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RSF Supermini Actuator

1. 0 0 0 50 100 150 200 250 300 350 Speed r min E RSF 5A 30 E050 C RSF 5A 50 E050 BC 10 Radiation plate 150 x 150 x 3 mm Torque Nm 0 50 100 150 200 250 Speed r min E RSF 5A 30 E050 C RSF 5A 100 E050 BC 15 Radiation plate 150 x 150 x 3 mm 1 2 E 09 Z o 2 0 6 e 0 3 i Continuous range 0 0 0 20 40 60 80 100 120 Speed r min Note The 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 with us RSF Super_V1_02 12 Chapter 1 Overview of the RSF supermini series 1 15 Cable specifications The following tables show specifications of the cable for the motor and the encoder of the RSF supermini actuators Motor cable Pin No Color Signal name Remark 1 Red RED U Motor phase U 2 White WHT V Motor phase V 3 Black BLK W Motor phase W 4 Green GRN FG Grounding Connector used Housing PALR 04VF with retainer Contact S B PAL 001T P0 5 Recommended connector Housing PARP 04V with retainer 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 Co
2. Gear ratio 50 100 Item Detector resolution 100 000 200 000 when multiplied by 4 Angle per one pulse Angle second 54 32 4 16 2 21 6 12 96 6 48 arc sec Pulse Rotation 1 9 Mechanical accuracy The machining accuracy of the output flange and the mounting flange of RSF supermini actuators are indicated in the table below RSF 3B RSF 5A Ol sb A sb A Zu A A B lt Ad pa AL dl LB _ e B e BH Fe e ol Alice Machined accuracy of the output flange T I R unit mm Symbol Machined parts Accuracy value Model RSF 3B RSF 5A a Runout of the tip of the output shaft 0 03 0 03 b Concentricity of installed spigot joint 0 02 0 04 C Squareness of installation surface 0 02 0 02 d Output flange surface contact 0 005 0 005 d Parallelism of installation surface 0 015 0 015 and output flange T I R Total Indicator Reading Indicates the total amount of dial gage reading when the measurement unit is rotated once RSF Super V4 02 8 Chapter 1 1 10 Allowable load Overview of the RSF supermini series 1 10 1 Allowable radial load and allowable thrust load The gear head used in the RSF supermini series incorporates the high precision 4 point
3. 4 types Connector model CNK HA68 S2 For CN2 power supply connection 2 types Connector for CN1 m Mfg by Sumitomo 3M UOI 2 Connector type 10114 3000VE Padi Case type 10314 52F0 008 Connector for CN2 Mfg by Sumitomo 3M Connector type 10150 3000VE Case type 10350 52F0 008 Connector for power supply Mfg by Phoenix Contact Connector for actuator connection i LL Mfg by Phoenix Contact Mfg by Omron Mose MC1 5 6 ST 3 81 Model XW4B 05B1 H1 Mfg by Omron Model XW4B 06B1 H1 RSF super V1 02 31 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 1 Length SI unit m Unit ft in amp Coefficient 0 3048 0 0254 Unit ft in Je Coefficient 3 281 39 37 SI unit m 2 Linear speed SI unit m s Unit m min ft min ft s in s Coefficient 0 0167 5 08x10 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 Unit m min ft min ft s in s Coefficient 12 78 x1078 47x10 0 3048 0 0254 Unit m min ft min ft s in s Coefficient 3600 1 18x10 3 281 39 37 SI unit m s 4 Force SI unit N Unit kgf Ib f
4. One way positioning of rotation shaft motion First perform positioning at any one position in a fixed direction This position is the reference position Next perform positioning in succession in the same direction and measure the difference between the angle actually rotated from the reference position and the desired angle at each position The maximum difference in one rotation among these values is taken as the measurement value Measurement of equipment with the continuous positioning function for rotational motion shall be done once per 30 degrees or 12 positions throughout the entire rotation range as a rule RSF Super V4 02 6 accuracy Positional difference One way positioning j i JS Start position Actual position Chapter 1 Overview of the RSF supermini series 1 7 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 Torsion characteristics of the output flange applying torque starting from zero to plus side To and minus side To This trajectory is called torque torsion characteristics which typically follows a loop 0 A B A B A as illustrated T The torsional stiffness of the RSF supermini actuator is expressed by the slope of the curve that is a spring rate wind up unit N m rad Hysteresis Loss T
5. CAUTIONS FOR ACTUATORS AT APPLICATION DESIGNING Always use under followings conditions Ambient temperature 0 C to 40 C Ambient humidity 20 to 80 RH Non condensation Vibration Max 24 5 m S No contamination by water oil No corrosive or explosive gas Keep limited torques of the actuator Keep limited torques of the actuator Be aware that if arms attached to output element hits by accident an solid the output element may be uncontrollable Do not apply impacts and shocks Do not use a hammer during installation Failure to observe this caution could damage the encoder and may cause uncontrollable operation Always use drivers under followings conditions Mount in a vertical position keeping sufficient distance to other devices to let heat generated by the driver radiate freely Ambient temperature 0 C to 50 C Ambient humidity less than 95 RH Non condensation No contamination by water oil or foreign matters No corrosive inflammable or explosive gas Pay attention to negative torque by inverse load nverse load may cause damages of drivers Please consult our sales office if you intent to apply products for inverse load Never change wiring while power is active Make sure of power non active before servicing the products Failure to observe this caution may result in electric Shock or personal injury Do not make a voltage resistance test Failure to observe this caution
6. HARMONIC DR Say SYSTEMS ING HARMONIC SYSTEMS INC RSF 5A 50 US050 SER No Qi 2165 PT No 880003752 jf FARM DRI SAN vARMONIK aP PEYSTEMS inc 227 Rano SER NO MT PRO T SAFETY GUIDE For actuators motors control units and drivers manufactured by Harmonic Drive LLC Read this manual thoroughly before designing the application installation maintenance or inspection of the actuator Indicates a potentially hazardous situation which if not avoided could result in death WARNING _ Or serious personal injury LIMITATION OF APPLICATIONS The equipment listed in this document may not be used for the applications listed below Space equipment Automobile automotive parts Indicates a potentially hazardous situation which if not avoided may result in minor or moderate personal CAUTION injury and or damage to the equipment Aircraft aeronautic equipment Amusement equipment sport equipment game machines Nuclear equipment Machine or devices acting directly on the human body Household apparatus Instruments or devices to transport or carry people Vacuum equipment Apparatus or devices used in special environments If the above list includes your intending application for our products please consult us Safety measures are essential to prevent accidents resulting in death injury or damage of the equipment due to malfunction or faulty operation
7. 0 0 1 0 0 9 0 8 0 7 0 6 0 5 0 4 0 3 0 2 0 1 0 0 0 8 0 6 0 4 0 2 0 0 RSF 5A 30 E050 BC Radiation plate 150x150x3 mm 100 150 200 Speed r min RSF 5A 50 E050 BC Radiation plate 150x150x3 mm 0 50 100 Speed r min 150 200 250 RSF 5A 100 E050 BC Radiation plate 150x150x3 mm Allowed range 0 20 40 60 80 Speed r min 100 120 Chapter 2 Selection of the RSF supermini Series NENNEN OO C 2 4 6 Effective torque and average speed Addionally to the former studies the effective torque and the average speed should be studied 1 The effective torque should be less than allowable continuous torque specified by the driver 2 The average speed should be less than allowable continuous speed of the actuator Calculate the effective torque and the average speed of an operating cycle as shown in 2 4 5 Calculating equivalent duty Tm effective torque N m Ta x ta ta Tr x tr Ta maximum torque N m Tm t Tr load torque N m ta acceleration time s td deceleration time s N x ta Nx tr N x ta tr running time at constant speed s Nav 22 2 t time for one duty cycle s Nav average speed r min N driving speed r min If the calculation results for the effective torque and average rotation speed are not within the range of continuous usage in the graph shown in 1 14 Usable range take measures to
8. Weight Note 2 g 86 0 eni allowable brake Notes 100 000 times Note 1 This is a value at the output shaft of the actuator Note 2 This is a value for the entire actuator Note 3 The motor shaft rotation speed is controlled as shown in the following table Output shaft rotation speed Motor shaft rotation speed Gear ratio f r min r min 1 30 5 0 1 50 3 0 150 1 100 1 5 4 2 Controlling the brake power supply 4 2 1 Using a relay cable Recommended method The optional relay cables for brakes EWA B JST 03 TMC incorporate a circuit that controls the brake current You don t have to control the brake current so it is recommended to use the actuator with a brake in combination with a relay cable for brakes If the relay cable for brakes is used brake can be operated by turning on off the brake power supply The power supply for the brake that can output 24VDC 10 shall be provided by the customer Use a power supply unit that can output the current during release as described in 4 1 Motor shaft retention brake specifications The supply duration of the current consumption during release is 0 5sec or less at 24VDC 10 RSF super_V1_02 27 Chapter 4 Motor shaft retention brake SS OOO C 4 2 2 Not using a relay cable If the optional relay cable for brakes EWA B JST 03 TMC is not used the customer must control the brake power supply to the brake release coil and release reten
9. e 0 2 Estimation line for TO wp s a EES _ KL 0 29 US atte ee bieten SS 00 f 705 AX eer 703 140 0 50 resse 100 aa 200 250 Speed r min RSF super_V1_02 18 Graphs of duty factor RSF 3B 30 E020 C RSF 3B 50 E020 C RSF 3B 100 E020 C RSF super_V1_02 Chapter 2 Selection of the RSF supermini Series Torque Nm Torque Nm Torque Nm 0 1 0 09 0 08 0 07 0 06 0 05 0 04 0 03 0 02 0 01 0 16 0 14 0 12 0 1 0 08 0 06 0 04 0 02 Radiation plate 85x85x3 mm 0 50 100 150 200 250 300 350 Speed r min Radiation plate 85x85x3 mm 0 50 100 150 200 250 Speed r min Radiation plate 85x85x3 mm Allowed range Speed r min 19 Chapter 2 Selection of the RSF supermini Series 0 6 0 5 0 4 0 3 Torque Nm 0 2 0 1 0 0 0 8 0 7 0 6 0 5 0 4 Torque Nm 0 3 0 2 0 1 0 0 Torque Nm eo 0 6 0 4 0 2 0 0 RSF super V1 02 0 50 RSF 5A 30 E050 C Radiation plate 150x150x3 mm Allowed range d 150 200 Speed r min 250 RSF 5A 50 E050 C Radiation plate 150x150x3 mm 100 Speed r min 150 200 250 RSF 5A 100 E050 C Radiation plate 150x150x3 mm Allowed range Bii Ue TAM KL 0 33 0 20 40 60 80 100 120 Speed r min Torque Nm Torque Nm Torque Nm 0 6 0 5 0 4 0 3 0 2 0 1
10. 2 Do not put actuators on in a location where the driver could easily fall 3 The allowable temperature for storage is from 20 C to 60 C Do not expose it to the sunlight for a long time and do not CAUTION store it in areas with widely fluctuating temperatures 4 The allowable relative humidity for storage is less than 8096 Do not storage it in highly humid place or in a place where temperature changes excessively during the course of a day 5 Do not store units in locations with corrosive gas or particles RSF super V1 02 24 Chapter 3 Installing the actuator 3 3 Location and installation 3 3 1 Environment of location The environmental conditions of the location for RSF supermini 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 Design the closed space size ventilation system and device locations so the ambient temperature near the actuator is always less than 40 C Service humidity 20 to 8096 relative humidity without condensation Make sure no water condensation occurs at the place where there is a large temperature change in a day or due to frequent heat and cool cycles due to the operation of the actuator Vibration less than 49m sec 10Hz 400Hz Impact less than 300 m sec Make sure the actuator is in
11. Chapter 5 Options Chapter 5 Options 5 1 Relay cables There are relay cables that connect the RSF supermini series actuator and driver There are 3 types of relay cables for encoders motors and brakes Select an appropriate type according to the model of the actuator you ordered Relay cable model XX indicates the cable length 3m 5m or 10m 1 For encoders EWA E x x M09 3M14 Cable length 03 3m 05 5m 10 10m 8400 Connector 10114 3000VE Cover 10314 52F0 008 9 2 Mfg by 3M Un ol CC 5 ye 3 D H Clamp filter Clamp filter ZCAT2032 0930 TDK ZCAT2032 0930 TDK Wafer right angle type 53048 0910 Mfg by Molex 2 For motors EWA M x x JSTO4 TN2 Cable length 03 3m 05 5m 10 10m L 2 DO 50 Shield Round crimp style terminal 1 25 4 7 C W Black C V White Mfg by J S T Mfg Co Ltd PARP 04V U Red Mfg by Omron 25 XW4B 06B1 H1 3 For brakes EWA B x x JSTO3 TMC Cable length 03 3m 05 5m 10 10m 200 Lo 300 50 66 5 50 30 be n Application of 24VDC non polar se Mfg by J S T Mfg Co Ltd Round crimp style PARP 03V terminal 1 25 4 RSF super V1 02 29 Chapter 5 Options 5 2 Relay cable wire bound specifications The following tables show the wire bound specifications of the relay cables 1 For encoders EWA E M09 3
12. 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 20 Rotary direction command setting 20 Rotary direction command setting Value FWD command REV command Setting 0 FWD rotation REV rotation Default 1 REV rotation FWD rotation The model shape 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 acceleration 300 m s Direction top bottom right left front back Repeating times three However do not apply impact to the output shaft 1 13 Vibration resistance The vibration resistance of the actuators for up down left right and front back is as follows Vibration acceleration 49m s 5G Frequency 10 400Hz This specification does not guarantee fretting wear of mechanism components due to micro vibrations RSF Super V4 02 10 FWD CW rotation Top U Right y n Back v Left Front Bottom Impact resistance Top Right Left Back Bi Di lt Front t Horizontal installation Bottom Vibration resistance Chapter 1 Overview of the RSF supermini series 1 14 Torque speed characteristics The following graphs show the usable
13. an area free from dust water condensation metal powder corrosive gas water water drops and oil mist Locate the driver indoors Do 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 conditions of installation Make sure that the FG line of RSF 5A is securely grounded Because RSF 3B does not have any FG line from the motor enclosure Thus when using it make sure that that enclosure is securely grounded to the body of the equipment through the gear head house In addition make sure that the body of the equipment is securely grounded Do not bind the motor line and encoder signal line together Do not draw any external power line i e driver power supply line 100 200 VAC line actuator signal line and motor line through the same pipe or duct or bind them together The noise tolerance values of RSF supermini equipment are listed below They are guide values from a measurement that were performed using a standard relay cable in a noise test environment while the clamp filter included with the product was installed to the equipment Note that the noise tolerance values in your actual environment of use may differ from them Model RSF 3B RSF 5A Noise tolerance encoder signal line 1 5kV 2 0kV RSF super V1 02 25 Chapter 3 Installing the actuato
14. contact ball bearing for direct support of external load output part 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 The values in the following table are designed by considering the life of the bearing The allowable values must not be exceeded LR L Model Unit RSF 3B RSF 5A Allowable radial load Fr N 36 90 kgf 3 6 9 1 Allowable thrust load Fs 130 270 kgf 13 27 1 10 2 Radial load when the operating point is different If the operating point of radial load is different the allowable radial load value is also different The relation between radial load position Lp and allowable radial value Fr is obtained from the following formula The allowable values must not be exceeded L Fr EU AE La Lg Fg Allowable radial load at distance Lg from the 0 point N F Allowable radial load at the 0 point N L4 Distance from the bearing starting point to the O point mm La Distance from the position where radial load is exerted to the 0 point mm L Shaftlength mm Model RSF 3B RSF 5A i N 36 90 Allowable radial load Fr kgf 36 9 1 La mm 8 6 9 85 L mm 7 10 RSF Super V4 02 Chapter 1 Overview of the RSF supermini series 1 11 Rotary direction The rotary direction of the RSF supermini series actuators when
15. oic tete et o herbe silla ag 10 1 12 Impact resistance aine dete etr ent eei ei eee 10 1 13 Vibration resistance iiic eod Leere een de tuos Aia 10 1 14 Torque speed characteristiCS nenne nennen nennen 11 1 15 Cable specifiGatloris 1 3 rre ene iaia 13 Chapter 2 Selection of the RSF supermini SerieS i 14 2 1 Allowable load moment of inertia nennen nemen nnn 14 2 2 Mariable load inertiau roe ee eee es a m Mte deserit bre ea 14 2 3 Verifying loads alieni eii ke ae ee au ane Bru aa 14 2 4 Bu ty Cycles coach idolo ra tir iod Ge RO eios inde Eee ide tied et d 15 2 4 1 Act ator Speed cote b ege P IRR ERR IRAE Ra RAE TRUM ee 15 2 4 2 Load moment of inertia i 15 224 3 load torque tM ea RE IE RM E Ra sy 15 2 4 4 Acceleration time and deceleration time nnne 16 2 4 5 Calculating equivalent AUty enne 17 2 4 6 Effective torque and average speed nn nnn 21 2 4 7 Permissible overloaded time nne 22 Chapter 3 Installing the actuator iiie iio t Eee et ide dpt UH E EE E et deus 23 3 1 Receiving Inspectlon 1 acere irren eet eel Eee ee De alii 23 3 2 Notice on Nanding sees cea eile iid ea En e en elo Pee duo codo oes 24 RSF super V1 01 contents 1 RSF supermini series AC servo actuator manual ell EN 3 3 Loca
16. this size of actuators Fail safe requirements of equipment can be met to prevent accidents upon power failure without providing any external brake or changing the equipment structure to install a brake Superior positioning precision The characteristics of the control deceleration device Harmonic Drive such as non backlash and superior positioning precision realize high precision mechanisms Stable controllability The high deceleration gear ratio of the control deceleration device Harmonic Drive provides stable controllability for large variations of load moment of inertia RSF Super_V1_02 1 Chapter 1 Overview of the RSF supermini series 1 2 Ordering information Model codes for the RSF supermini series actuators are as follows RSF 5 A 50 E 050 C Model AC servo actuator RSF series Output shaft is of the shaft type Frame size 3 or 5 Design version Reduction ratio of gearing 30 1 30 50 1 50 100 1 100 Encoder specifications US 14 wire incremental encoder standard E 4 wire incremental encoder optional Encoder pulses on motor shaft 020 200p rev Model 3 050 500p rev Model 5 Specifications C Standard item with connector BC With brake with connector SP Special specification 1 3 Combinations with drivers The RSF supermini series actuators are used in combination with the HA 680 4B 24 driver The HA 680 driver can perform position control speed control and
17. x o er 1 2xmn N Deceleration ta Ja JL x 60 Ts DWTEGTE Ta acceleration time sec Td deceleration time sec Ja actuator inertia kg m J load moment of inertia kg m N actuator speed r min Tm maximum torque of actuator N m Ti load torque N m note that the polarity of the load torque is plus for counter direction of revolution and minus for same direction The friction torque of the actuator Tr Nm can also be obtained from the following formula Te K7 X Im Twm 3 Kr Torque constant N m A Im Maximum current A RSF super V1 02 16 Chapter 2 Selection of the RSF supermini Series Example 1 The load conditions are e Rotary speed 140r min e Load moment of inertia 0 9x10 kg m e Load torque is so small as to be negrected e Acceleration deceleration time is 0 03sec 30msec or less Compare these conditions with the 1 4 Specifications of RSF supermini actuators and temporarily select RSF 5A 50 Obtain Ja 1 83x10 kg m Tm 20 9 N m Kr 0 54 N m A and Im 2 2A from 1 4 Specifications of RSF supermini actuators The friction torque of the actuator is Tr 0 54x2 2 0 9 0 29 N m from Formula 3 on the previous page Therefore the shortest acceleration time and deceleration time can be obtained from Formula 1 and Formula 2 as follows ta 0 183x10 0 9x10 x2x11 60x140 0 9 0 018 sec 18msec td 0 183x10 0 9x107 x2x11 60x140 0 9 2x
18. 0 29 0 011 s 11msec Because the assumed 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 If the calculation results of the acceleration deceleration time do not fall within the desired time range examine them again as follows e Try to reduce the load moment of inertia e Re examine the gear ratio and gear head model 2 4 5 Calculating equivalent duty The load conditions which are torque speed Speed ts stop time moment of inertia acceleration deceleration time loading time are limited by the actuator to drive the load To select the proper actuator the equivalent duty of the load should be calculated The ED percent equivalent duty is ED x100 4 where ta acceleration time in second KLa x ta KLr x tr KLd x td t td deceleration time in second tr driving time in second t single cycle time in second Kra duty factor for acceleration time Ku duty factor for driving time Kia duty factor for deceleration time RSF super V1 02 17 Chapter 2 Selection of the RSF supermini Series Example 2 getting duty factors of Kia K r and Kia As a result of Calculation Example 1 shown below the selected actuator RSF 5A 50 works fine so RSF 5A 50 can be used for duty factor graphs Operation conditions e The inertial load is accelecated at the maximum torque of the
19. M14 Actuator side Driver side Pin NO Signal Pin NO Signal Pin NO Signal Pin NO Signal name name name name 1 A phase 6 W phase 1 5V 8 GND 2 B phase 7 5V 2 B phase 9 U phase 3 Z phase 8 GND 3 Z phase 10 U phase 4 U phase 9 N C 4 B phase 11 V phase 5 V phase 5 A phase 12 V phase Connector 53048 0910 6 Z phase 13 W phase Molex 7 A phase 14 W phase Connector 10114 3000VE Cover 10314 52F0 008 3M 2 For motors EWA M JSTO4 TN2 Actuator side Driver side Pin NO Signal name Signal name Connector 1 U phase U phase d 2 V phase V phase d Ri 3 W phase W phase 4 FG FG Round crimp style terminal 1 25 4 Connector Housing PARP 04V Shield With insulating coating Retainer Contact PMS 04V S S B PA 001T P0 5 J S T Mfg Co Ltd 3 For brakes EWA B JST03 TMC Actuator side Power supply side for brake Pin NO Wire color Wire color Connector 1 Red Red black Round crimp style terminal 1 25 4 2 White nonpolar With insulating coating 3 Black Connector Retainer PMS 03V S RSF super_V1_02 Housing PARP 03V Contact S B PA 001T P0 5 J S T Mfg Co Ltd 30 Chapter 5 Options 5 3 Connectors There are 2 types of connectors for the driver for different set types Connector model CNK HA68 S1 For CN1 CN2 actuator line connection power supply connection
20. actuator and decelerated at the maximum torque after operation at a fixed speed e The movement angle 0 of one cycle is 120 e The duration of one cycle is 0 4 s e The other conditions are the same as Calculation Example 1 KLa and KLd The average speed during the rotation speed change from 0 to 140r min is 70r min From the duty factor graphs KLa KLdz 1 5 can be obtained KLr Tr 0 for the inertial load Similarly from the duty factor graphs KLr 0 29 can be read The movement angle can be obtained from the area in the Rotation speed Time diagram above In other words the movement angle 0 can be expressed as follows 0 N 60 x tr ta td 2 x 360 Solving the formula above for tr operation time at a fixed speed of N the following can be obtained tr 0 6 x N ta td 2 Substituting 8 120 and ta 0 03 s td 0 03 s and N 140r min from Example 1 tr 0 113 s Because the cycle time is 0 4 s the ED is obtained as follows ED 1 5x 0 03 0 29 x 0 113 1 5 x 0 03 0 4 x 100 30 796 Because the value of ED obtained is below 100 continuous repeated operation of this cycle can be done If the ED is exceeded 100 correct the situation by e Changing the speed time profile e Reducing load moment of inertia RSF 5A 50 E050 C Radiation plate 150x150x3 mm 10 wy a 1 KLa Kid 08 Allowed range 0 T 0 6 Ls Sc a I E e em csl locati Z o 2 HP VAS C i N
21. eet Peabody MA 01960 800 921 3332 F 978 532 9406 www HarmonicDrive net 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
22. he torsional stiffness may be evaluated by dividing torque torsion characteristics curve into three major regions The spring rate of each region is expressed K1 K2 and K3 respectively K1 spring rate for torque region 0 T1 K2 spring rate for torque region T1 T2 Ka spring rate for torque region over T2 The wind up for each region is expressed as follows wind up for torque region 0 T1 Q T 1 3 T T1 wind up for torque region T1 T2 p 01 IG T T2 wind up for torque region over T2 02 TE The following table shows average values of T1 through Ts K1 through Ks and 61 through 2 for different gear ratios RSF 3B Nmrad S 27 30 34 90 10 xo rad S 59 53 47 87 69 42 51 acmn J 42 36 31 75 6e 91 57 67 31 67 Kgf m arc min 0 0015 0 0017 0 0020 0 004 0 005 RSF Super V4 02 7 Chapter 1 Overview of the RSF supermini series 1 8 Detector resolution An encoder with 500 pulses per rotation is incorporated in the motor unit of the RSF supermini series actuators and the motor output is decelerated by 1 30 1 50 or 1 100 by the precision control decelerator Harmonic Drive Therefore the resolution per one rotation of the actuator output shaft is 30 50 or 100 times of the actual encoder resolution In addition the encoder signal is electrically multiplied by 4 The following table shows the resolution at the output shaft for different gear ratios
23. ies E RSF 5A XXX E050 C 58 1 3 M2x3 evenly spaced Maximum diameter 3 92x2 5 evenly spaced Of rotation part 2 2 3 evenly spaced 920 h7 2 300 20 Motor lead wire Has Clamp filter j 3 95 ZCAT1518 0730 TDK 200 120 E RSF 5A XXX E050 BC with brake Maximum diameter of rotation part 3 M2x3 evenly spaced 2 92 3 evenly spaced 3 92x2 5 evenly spaced 920 5 h7 Soo Motor and Brake lead wire 6 3 350 Encoder lead wire Clamp filter ZCAT1518 0730 TDK 200 20 FG line Note For detailed outside dimensions check the delivery specification drawing issued by us RSF Super_V1_02 5 Chapter 1 Overview of the RSF supermini series 1 6 One way positioning accuracy The following table shows the one way positioning accuracy and repeated positioning accuracy The following table contains representing values JIS B 6201 1987 The one way positioning accuracy of RSF supermini actuators is almost equal to the angular positioning accuracy of the Harmonic drive gearing because the effect on the positioning error of the built in motor is reducted to its 1 30 or 1 50 or 1 100 by the gearing The accuracy for each gear ratio is shown below Gear ratio Item 30 50 One way positioning accuracy ECH 2 9x10 1220x10 0 87x10 E Reference Accuracy display and measurement method according to JIS B 6201 1987
24. ix 2 3 Warranty Period and Terms The RSF supermini series actuators are warranted as follows e Warranty period Under the condition that the actuator are handled used and maintained properly followed each item of the documents and the manuals all the RSF supermini 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 Warranty terms All the RSF supermini series actuators are warranted against defects in workmanship and materials for the warranted period This limited warranty does not apply to any product that has been subject to 1 user s misapplication improper installation inadequate maintenance or misuse disassembling modification or repair by others than Harmonic Drive LLC imperfection caused by the other than the RSF supermini series actuator and the HA 655 675 680 servo driver 4 disaster or others that does not belong to the responsibility of Harmonic Drive LLC Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive LLC to be defective Harmonic Drive LLC shall not be liable for consequential damages of other equipment caused by the defective products and shall not be liable for the incidental and consequential expenses and the labor costs for detachina and installina to the driven eauipment Harmonic Drive LLC Boston 247 Lynnfield Str
25. lation Tentatively select an RSF supermini actuator referring to section 2 1 allowable load moment of inertia with the calculated value 2 4 3 Load torque Calculate the load torque as follows Rotary motion The torque for the rotating mass W on the friction ring of radius r as shown in the figure to the right 1 98 W g Radius r 4 0 XIX xr 2 I T torque N m Friction u coefficient of friction CiD W mass kg r radius of friction face m The load torque is restricted by the allowable load of the actuator refer to 1 10 Allowable load and load moment of inertia as well as by the load driven by the actuator Examine them carefully before using the actuator RSF super V1 02 15 Chapter 2 Selection of the RSF supermini Series E o xox mm Horizontal linear motion The following formula calculates the torque for horizontal linear motion of mass W fed by the screw of pitch P T 9 8xuxW x E 2xm Pitch P torque N m coefficient of friction mass kg Screw pitch m Friction u ust a Vertical linear motion The following formula calculates the torque for vertical linear motion of mass W fed by the screw of pitch P VETO T 9 8xWx XT 2 4 4 Acceleration time and deceleration time Calculate acceleration and deceleration times for the selected actuator 2xm N Acceleration ta JA J 1 cceleration ta Ja JL
26. m Lx R Lp 1 2 02 Ix 2 miB C Z 16 l Ix E R R 10 y oec i 3 Iys LES 2 72 y i nl 1 3 x ly m 4R L p BO A S Y Iz mna Iz m L 80 4 4 3 ese 4 Prism Regular square pipe m ABCp i 5 SE m 4AD B D p Ix im B D D Iy Imp B DP D Iz I ma B D D RSF super_V1_02 Appendix 2 1 Appendix 2 Calculations of moment of inertia Mass inertia position of center of gravity Mass inertia Shape of object position of center of gravity Shape of object Rhombic prism Regular hexagon prism 1 Z 2 der ARBEP E 1 2 02 Ix z m B d ly Ed 24 y ES letus B 2A 24 Equilateral triangular 1 1 prism m Be p prism m ABC p DA CR l m B C Let Ze m B Te og n EE 2 202 ly m Aa c y ym A 3 1 2 2 bet a 2g z mae a P 3 C B C G gt Gy G E 2 3 Example of specific gravity The following table shows informative values of specific gravity Please check actual specific gravities of materials individually Material Specific gravity Material Specific gravity Material Specific gravity SS45C 7 86 Brass 8 5 Epoxy resin 1 9 SS41C 7 85 Aluminum 2 7 ABS 1 1 Cast steel 7 85 Duralumin 2 8 Silicone resin 1 8 Cast iron 7 19 Teflon 2 2 Urethane rubber 1 25 Copper 8 92 Fluorine resin 2 2 Chloroprene rubber 1 15 2 When center of revolution and line of center of gravity do not
27. match Moment of inertia when axis of center of gravity and axis of revolution of an inertia field do not match is calculated by the following formula I Ig mF I I Moment of inertia when axis of center of gravity and axis of CL revolution do not match kgm Ig Moment of inertia when axis of center of gravity and axis of I a revolution match kgm Pod vu is de Calculated by formula shown in 1 in accordance with shape m Mass kg F Distance between axis of revolution and axis of center of gravity m 3 Moment of inertia of linear motion object The moment of inertia converted into an RSF supermini actuator axis of a linear motion object driven by a screw is calculated by the following formula i 2 I Moment of inertia converted into actuator axis of a linear motion object kgm m Mass kg P Amount of linear movement per revolution of actuator m rev RSF super V1 02 Appendix 2 2 Appendix 2 Calculations of moment of inertia 2 Momentofinertia of eni cylinder SUE so i usa I ment of Moment a kgm Length mm ine cylin nbe 1000 9 4 calc uc te ch sn e gra Hobo nde ight aluminum pecite gravity 2 7 and 00 LEE ed DN AA viz RX y ni Ex Mi Material Aluminu gia iuba AGO Shape Circular cylinder Outside diameter 100mm Since the outside e 100mm the radiu quas Bas i n the top ara aph moment of inerti about 1 9 x 10 4 kgm Calculated value 0 000186kgm Append
28. may result in damage of the control unit Please consult our sales office if you intent to make a I CAUTION voltage resistance test Follow exactly the instructions in the relating manuals to install the actuator in the equipment Ensure exact alignment of actuator shaft center and corresponding center in the application Failure to observe this caution may lead to vibration resulting in damage of output elements Never connect cables directly to a power supply socket Each actuator must be operated with a proper driver Failure to observe this caution may lead to injury fire or damage of the actuator i Avoid handling of actuators by cables Failure to observe this caution may damage the wiring causing uncontrollable or faulty operation Use sufficient noise suppressing means and safe grounding Keep signal and power leads separated Keep leads as short as possible Ground actuator and driver at one single point minimum ground resistance class D less than 100 ohms Do not use a power line filter in the motor circuit Use a fast response type ground fault detector designed for PWM inverters Do not use a time delay type ground fault detector Do not touch terminals or inspect products at least 5 minutes after turning OFF power Otherwise residual electric charges may result in electric shock Make installation of products not easy to touch their inner electric components Do not operate contr
29. ns ozin ozins Coefficient 9 81 0 0981 0 0421 1 356 2 93x10 0 113 1 829x10 7 06x10 SI unit kgm 11 Torsional spring constant moment of rigidity SI unit Nm rad Unit kgfm rad kgfm arc min kgfm Deg Ibft Deg Ibin Deg Coefficient 0 102 2 97 x10 1 78x10 0 0129 0 1546 Unit kgfm rad Kgfm arc min kgfm Deg Ibft Deg Ibin Deg Coefficient 9 81 3 37 x10 562 77 6 6 47 SI unit Nm rad RSF super_V1_02 Appendix 1 2 Appendix 2 Calculations of moment of inertia Appendix 2 Calculations of moment of inertia 1 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 ly Iz moment of inertia kgm making Axes x y and z as centers of revolution G Distance from edge surface of center of gravity p Specific gravity Units Length m mass kg moment of inertia kgm J Mass inertia Mass inertia Shape of object position of center of gravity Shape of object position of center of gravity Circular cylinder Round pipe m zR Lp m x R1 R2 Lp Ix i mR Ix Ing R 2 2 1 2 L 1 2 2 I2 ly R ly Ri R ras y 4 nf y 4 nl 1 2 3 1 2 I2 1 2 2 L Iz iun T R1 Outside diameter Iz i Ri Ro 3 Ra Inside diameter Sphere m zR Lp m 7xR3 p R 1 lo 12 I Z mR x br h cos 6 L sin o Cone m zBCLp
30. ntact S B PAL 001T P0 5 Recommended connector Housing PARP 03V with retainer Contact S B PA 001T P0 5 Manufactured by J S T Mfg Co Ltd Encoder lead wire Pin No Color Signal name Remark 1 White WHT A A phase output 2 Green GRN B B phase output 3 Yellow YEL Z Z phase output 4 Brown BRW U U phase output 5 Blue BLU V V phase output 6 Orange ORG W W phase output 7 Red RED 5V Power supply input 8 Black BLK GND Power supply input 9 Connector used Housing 51021 Terminal 50058 Manufactured by Molex RSF Super_V1_02 13 Chapter 2 Selection of the RSF supermini Series Chapter 2 Selection of the RSF supermini Series 2 1 Allowable load moment of inertia To make full use of high precision and high performance of the RSF supermini series actuator perform temporary selection by considering the load moment of inertia and rotation speed As a guideline the load moment of inertia should be 3 to 5 times the moment of inertia of the actuator For the moment of inertia of the actuator refer to 1 4 Specifications of RSF supermini actuators Refer to appendix 1 for the calculation of moment inertia The rotation speed cannot exceed the maximum rotation speed of the actuator For the maximum rotation speed refer to 1 4 Specifications of RSF supermini actuators 2 2 Variable load moment of inertia RSF supermini series actuators include Harmonic Drive amp gearing that has a high reduction ratio Because of this
31. 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 3 Chapter 1 Overview of the RSF supermini series O C 1 5 External dimensions of actuators The external drawings are shown as follows i RSF 3B XXX E020 C 4 M1 6 tap 3 2 evenly spaced 47 c 90 15 99 10 6 26 5 Maximum diameter 5 4 L 13 5 4 BMAX of rotation part 155 NP m sl Vv c2 ED D z z x zT x S a sa E m Ears s TT TT 8 x a jes e P e s h e J Men S C0 2 22 5 3 33 6 3 20 Motor lead wire I Line locating range of Encoder cable wire T oooo 13 4 e ag 300 Encoder lead wire 200 20 3 2 3 95 RS dad ff N CJC 3 cA bad Clamp filter 2 ZCAT1518 0730 TDK 13 Note For detailed outside dimensions check the delivery specification drawing issued by us RSF Super_V1_02 4 Chapter 1 Overview of the RSF supermini ser
32. ol units by means of power ON OFF switching Start stop operation should be performed via input signals Failure to observe this caution may result in deterioration of electronic parts i All products or parts have to be disposed of as industrial waste 1 Since the case or the box of drivers have a material indication classify parts and dispose them separately I CAUTION RSF supermini series AC servo actuator manual Contents Chapter 1 Overview of the RSF supermini series nnn 1 1 1 3 Major chiaractetistics 3 top ap eb ET e ea Iu t ats 1 122 Ordering Informations iena reinen eb ai in hl orate 2 1 3 Combinations with drivers nenne nnnemrrnns nnn n nennen nnne 2 1 4 Specifications of RSF supermini actuators nemen 3 1 5 External dimensions of actuators i 4 1 6 One way positioning aCCUracy nennen nennen nnne nennen nnne nnne nns 6 127 Torsional Stifness dake notte ode t etui ine e Ru er ode Ra eene latent doa 7 1 8 D tectorresol tlon 5c id oe t ee o Reni e eit i a let de o diss 8 1 9 Mechanical accuracy userei Lie 8 1 10 Allowable loaQ arit i e RR ERE E RETE E eat hoes ana ae hand ede adie ata 9 1 10 1 Allowable radial load and allowable thrust l0ad i 9 1 10 2 Radial load when the operating point is different 9 1 11 Rotary dIrectiOniy tant
33. on 4 point contact ball bearing for direct support of external load To make full use of the performance of the RSF supermini series check the maximum load moment life of the 4 point contact ball bearing and static safety factor For detailed calculation methods for the maximum load moment life of the 4 point contact ball bearing and static safety factor refer to the Harmonic Drive CSF Mini series catalogue RSF super_V1_02 14 Chapter 2 Selection of the RSF supermini Series E EEE 2 4 Duty cycles When a duty cycle includes many frequent start and stop operations the actuator generates heat by big starting and braking current Therefore it is necessary to study the duty cycle profile The study is as follows 2 4 1 Actuator speed Screw pitch mm Calculate the required RSF supermini m actuator speed r min to drive the load 30 Liner speed mm min Pitch of screw mm Speed r min 45r min Rotary speed r min NE 10 For linear motion convert with the formula below Select a reduction ratio from 30 50 and sbcscch onu NA JAN scc 100 of an RSF supermini actuator of which the maximum speed is more than the required speed N 200r min hot Wy i i N 333r min i 30 100 300 1000 3000 Linear speed mm min 2 4 2 Load moment of inertia Calculate the load moment of inertia driven by the RSF supermini series actuator Refer to appendix 1 for the calcu
34. orce Oz force Coefficient 9 81 4 45 0 278 Unit kgf Ib force oz force 4 Coefficient 0 102 0 225 4 386 SI unit N 5 Mass SI unit kg Unit Ib OZ amp Coefficient 0 4535 0 02835 Unit Ib OZ E Coefficient 2 205 35 27 SI unit kg RSF super V1 02 Appendix 1 1 Appendix 1 Conversion of unit 6 Angle SI unit rad Unit Deg Min Sec IL Coefficient 0 01755 2 93x10 4 88x10 Unit Deg Min Sec E Coefficient 57 3 3 44x10 2 06x10 SI unit rad 7 Angular speed SI unit rad s Unit Deg s Deg min r s r min L Coefficient 0 01755 2 93x10 6 28 0 1047 Unit Deg s Deg min r s r min Coefficient 57 3 3 44x10 0 1592 9 55 SI unit rad s 8 Angular acceleration SI unit rad s Unit Deg s Deg min Coefficient 0 01755 2 93x10 Unit Deg s Deg min Coefficient 57 3 3 44x10 SI unit rad s 9 Torque SI unit Nm Unit kgfm Ibft Ibin ozin E Coefficient 9 81 1 356 0 1130 7 06x10 Unit kgfm Ibft Ibin ozin db Coefficient 0 102 0 738 8 85 141 6 SI unit Nm 10 Moment of inertia 9 SI unit kgm Unit kgfms kgfcms Ift Ibfts Ibin Ibins ozin ozins Coefficient 0 102 10 2 23 73 07376 342x10 8 85 547x107 141 6 Unit kgfms Ibft Ibfts kgfcms Ibin Ibi
35. orque kgfecm 0 92 1 53 2 14 5 10 9 17 14 3 Maximum Speed r min 333 200 100 333 200 100 Nem A 0 11 0 18 0 40 0 30 0 54 1 1 Torque Constant kgfecm A 1 12 1 84 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 Q 1 34 0 82 Phase Inductance mH 0 18 0 27 0 66x10 1 83x10 7 31x10 2 2 4 4 4 GD 4 kgem 0 11x10 0 29x10 1 17x10 0 11x10 0 31x109 123x107 Note 4 T i T 0 67x10 1 87x10 7 45x10 2 4 4 4 J kgfecmes 1 07x10 2 98x10 11 90x10 113x107 315x109 12 6x109 Gear ratio 30 50 100 30 50 100 Allowable Radial Load N 40 90 output shaft central value kgf 4 0 9 1 N 130 270 Allowable Thrust Load kgf 13 2 27 5 Encoder Pulses motor shaft Pulse 200 500 Encoder Resolution Pulse Output shaft when multiplied by 4 i 24 000 40 000 80 000 60 000 100 000 200 000 Rotation Note 5 Input Power v MS DC24 Supply Motor Shaft Brake Voltage Retention Nem 0 18 0 29 0 44 Torque kgfecm n 1 83 2 95 4 48 w o brake g 66 0 except clamp filter Mass 31 0 except clamp filter w brake g 86 0 except clamp filter Combined Driver 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 whenit is combined with the combined driver HA 680 4B 24 Note 3 All values are typical Note 4 The moment of inertia is the total value of the motor shaft and Harmonic Drive moment
36. orque with ultra small AC servo motor developed to make use of the performance of the decelerator Actuators with an electromagnetic brake are also included in the lineup They can meet fail safe requirements of equipment to prevent accidents upon power supply failure The dedicated servo driver HA 680 is an AC servo driver for 24VDC power supply The small and multi functional HA 680 driver is equipped with position control speed control and torque control as standard to control operation of the RSF supermini series correctly and precisely The RSF supermini series can contribute to downsizing of driving of robot joints semiconductor LCD panel manufacturing equipment machine tools and other FA equipment By utilizing its small and high torque characteristics 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 Drive realizes a high torque and has a very high output torque for the outer dimensions compared to the direct driving method with a high capacity motor alone Also combination with the dedicated AC servo motor realizes size and weight reduction that are never possible before Standard lineup of actuators with a brake only RSF 5A The standard lineup of AC servo actuators includes the deenergisation operation type actuators with an electromagnetic brake for the first time for
37. per_V1_02 21 Chapter 2 Selection of the RSF supermini Series 2 4 7 Permissible overloaded time In case RSF supermini series 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 the figure below RSF 3B 50 CR nn RSF 3B 100 C EUER E c AE RICER desc sa lento o E m e o P RE TROU TEES DIRO NGI TNCS VECI IE UE QNT A A EROE TOES o s RSE 38 30 Assi i 1 i nt EE Ttc 0 01 0 05 0 1 0 5 Torque Nm 100 RSF 5A 50 7 RSF 5A 100 JD Vv 10 o o o S s i a RSF 5A 30 1 0 1 0 5 1 5 Torque Nm RSF super_V1_02 22 Chapter 3 Installing the actuator Chapter3 Installing the actuator 3 1 Receiving Inspection Check the following when products are received e 1 2 3 Inspection procedure Check the shipping container and item for any damage that may have been caused during transportation If the item is damaged immediately report the damage to the dealer it was purchased from A label is attached on the right side of the RSF supermini 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 The model code is interpreted as follows RSF 5 A 50 E 050 C RSF se
38. r 3 3 3 Installation Since the RSF supermini 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 Take note that actuators provide a glass encoder which may be damaged by impact 1 2 3 4 Procedure Align the axis of rotation of the actuator and the load mechanism precisely Note 1 Very careful alignment is required especially when a rigid coupling is applied Slight differences between centerlines will cause failure of the output shaft of the actuator Note 2 When installing the actuator to a coupling use a plastic hammer to avoid excessive physical shocks Fasten the flange of the actuator with flat washers and high strength bolts Use a torque wrench when tightening the fasteners The recommended tightening torque is shown in the table below Model RSF 5A Number of bolts 2 Bolt size M2 Installation PCD mm 25 N m 0 25 Wrenching torque kgf cm 0 03 N m 2 0 Transfer torque kgf cm 0 2 Recommended bolt JIS B 1176 bolt with hexagonal hole Strength category JIS B 1051 12 9 or greater For wiring operation refer to AC Servo Driver for 24VDC Power Supply HA 680 Series Technical Data Motor cable and encoder cable Do not pull the cable Do not hang the actuator with the cable If you do the connection pa
39. ranges of the RSF supermini series actuators e Acceleration and deceleration range The range allows instantaneous operation like acceleration and deceleration usually e Continuous duty range The range allows continuous operation for the actuator e 50 duty range The range allows the 50 duty time operation of a cycle time B RSF 3B 30 E020 C Radiation plate 80 x 85x 3 mm E 0 10 T T r 0 08 E 0 06 Z 3 0 04 0 02 Continuous range 50 duty range 0 00 I 1 1 1 0 50 100 150 200 250 300 350 Speed r min i RSF 3B 50 E020 C Radiation plate 80 x 85x3 mm E Z o g Continuous range 5096 duty range 0 00 i 0 50 100 150 200 250 Speed r min B RSF 3B 100 E020 C Radiation plate 80x 85 x3 mm 0 25 0 20 sad Sira querar ed E 015 E eese ITA Z co B 010 h a a 4 Re 0 05 Continuous Siue dee q 777 1 range 50 duty range 0 00 L L L 0 20 40 60 80 100 120 Speed r min Note The 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 with us RSF Super_V1_02 11 Chapter 1 Overview of the RSF supermini series E RSF 5A 30 E050 C RSF 5A 30 E050 BC Radiation plate 150 x 150 x 3 mm 0 6 0 5 0 4 0 3 Torque Nm 0 2 0 1
40. reduce the duty Example 3 getting effective torque and average speed Effective torque and average speed are studied by using the operation conditions 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 0 349 N m T E x 0 03 0 03 0 4 The value exceeds the allowable continuous torque 0 29 N m of RSF 5A 50 temporarily selected in Example 1 so continuous operation cannot be done using the cycle set in Example 2 The following formula is the formula for effective torque solved for t By substituting the value of allowable continuous torque in Tm of this formula the allowable value for one cycle time can be obtained E Ta x ta ta Tr x fr Tm Substituting 0 9 N m for Ta 0 N m for Tr 0 349 N m for Tm 0 03 s for ta 0 113 s for tr and 0 03 s for td t 2 0 9 x 0 03 0 03 _ 9 578 s 0 29 Namely when the time for one duty cycle is set more than 0 578 s the effective torque Tm becomes less than 2 9 N m and the actuator can drive the load with lower torque than the continuous torque continuously t 2 Average speed From the parameters of N 140 r min ta 0 03 s tr 0 113 s td 0 03 s t 0 4 s n 140 x 0 03 140 x 0 113 1407 x 0 03 Na 0 578 As the speed is less than the continuous speed 90 r min of RSF 5A 50 it is possible to drive it continuously on new duty cycle 34 64 r min RSF su
41. ries actuator Frame size Design version Reduction ratio of Harmonic drive gearing Encoder specifications Number of pulses of the encoder Specification For details of model symbols refer to 1 2 Models on page 2 On the label of the HA 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 Only connect the actuator specified on the driver label The drivers have been tuned for the actuator specified on the driver label Wrong combination of drivers and actuators may cause low torque problems or over current WARNING that may cause physical injury and fire 4 The HA 680 driver is for 24VDC supply voltage only Any power supply voltage other than 24VDC cannot be used Do not connect a supply voltage other than the voltage specified on the label The wrong power supply voltage other than 24VDC may damage the driver resulting WARNING physical injury and fire RSF super_V1_02 23 Chapter 3 Installing the actuator 3 2 Notice on handling Handle RSF supermini series actuators with care specifically Do not plug the actuators directly into a commercial line power source WARNING This could burn out the actuator potentially resulting in a fire and or electrical hazard 1 Do not apply impact or unnecessary excessive force to output flange of actuators
42. rt may be damaged Install the cable with slack not to apply tension to the actuator Especially do not use the actuator under any condition where the cable is bent repeatedly Do not disassemble and re assemble the actuator The Harmonic Drive Systems Inc does not guarantee the actuator that has been reassembled by others than the authorized persons by the Harmonic Drive Systems CAUTION Inc RSF super V1 02 26 Chapter 4 Motor shaft retention brake Chapter 4 Motor shaft retention brake RSF 5A The RSF supermini series provides an actuator with a motor shaft retention brake as standard Option symbol B which can meet the fail safe requirement without any additional brake The brake has 2 coils one for releasing brake and another for retaining the released state By controlling the currents through the coils power consumption during retention of brake release can be reduced 4 1 Motor shaft retention brake specifications m Gear ratio 30 50 100 Method Single disc dry type deenergisation operation type Separate attraction coil and retention coil Brake operating voltage V 24VDC 10 Current consumption during release A 08 at 20 C i Current consumption during retention A 0 05 of release at 20 C N m 0 18 0 29 0 44 Retention torque Note 1 kgf cm 1 84 2 96 4 49 2 mali 0 111 10 0 309 10 1 234 10 Moment of inertia Note 1 B J TUNE 1 132 10 3 151 10 12 58 10
43. there are minimal effects of variable load moment of inertias to the servo drive system In comparison to direct servo systems this benefit will drive the load with a better servo response For example assume that the load moment of inertia increases to N times during its motion for example robot arms The effect of the variable load moment of inertia to the total inertia converted into motor shaft is as follows The symbols in the formulas are Js total moment of inertia converted into L Ratio of load moment of inertia to motor inertia motor shaft Ju moment inertia of motor N variation ratio of load moment of inertia R reduction ratio of RSF supermini series Direct drive Before Js Jm 1 L After Js Jm 1 NL Ratio Jesse RSF supermini actuator drive L NL Before Js JM1 After Js JM1 Ratio isp ENI R R 1 L R In the case of the RSF supermini actuator drive as the reduction ratio is R 30 R 50 or R 100 and the square of the reduction ratio R 900 R 2500 or R 10000 the denominator and the numerator of the ratio are almost 1 Then the ratio is F 1 This means that drive systems are hardly affected by the load moment of inertia variation Therefore it is not necessary to take the load moment of inertia variation in consideration for selecting an RSF supermini actuator or for setting up the HA 680 driver 2 3 Verifying loads The RSF supermini series incorporates a precisi
44. tion and installation i 25 3 3 1 Environment of location i 25 3 3 2 Considerations into External Noise nnne 25 3 3 2 InistallatiOni itu ote ibo eoa tet ia Beets eta e d burst ione are aped oeste Eee dels 26 Chapter 4 Motor shaft retention brake RSF 5A sse nennen renes 27 4 1 Motor shaft retention brake specifications ene 27 4 2 Controlling the brake power supply nennen nennen nennen nenne 27 4 2 1 Using a relay cable Recommended method 27 4 2 2 Not using a relay cable aio ile ioni 28 Chapter S Options beey 29 5T Relay cables DC 29 5 2 Relay cable wire bound specificationNS i 30 b 3 ContFlectorss E IO AIN RIE I 31 Appendix 1 Conversion of Unit tn Enn nnmnnn eeen App 1 1 Appendix 2 Moment of inertia nn nneennn nnn App 2 1 1 Calculation of mass and moment of inertia App 2 1 2 Moment of inertia of circular cylinder ssssssssssseseeeenenne App 2 3 RSF super V1 01 contents 2 Chapter 1 Overview of the RSF supermini series Chapter 1 Overview of the RSF supermini series The RSF supermini series are ultra small AC servo actuators combining ultra precision control deceleration device Harmonic Drive that provides precision rotation operation at a high t
45. tion coil Supply the power upon brake release and during brake release retention as shown below Lead wire color Applied voltage Upon brake Gray Yellow 24VDC 10 release Blue Yellow During release Gray Yellow OVDC retention Blue Yellow 24VDC 10 Gray Yellow D brak OVD uring brake use Blue Yellow C Supply the power to the coils according to the following time chart Brake released Brake ON Brake release Brake release retained ma Brake release coil Wiring Gray Yellow GND si Brake release retention coil Wiring Blue Yellow GND 100mS MAX Control the power supply so that the duration in which the power is supplied 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 the brake release coil The power supply to the brake must be controlled Control the power supply to the brake as described in 4 2 Controlling the brake power supply If the current flows continuously to the attraction coil the actuator burns due to temperature rise causing fire or electric shock Warning Be careful not to exceed the number of allowable brake operations Refer to 4 1 Motor shaft retention brake specifications If the number is exceeded the retention torque drops and it cannot be Warning used as a brake RSF super_V1_02 28
46. torque control For details of the driver refer to AC Servo 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 Super V4 02 2 Chapter 1 Overview of the RSF supermini series 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 humidity 20 80 RH no condensation Withstanding voltage AC500V min Vibration resistance 49m s Insulation resistance DC500V 100MQor more Lubricant Grease Harmonic Grease Structure Totally enclosed self cooling type Model RSF 3A RSF 5A Item 30 50 100 30 50 100 Power Supply Voltage V DC24 DC24 Allowable Continuous Current A 0 68 0 63 0 49 1 11 0 92 0 76 Allowable Continuous Torque Nem 0 03 0 06 0 08 0 18 0 29 0 44 during operation at allowable continuous rotation speed Kgfecm 0 31 0 61 0 82 1 83 2 95 4 48 Allowable Continuous Rotation Speed r min 150 90 45 150 90 45 output shaft Nem 0 04 0 08 0 12 0 28 0 44 0 65 Allowable Continuous Stall Torque kgfecm 0 41 0 82 1 22 2 85 4 48 6 62 Instantaneous Maximum Current A 1 2 1 1 0 8 2 3 2 2 1 7 Nem 0 09 0 15 0 21 0 5 0 9 1 4 Maximum T

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