Harmonic rsf mini_specsheet
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This document provides specifications for RSF-B mini series brushless servo actuators. It describes the available models, ordering codes, general specifications including torque and speed capabilities, encoder and magnetic pole sensor specifications, output circuit diagrams, and external dimensions. The actuators come in three sizes and various gear ratios and have high precision incremental encoders and magnetic pole sensors to provide position feedback.
Harmonic rsf mini_specsheet
- 1. R S F Mi n i S e r i e s RSF Brushless Servo Actuator Total Motion Control Harmonic Drive™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
- 2. 1. Applicable Models This Specification applies to the RSF-B mini Series with parallel encoder and supply voltage DC 24V. The sizes available are: 1) RSF-8B-XXX-F100-24B 2) RSF-11B-XXX-F100-24B 3) RSF-14B-XXX-F100-24B 2. Model Ordering Code RSF-14 B-100-F 100-24 B Model: AC Servo Actuator RSF mini Series Size: 8, 11, 14 Design Version Gear Ratio 30: 1/30 50: 1/50 100: 1/100 Encoder Specifications F: Incremental Encoder +Magnetic Pole Sensor Encoder Resolution 100: 1000p/rev Power Supply Voltage: DC24V Phase Angle Specifications B: 30° Optional Specifications No Sign: Without Connector C: With Connector 3. Specification Refer the manual of RSF-B mini standard type except the following specifications. 3-1 Actuator Table 1 General specifications of RSF-8B/11B/14B Item Environmental Conditions Operate temperature 0~40 °C Storage temperature -20~60 °C Operate / Storage humidity 20~80%RH (No condensation) Vibration resistance 25 m/s2 (Frequency: 10~400 Hz) Impact resistance 300 m/s2 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 3. Model Table 2 Ability Specifications Item RSF-8B RSF-11B RSF-14B 30 50 100 30 50 100 30 50 100 Power Suppy Voltage V DC24 Maximum Torque Nm 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Speed r/min 200 120 60 200 120 60 200 120 60 Maximum Current A 3.8 3.9 2.9 14.4 15.8 9.4 14.4 17.2 12.3 Allowable Continuous Nm 0.78 1.4 2.0 1.1 2.0 4.0 1.7 3.0 6.0 Torque Allowable Continuous Current A 2.0 2.0 1.5 5.0 4.9 4.9 4.9 4.7 4.7 Allowable Continuous Speed r/min 100 60 30 100 60 30 100 60 30 Continuous torque at stall Nm 0.95 1.7 3.5 1.7 3.0 5.7 2.5 4.5 9.0 Kgfcm 9.2 16 36 17 31 58 26 46 92 Torque Constant Nm/A 0.62 1.1 2.1 0.40 0.66 1.5 0.76 1.3 2.6 Kgfcm/A 6.3 11 21 4.1 6.7 15 7.8 13 27 EMF 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 (25°C) 0.93 0.19 0.26 Phase Inductance mH 0.45 0.10 0.19 Moment of Inertia4) GD2/4 ×10-2 k·gm2 0.06 0.16 0.65 0.18 0.49 2.0 0.41 1.1 4.5 J ×10-2 kgf·cm·s2 0.60 1.7 6.6 1.8 5.0 20 4.1 11 46 Allowable Radial Load N 196 245 392 kgf 20 25 40 Allowable Thrust Load N 98 196 392 kgf 10 20 40 One-Way Positioning Accuracy arc/sec 180 150 150 150 120 120 150 120 120 Quad Encoder Resolution5) p/rev 120000 200000 400000 120000 200000 400000 120000 200000 400000 Mass kg 0.3 0.5 0.8 Servo Drive Combinations DC24V DCJ-055-09, DDP-090-09, DEP-090-09 DDP-090-36, DEP-090-36 HA-680-4B-24 HA-680-6B-24 1) The table shows output values of the actuator. 2) All specifications are applicable for actuators mounted on an aluminum heat sink of size: 150 x 150 x 6(mm) 3) Values for saturated actuator temperature. Other values are for actuator temperature of 20°C. 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. 5) Quad encoder resolution is (motor shaft encoder resolution) x 4 x (gear ratio) Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 4. 3-2 Encoder Specifications Table 3 Magnetic pole sensor (build in the motor) Item Unit Specification Signal U, U, V, V, W, W Power supply voltage V DC +5 ±5% Current consumption mA 250 max Output circuit form Line driver Table 4 Encoder Item Unit Specification Type Incremental, rectangular wave, 8-wires Signal A, A, B, B, Z, Z Resolution p/rev 1000 Power supply voltage V DC +5 ±5% Current consumption mA 170 max Output circuit form Line driver Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 5. HARMONIC ENGINEERING INC TOKYO JAPAN DRIVE SYSTEMS SYSTEMS SPECIFICATION • Singal waveform ● Signal waveform T = Mean period a,b,c,d = 0.25T ± 0.1T e = 0.5T ± 0.1T ⊿t≦0.05T α≦±1.5°(Mechanical angle) U-N Motor EMF waveform Fig.1 A,B and Z signal and relationship with U-N motor EMF waveform with R = 90ﾟ±3ﾟ（Mechanical angle） Hn = 15ﾟ±3ﾟ（Mechanical angle） δ≦±3°（Mechanical angle） UUVV WW Fig.2 U,V and W signal and relationship with Motor's EMF with CLASS SPEC NO. Ｂ２Ｉ１８７０ a b c d α e T A A B B Z Z CW rotation facing the output shaft end U-W(G) V-U(G) W-V(G) Elec.Angle Motor EMF waveform δ U U V V W W Magnetic pole sensor signal CW rotation facing the output shaft end Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com REV DATE DESCRIPTION BY CHKD APPD SHEET NO. 5 OF 8
- 6. HARMONIC ENGINEERING DRIVE SYSTEMS SYSTEMS SPECIFICATION • Color code for leads INC TOKYO JAPAN Color code for motor, encoder and magnetic pole sensor leads shown in Table 5 3-4 Color code for leads Color code for motor, encoder and hall sensor leads shown in Table 5 Table 5 Color code Motor leads Hall sensor leads Encoder leads Color Signal Color Signal Color Signal Red U Brown U Brown A White V Blue U Blue A Black W Red V Red B Motor leads Hall sensor leads Encoder leads Color Signal Color Signal Color Signal Red U Brown Hu Brown A White V Brown/Black Hu Blue A Black W White Hv Red B Green V Green B Yellow W Yellow Z Orange W Orange Z White +5V (Vcc) White +5V (Vcc) Black 0V (GND) Black 0V (GND) White/Black Hv Green B Blue Hw Yellow Z Blue/Black Hw Orenge Z Shield Floating Table 5 Color code Red +5V (Vcc) White +5V (Vcc) Black 0V (GND) Black 0V (GND) • Output circuit and example for receiving signal Shield Floating CLASS SPEC NO. 3-5 Output circuit and example for receiving signal Actuator output circuit Input circuit of user’s device (Example) Encoder Signal VCC A, B, Z A － , B － , Z － GND R1≈120Ω R1 U, V, W VCC U, V, W Hu, Hv, Hw GND Hall Sensor Signal Hu, Hv, Hw Magnetic pole sensor Signal Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 7. HARMONIC ENGINEERING INC TOKYO JAPAN DRIVE SYSTEMS SYSTEMS SPECIFICATION 4. External Dimensions ４．External dimensions of RSF-B mini actuators RSF-8B-XXX-F100-24B RSF-11B-XXX-F100-24B CLASS SPEC NO. Ｂ２Ｉ１８７０ Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com REV DATE DESCRIPTION BY CHKD APPD SHEET NO. 7 OF 8
- 8. HARMONIC ENGINEERING INC TOKYO JAPAN DRIVE SYSTEMS SYSTEMS SPECIFICATION RSF-14B-XXX-F100-24B CLASS SPEC NO. Ｂ２Ｉ１８７０ Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com REV DATE DESCRIPTION BY CHKD APPD SHEET NO. 8 OF 8