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RSF-B mini Series
AC Servo Actuator Manual
(RSF-8B, 11B, 14B 24VDC specification )
● Thank you very much for your purchasing our RSF-B mini series
servo actuator.
● Be sure to use sufficient safety measures when installing and
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 manual.
Certified to ISO
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Table of Contents
Related Manuals for Harmonic Drive RSF-B mini Series
Summary of Contents for Harmonic Drive RSF-B mini Series
- Page 1 RSF-B mini Series AC Servo Actuator Manual (RSF-8B, 11B, 14B 24VDC specification ) ● Thank you very much for your purchasing our RSF-B mini series servo actuator. ● Be sure to use sufficient safety measures when installing and operating the equipment so as to prevent an accident resulting in a serious physical injury damaged by a malfunction or improper operation.
- Page 2 SAFETY GUIDE For RSF-B mini series, HA series SYSTEMS manufactured by Harmonic Drive Systems Inc Read this manual thoroughly before designing the application, installation, maintenance or inspection of the actuator. Indicates a potentially hazardous situation, Indicates a potentially hazardous situation, which, if...
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Page 3: Table Of Contents
RSF-B mini series AC servo actuator manual Contents Chapter 1 Overview of the RSF-B mini series ..................1 Major characteristics ........................1 Ordering information ........................2 Combinations with drivers ......................2 Specifications of RSF-B mini actuators ..................3 External dimensions of actuators ....................4 Mechanical accuracy ........................ - Page 4 RSF-B mini series AC servo actuator manual Memo - contents 2 -...
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Page 5: Chapter 1 Overview Of The Rsf-B Mini Series
Chapter 1 Overview of the RSF-B mini series Chapter 1 Overview of the RSF-B mini series RSF-B mini series are AC servo actuators combined with a precision control reduction gear ® HarmonicDrive that provides high-torque and accurate rotation operation and a high-speed and high-response AC servo motor. -
Page 6: Ordering Information
C ：Connector attached (standard item) Special specification No symbol：Standard item SP：Special item 1-3 Combinations with drivers RSF-B mini series actuators are combined with the following drivers. Setting of the driver varies depending on the actuator combined. Actuator model name Combined driver model name RSF-8B... -
Page 7: Specifications Of Rsf-B Mini Actuators
Chapter 1 Overview of the RSF-B mini series 1-4 Specifications of RSF-B mini 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: Service/ storage temp.: 20~80%RH (no condensation) -
Page 8: External Dimensions Of Actuators
Chapter 1 Overview of the RSF-B mini series 1-5 External dimensions of actuators Unit： mm (third angle projection method) The external drawings are shown as follows: ■ RSF-8B Encoder Pole sensor connector connector Motor connector UL vinyl tube (See the detailed drawing) ■... - Page 9 Chapter 1 Overview of the RSF-B mini series ■RSF-14B Pole sensor Encoder connector connector Motor connector UL vinyl tube Note) For detailed outside dimensions, check the delivery specification drawing issued by us. Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good).
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Page 10: Mechanical Accuracy
Chapter 1 Overview of the RSF-B mini series 1-6 Machine accuracy The machining accuracy of the output flange and the mounting flange of RSF-B mini actuators are indicated in the table below. Machine accuracy Unit ：mm R S F - 8 B 0.04... -
Page 11: One-Way Positioning Accuracy
Chapter 1 Overview of the RSF-B mini series 1-7 One-way positioning accuracy The following table shows the “one-way positioning accuracy”. The following table contains representing values. (JIS B 6201:1987) The one-way positioning accuracy of RSF-B mini actuators is almost equal to the angular positioning ®... -
Page 12: Torsional Stiffness
Chapter 1 Overview of the RSF-B mini series 1-8 Torsional stiffness When a torque is applied to the output flange of the actuator with the motor locked, the resulting torsional wind up is near proportional to the torque. The upper right figure shows the torsional stiffness... -
Page 13: Detector Resolution
Chapter 1 Overview of the RSF-B mini series 1-9 Detector resolution An encoder with 1000 pulses per rotation is incorporated in the motor unit of the RSF-B mini series ® actuators, and the motor output is decelerated by the precision control decelerator HarmonicDrive Therefore, the resolution per one rotation of the actuator output shaft is multiplied by gear ratio of the actual encoder resolution. -
Page 14: Allowable Load
Chapter 1 Overview of the RSF-B mini series 1-10 Allowable load 1-10-1 Allowable radial load and allowable thrust load The allowable radial load and thrust load of the output shaft are shown below. The allowable radial load F is obtained with respect to the center (L/2) 0 point of the output shaft. -
Page 15: Rotary Direction
Chapter 1 Overview of the RSF-B mini series 1-11 Rotary direction The rotary direction of the RSF-B mini series actuators when a forward rotation command is given from the HA-680 driver is forward rotation seen from the output shaft side (i.e. counterclockwise: CW). -
Page 16: Torque-Speed Characteristics
Chapter 1 Overview of the RSF-B mini series 1-14 Torque-speed characteristics The following graphs show the usable ranges of the RSF-B mini series actuators combined with the dedicated AC servo driver HA-680 by the power voltage 24VDC input. 1) Continuous duty range: The range allows continuous operation for the actuator. - Page 17 Chapter 1 Overview of the RSF-B mini series ■RSF-11B-100 Aluminum radiator plate 放熱板 150X150X6 (mm) 150X150X6 (mm) Speed(r/min) ■RSF-14B-30 ■RSF-14B-50 Aluminum radiator plate Aluminum radiator plate 放熱板 150X150X6 (mm) 150X150X6 (mm) 150X150X6 (mm) Speed(r/min) Speed(r/min) ■RSF-14B-100 Aluminum radiator plate 放熱板 150X150X6 (mm) 150X150X6 (mm)
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Page 18: Cable Specifications
Chapter 1 Overview of the RSF-B mini series 1-15 Cable specifications The following tables show specifications of the cable for the motor and the encoder of the RSF-B mini actuators. Motor connector cable Pin No. Color Signal name (RED) White... -
Page 19: Chapter 2 Installing The Actuator
If the item is damaged, immediately report the damage to the dealer it was purchased from. (2) A label is attached on the right side of the RSF-B mini series actuator. Confirm the products you ordered by comparing with the model on the [TYPE] line of the label. If it is different, immediately contact the dealer it was purchased from. -
Page 20: Notice On Handling
2-3 Location and installation 2-3-1 Environment of location The environmental conditions of the location for RSF-B mini series actuators must be as follows. Service temperature: 0°C to 40°C ◆ When the actuator is installed in a closed space, the temperature in the space may be higher than the atmosphere because of heat emission by the actuator. -
Page 21: Installation
Chapter 2 Installing the actuator 2-3-2 Installation Since the RSF-B mini series actuator is a high precision servo mechanism, great care is required for proper installation. Install the actuator taking care not to damage accurately machined surfaces. Do not hit the actuator with a hammer. -
Page 22: Chapter 3 Options
Chapter 3 Options 3-1 Relay cables There are relay cables that connect the RSF-B mini series actuator and driver. There are 2 types of relay cables for motors and an incremental encoder + pole sensor. Note that the model and shape vary depending on the connecting driver. -
Page 23: Connectors
Chapter 3 Options 3-2 Connectors ■Connecting driver: Connectors for CN1, CN2, motor wire connection and the power supply connection of the HA-680 driver Connector type: CNK-HA68-S1 ● For CN1, CN2, motor wire connection, power supply connection ......4 types Connector type: CNK-HA68-S2 ●... - Page 24 Appendix 1 Conversion of unit Appendix 1 Conversion of unit This technical manual basically uses the SI unit system. The conversion coefficients between the SI unit system and other unit systems are shown below. Length SI unit Unit Coefficient 0.3048 0.0254 Unit Coefficient...
- Page 25 Appendix 1 Conversion of unit Angle SI unit Unit Deg. Min. Sec. Coefficient 0.01755 2.93x10 4.88x10 Unit Deg. Min. Sec. Coefficient 57.3 3.44x10 2.06x10 SI unit Angular speed SI unit rad/s Unit Deg./s Deg./min r/min Coefficient 0.01755 2.93x10 6.28 0.1047 Unit Deg./s Deg./min...
- Page 26 Appendix 2 Calculations of moment of inertia Appendix 2 Calculations of moment of inertia Calculation formulas for mass and moment of inertia (1) When center of revolution and line of center of gravity match Calculation formulas for mass and moment of inertia are shown below. m: Mass (kg) Ix, Iy, Iz: moment of inertia (kgm ) making Axes x, y and z as centers of revolution...
- Page 27 Appendix 2 Calculations of moment of inertia Mass, inertia, Mass, inertia, Shape of object Shape of object position of center of gravity position of center of gravity Rhombic prism Regular hexagon prism ρ ρ B√3 Ix = ...
- Page 28 Appendix 2 Calculations of moment of inertia Moment of inertia of circular cylinder Approximate values of moment of Moment of inertia (kgm Length (mm) inertia of circular cylinder can be 1000 Moment of inertia (Specific gravity 2.7) calculated from the graph on the 1000 right.
- Page 29 RSF-B mini series AC servo actuator manual Memo...
- Page 30 RSF-B mini series AC servo actuator manual Memo...
- Page 31 (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 the product only found by Harmonic Drive Systems, Inc.
- Page 32 Harmonic Drive L.L.C／247 Lynnfield Street, Peabody, MA, 01960, U.S.A. TEL+1- 978-532-1800 FAX+1- 978-532-9406 ® "HarmonicDrive " is a registered trademark of Harmonic Drive Systems, Inc. 1703-6R-TRSFB-E ® "HarmonicDrive " represents the academic concept generally referred to as wave motion gearing.