Harmonic Drive RSF supermini Series, Руководство пользователя

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Chapter 1 Overview of the RSF supermini series
- -
8
1-4 Specifications of RSF supermini actuators
Specifications of actuators are as follows:
Time rating: Continuous Service temperature:
0~40
°
C
Excitation method: Permanent magnet type Storage temperature:
-20~+60
°
C
Insulation class: B Service/ storage temp.: 20~80%RH (no condensation)
Withstanding voltage: AC500V/min Vibration resistance: 49m/s
2
Insulation resistance: DC500V 100M Ω or more Lubricant: Grease (Harmonic Grease)
Structure: Totally enclosed self cooling
type
Model
Item
RSF-3C RSF-5B
30 50 100 30 50 100
Power supply voltage(diver) Ｖ DC24±10 ％ DC24±10 ％
Allowable continuous current Ａ 0.65 0.66 0.56 1.11 0.92 0.76
Allowable continuous torque
(during operation at allowable continuous
rotation speed)
Nm 0.03 0.07 0.11 0.18 0.29 0.44
Kgf cm 0.31 0.68 1.08 1.83 2.95 4.48
Allowable continuous rotation speed
(output shaft) r/min
150 90 45 150 90 45
Allowable continuous stall torque
Nm 0.04 0.08 0.12 0.28 0.44 0.65
Kgf cm 0.41 0.82 1.22 2.85 4.48 6.62
Instantaneous maximum current A 1.5 1.4 1.1 2.3 2.2 1.7
Max. torque
Nm 0.13 0.21 0.30 0.5 0.9 1.4
Kgf cm 1.27 2.05 2.94 5.1 9.17 14.3
Max. speed r/min 333 200 100 333 200 100
Torque constant
N m/A 0.11 0.18 0.40 0.3 0.54 1.1
Kgf cm
/A
1.12 1.84 4.08 3.06 5.51 11.22
MEF constant V/(r/min) 0.015 0.025 0.05 0.04 0.07 0.13
Phase resistance (at 20
°
C) Ω 1.34 0.82
Phase inductance ｍＨ 0.18 0.27
Moment of inertia
Note 4
GD
2
/4 Kg m
2
0.11 × 10
-
４
0.29 × 10
-
４
1.17 × 10
-
４
0.66 × 10
-
４
1.83 × 10
-
４
7.31 × 10
-
４
(0.11 × 10
-3
) (0.31 × 10
-3
) (1.23 × 10
-3
)
J
Kgf cm
s
2
1.07 × 10
-
４
2.98 × 10
-
４
11.90 × 10
-
４
0.67 × 10
-3
1.87 × 10
-3
7.45 × 10
-3
(1.13 × 10
-3
) (3.15 × 10
-3
) (12.6 × 10
-3
)
Gear ratio 30 50 100 30 50 100
Allowable radial load
(output shaft central value) Ｎ
36 90
kgf 3.6 9.1
Allowable thrust load
Ｎ
130
270
kgf 13.2 27.5
Encoder pulses (motor shaft) Pulse/ 200 500
Encoder resolution
(Output shaft: when
multiplied by 4)
Note 5
Pulse/
Rotation
24,000 40,000 80,000 60,000 100,000 200,000
Motor shaft brake
Input power
supply voltage
Ｖ
- DC24±10
％
Retention torque
Nm - 0.18 0.29 0.44
Kgf cm - 1.83 2.95 4.48
Mass Note 5
Without brake
ｇ
31.0(except clamp filter) 66.0(except clamp filter)
With brake
ｇ
- 86.0(except clamp filter)
Recommended drivers
DC24V DCJ-055-09, DDP-090-09, DEP-090-09
HA-680-4B-24 HA-680-4B-24
Note 1: The table shows typical output values of actuators.
Note 2: the values in the table above are obtained when it is combined with the combined driver.
Note 3: All values are typical.
Note 4: The moment of inertia is the total value of the motor shaft and Harmonic Drive moment of inertia values
converted to the output side. The values in parentheses are for equipment with a brake.
Note 5: The encoder resolution is (motor shaft encoder resolution when multiplied by 4) x (gear ratio).
Note 6: The weight of clamp filter is 6 gram for each.