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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 appropriate safety measures when installing and
operating the equipment. Failure to do so may result in
malfunction of the unit and personal injury.
● Product specifications are subject to change without notice.
● 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.
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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 appropriate safety measures when installing and operating the equipment. Failure to do so may result in malfunction of the unit and personal injury.
- Page 2 SAFETY GUIDE For RSF-B mini series 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 which, if not avoided, could result in death not avoided, may result in minor or moderate personal or serious personal injury.
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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 Features ............................1 Ordering Code ..........................2 Combinations with drivers ......................2 Specifications ..........................3 External dimensions ........................4 Mechanical accuracy ........................6 One-way positioning accuracy .................... - Page 4 RSF-B mini series AC servo actuator manual Memo - contents 2 -...
- Page 5 Chapter 1 Overview of the RSF-B mini series Chapter 1 Overview RSF-B mini series are AC brushless servo actuators combined with a zero backlash Harmonic Drive gear for precise motion control. RSF-B mini series actuators are ideal for robot joint drives, semi-conductor, LCD panel manufacturing, machine tools and other various types of factory automation devices.
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Page 6: Chapter 1 Overview Of The Rsf-B Mini Series
Chapter 1 Overview of the RSF-B mini series 1-2 Ordering Code Ordering codes for the RSF-B mini series actuators are as follows: RSF-8 B-30-F 100-24 B-C -SP Model: AC servo actuator Frame size: 8,11,14 Design version Reduction ratio 30:1, 50:1, 100:1 Encoder specifications F: incremental encoder &... - Page 7 Chapter 1 Overview of the RSF-B mini series - 3 -...
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Page 8: Specifications
Chapter 1 Overview of the RSF-B mini series 1-4 Specifications 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) Withstanding voltage: 500VAC/min Vibration resistance: 25m/s Insulation resistance: 500VDC 100MΩor more Lubricant: Grease (Harmonic Grease) -
Page 9: External Dimensions
Chapter 1 Overview of the RSF-B mini series 1-5 External dimensions Unit： mm (third angle projection method) The external drawings are shown as follows: ■ RSF-8B Pole sensor Encoder connector connector Motor connector UL vinyl tube (See the detailed drawing) ■... - Page 10 Chapter 1 Overview of the RSF-B mini series ■RSF-14B Encoder Pole sensor connector connector Motor connector UL vinyl tube Note) For detailed outside dimensions, check the confirmation drawing - 6 -...
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Page 11: 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 0.04 0.03... -
Page 12: One-Way Positioning Accuracy
(Refer to JIS B-6201-1987). The RSF actuator incorporates a Harmonic Drive gear which inherently has high rotational position accuracy. Because of the gearing’s high ratio, any rotational error at the input (i.e. motor shaft position error or motor feedback error) is reduced by a factor of the ratio (1/ratio) and typically becomes negligible at the output. -
Page 13: 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 characteristics of the output flange applying torque starting from zero to plus side [+T ] and minus side [–T... -
Page 14: 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 Harmonic Drive® gear. Therefore, the resolution per one rotation of the actuator output shaft is multiplied by gear ratio of the actual encoder resolution. -
Page 15: 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 16: 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). The rotary direction of the HA-680 can be switched by using the Parameter →... -
Page 17: 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 18 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) Speed(r/min) Note: Even in the continuous range, if it is used continuously in one direction, please consult with us.
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Page 19: 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 (WHT) Black (BLK) -
Page 20: Chapter 2 Installing The Actuator
RSF-11 B-50-F 100-□ RSF-B mini series actuator Frame size: 8,11,14 Design version ® Reduction ratio of Harmonic Drive gear Encoder specifications Number of pulses of the encoder Specification For details of model symbols, refer to “1-2 Models” on page 2. -
Page 21: Notice On Handling
Chapter 2 Installing the actuator 2-2 Notice on handling Handle RSF-B mini series actuators with care, specifically: Do not plug the actuators directly into a commercial power line source. This could burn out the actuator, potentially resulting in a fire WARNING and/or electrical hazard. -
Page 22: Installation
Chapter 2 Installing the actuator 2-3-2 Installation The RSF-B mini series actuator is a high precision servo mechanism, careful attention is required for proper installation. Install the actuator taking care not to damage accurately machined surfaces. Take note that actuators provide a glass encoder, which may be damaged by impact. -
Page 23: Chapter 3 Options
Chapter 3 Options Chapter 3 Options 3-1 Extension cables There are 2 types of extension cables for motors and an incremental encoder + pole sensor. Note that the model and shape vary depending on the connecting driver. ● Extension cable type (XX indicates the cable length 3m, 5m, or 10m.) ■Connecting driver: HA-680 series ①For motors: EWC－MB**－A06－TN2... -
Page 24: 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 For CN2, power supply connection................ -
Page 25: Appendix 1 Unit Conversion
Appendix 1 Unit Conversion Appendix 1 Unit Conversion This manual employs SI system for units. Conversion factors between the SI system and other systems are as follows: Length SI unit Unit Coefficient 0.3048 0.0254 Unit Coefficient 3.281 39.37 SI unit Linear speed SI unit Unit... - Page 26 Appendix 1 Unit Conversion 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 r/min...
- Page 27 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 28 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 29 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) 1000 calculated from the graph on the right.
- Page 30 RSF-B mini series AC servo actuator manual Memo...
- Page 31 RSF-B mini series AC servo actuator manual Memo...
- Page 32 Under the condition that the actuator is handled, used and maintained properly followed each item of the documents and the manuals, all the RSF B mini series actuators are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or 2,000 hours of operation time.
- Page 33 6-25-3 Minami-Ohi, Shinagawa-ku Tokyo 141-0013, Japan Chicago Sales Office 137 N. Oak Park Ave., Suite 410 Harmonic Drive AG Oak Park, IL 60301 Hoenbergstrasse, 14, D-6555 Limburg/Lahn Germany T: 800.921.3332 T: 978.532.1800 Harmonic Drive is a registered F: 978.532.9406 trademark. 021717 www.HarmonicDrive.net...