Harmonic Drive RSF Series Скачать руководство пользователя страница 42

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Worldwide Locations:

Harmonic Drive Systems, Inc.
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

800-921-3332
F: 978-532-9406
www.HarmonicDrive.net

Содержание RSF Series

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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