Connector attached standard item Special specification No symbol Standard item SP Special item Phase angle specification A 0 B 30 Do not combine an actuator that is d...

Страница 7: ...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 0 16 10 0 65 10 0 18 10 0 49 10 2 0 10 0 41 10 1 1 10 4 5 10 J kgfcms 2 0 60 10 1 7 10 6 6 10 1 8 10 5 0 10 20 10 4 1 10 11 10 46 10 Allowable radial load N 196 245 392 kgf 20 25 40 ...

Страница 8: ...on 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 dimensions Motor connector Pole sensor connector Encoder connector UL vinyl tube See the detailed drawing Motor connector Pole sensor connector Encoder connector UL vinyl tube Unit mm third angle project...

Страница 9: ...he 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 not indicated in the dimensions Motor connector UL vinyl tube Pole sensor connector Encoder connector ...

Страница 10: ...ctuators 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 the output shaft and the mounting surface B Coaxial degree of the output shaft and the mounting connection C Deflection of the output shaft end A B C ...

Страница 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 one position in a fixed direction This position is the reference position Next perform positioning in succession in the same direction and measure the difference between the angle actually rotated fro...

Страница 12: ...gion 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 over T2 The following table shows average values of T1 through T3 K1 through K3 and θ1 through θ2 for different gear ratios Model RSF 8B RSF 11B RSF 14B Gear ratio 1 30 1 50 1 100 1 30 1 50 1 100 1 30 1 50 1...

Страница 13: ...ore 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 following table shows the resolution at the output shaft for different gear ratios Model Item RSF 8B RSF 11B RSF 14B Gear ratio 1 30 1 50 1 100 Detector resolution when multiplied by 4 Pulse Rotation 120 000...

Страница 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 load position LR and allowable radial value FR is obtained from the following formula The allowable values must not be exceeded r R a a R F L L L F FR Allowable radial load at distance LR from the 0 p...

Страница 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 300 m s2 Direction top bottom right left front back Repeating times three However do not apply impact to the output shaft 1 13 Vibration resistance The vibration resistance of the actuators for up do...

Страница 16: ...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 放熱板 150X150X6 mm RSF 8B 100 0 1 2 3 4 5 6 0 10 20 30 40 50 60 70 Speed r min Torque N m 放熱板 150X150X6 mm Continuous Repeated use RSF 11B 30 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 5 0 50 100 150 200 250 Speed r min Torque N m RSF 11B 50 0 1 2 3 ...

Страница 17: ...50X6 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 放熱板 150X150X6 mm RSF 14B 100 0 5 10 15 20 25 30 0 10 20 30 40 50 60 70 Speed r min Torque N m 放熱板 150X150X6 mm Aluminum radiator plate 150X150X6 mm Aluminum radiator plate 150X150X6 mm Aluminum radiator plate 150X150X6 mm Alum...

Страница 18: ...w 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 Housing 51047 0900 Molex Terminal 50133 8000 Molex Pin No Color Signal name 1 Brown U 2 Blue U 3 Red V 4 Green V 5 Yellow W 6 Orange W 7 White DC 5V 5 8 Black COMMON Pin No Color Signal name 1 Brown A 2 Bl...

Страница 19: ...del 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 driver so as not to confuse the item with the other actuators 4 The INPUT VOL line of the driver label indicates the power supply voltage value to be input to the driver The value 24 means 24VDC powe...

Страница 20: ...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 and oil mist Locate the driver indoors Do not expose it to the sunlight 1 Do not apply impact or unnecessary excessive force to output flange of actuators 2 Do not put actuators on in a location where ...

Страница 21: ...the 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 Number of bolt holes 3 4 4 Wrenching torque Bolt Hole depth M3 Depth 6mm M4 Depth 7mm M5 Depth 10mm Nm 1 4 3 2 6 3 kgfcm 14 33 64 3 For wiring operation refer to the Technical Data of the driver 4 Mo...

Страница 22: ...ting 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 Clamp filter ZCAT2032 0930 TDK 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 Bla...

Страница 23: ...type 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 by Phoenix Contact Model MC1 5 5 ST 3 81 Or Mfg by Omron Model XW4B 05B1 H1 Connector for CN2 Mfg by Sumitomo 3M Connector type 10150 3000PE Case type 10350 52F0 008 Connector for CN1 Mfg by Sumitom...

Страница 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 Coefficient 2 78 x10 4 8 47x10 5 0 3048 0 0254 Unit m min 2 ft min 2 ft s 2 in s 2 Coefficient 3600 1 18x10 4 3 281 39 37 SI unit m s 2 4 Force SI unit N Unit kgf lb force oz force Coefficient 9 81 4 45 0...

Страница 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 2 lbfts 2 lbin 2 lbins 2 ozin 2 ozins 2 Coefficient 0 102 10 2 23 73 0 7376 3 42x10 3 8 85 5 47x10 4 141 6 Unit kgfms 2 kgfcms 2 lbft 2 lbfts 2 lbin 2 lbins 2 ozin 2 ozins 2 Coefficient 9 81 0 0981 ...

Страница 26: ...ion 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 ρ L R m 2 π 2 R m 2 1 Ix 3 L R m 4 1 Iy 2 2 3 L R m 4 1 Iz 2 2 R1 L R2 z x y R1 Outside diameter R2 Inside diameter ρ L R R m 2 2 2 1 π 3 L R R m 4 1 Iy 2 2 2 2 1 2 2 2 1 R R m 2 1 Ix 3 L R R m 4 1 Iz 2 2 2 2 1 B L z x y C ρ L BC m π 4 1 2 2 C B ...

Страница 27: ...lated 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 revolution match kgm2 Calculated by formula shown in 1 in accordance with shape m Mass kg F Distance between axis of revolution and axis of center of gravity m 3 Moment of inertia of linear motion object The momen...

Страница 28: ...hape 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 Radius Length 1000 100 10 1 0 1 0 01 0 001 10 4 10 5 10 6 10 100 1000 20 30 50 70 200 300 500 700 Moment of inertia Specific gravity 2 7 Moment of inertia kgm 2 Radius R mm Length mm 1000 100 10 1 1000 ...

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

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

Страница 31: ...ct 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 imperfection caused by a non applicable product 4 disaster or others that does not belong to the responsibility of Harmonic Drive Systems Inc Our liability shall be limited exclusively to repairing or replacing...

Страница 32: ...Drive AG Hoenbergstraβe 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 HarmonicDrive is a registered trademark of Harmonic Drive Systems Inc HarmonicDrive represents the academic concept generally referred to as wave motion gearing Certified to ISO14001 ISO9001 TÜV Mana...

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