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PAGE: "Products | Actuators | RSF Supermini Series AC servo actuators :: Harmonic Drive LLC"
URL: http://www.harmonicdrive.net/products/actuators/rsf-supermini/index.php

Actuators

RSF Supermini Series
AC servo actuators Supermini RSF series
RSF-3B (standard)

AC servo actuators Supermini RSF series
RSF-5A (standard)

AC servo actuators Supermini RSF series
RSF-5A (With Brake)

List of Features

The RSF Supermini Series includes compact and high-torque AC servo actuators with high rotational accuracy by combining Harmonic Drive™ strain wave gearing for precision control with an AC Servo motor.
The RSF-5A is also available with brake.
It can be use in combination with DC24V dedicated servo driver, HA-680 that fully demonstrates the performance of the AC Servo actuator.
Compact machines and equipment with a high rotational accuracy requirement can be benefit from this product.

Product's Features

  • Compact, Lightweight, High Output Torque
  • RSF-5A is available with an optional brake.
  • High Positional Accuracy
  • Expanded operational duty zone

    Used For

  • Indirect drive for Humanoid Robots
  • Liquid crystal manufacturing equipment
  • Semiconductor manufacturing systems
  • Automation equipment
  • Electronic component assembly systems
  • Measurement and test systems

    • Connector

    There are 2 kinds of connector sets that can be ordered.
    • Total 4 Connectors to a set (CN1,CN2,TB1,TB2)
      Order code: CNK-HA68-S1
    • Total 2 Connectors to a set (CN2, TB2)
      Order code: CNK-HA68-S2 (This is necessary to use the Relay cable.)

      Note: The Relay cable for encoders is necessary for connection with a driver.
      The Relay cable for brake is necessary at the time of use of an actuator with brake.

    Software for Servo Parameter Settings

    (Supplied as an accessory)---(coming soon)

    It is used for setting and changing parameters of HA-680 driver.
    The software as updated can be downloaded from our homepage.
    A HA-680 driver does all parameter setting in Software, PSF-520.
    All parameters for the HA-680 driver can be changed via software settings.
     

    Ordering Code

    AC Servo Actuator

    RSF - 5 A - 50 - US - 050 - !
    1 2 3 4 5 6 7
    1. Model : RSF-Supermini Series
    2. Size : 3B, 5A
    3. Design Version : A and B
    4. Gear Ratio : 30, 50, 100
    5. Encoder Specifications : US incremental encoder
    6. Encoder Phase number : 050:500p/rev (It is encoder number at motor shaft.)
    7. Specification:
  • C
  • BC
  • SP

    • : Standard (with connector)
    : With Brake (with connector) (only for Model No. 5)
    : Customized specification

    AC Servo Driver

    HA - 680 - 4 B - 24
    1 2 3 4 5
    1. Model : HA Series
    2. Series : 680
    3. Rating Output Electric Current : 4 : 4A
    4. Corresponding symbol : B : RSF supermini Series
    5. Power supply : DC24V

    Signal Conversion cable

    Signal conversion cable is to convert open collector signal to line driver signal. This cable is necessary to connect our servo drives.

    Applicable cable

    Order code

    For Motor

    EWA-M**-JST04-TN2

    For Encoder

    EWA-M**-MO9-3M14

    For Brake

    EWA-B**- JST03-TMC

    For EIA-232C

    HD-RS232C (length of cable1.5m)
    Note:
    The sign ** expresses length of cable, (03=3m) (05=5m) (10=10m).
    It is necessary to purchase signal conversion cable to allow Line Driver connection.
     

    List of Ratings

    Item / Model of actuator
    		RSF-3B RSF-5A
    Gear Ratio
    		30 50 100 30 50 100
    Max.Continuous Torque N.m 0.03 0.07 0.11 0.18 0.29 0.44
    In.lb 0.27 0.62 0.97 1.6 2.6 3.9
    Max.Speed of Rotation r/min 333 200 100 333 200 100
    Max.Continuous Stall Torque N.m 0.04 0.08 0.12 0.28 0.44 0.65
    In.lb 0.35 0.71 1.06 2.5 3.9 5.8
    Maximum Torque N.m 0.13 0.21 0.3 0.5 0.9 1.4
    In.lb 1.15 1.86 2.66 4.4 8 12.4
    Moment of Inertia Standard kg.m2 0.11x10-4 0.29x10-4 1.17x10-4 0.66x10-4 1.83x10-4 7.31x10-4
    In.lb-sec2 0.97x10-4 2.57x10-4 10.35x10-4 5.8x10-4 16.2x10-4 64.7x10-4
    (GD2/4) *3 with Brake kg.m2 None None None 0.11x10-3 0.31x10-3 1.23x10-3
    In.lb-sec2 - - - 0.97x10-33 2.74x10-3 10.89x10-3
    Encoder Resolution *4 Pulses/resolution 24 40 80,000 60,000 100,000 200,000
    One-way Positioning accuracy arc/sec 600 600 600 240 180 180
    No. of Poles
    		8 8
    Mass (g) Standard (g) 24.0 (except clamp filter) 66.0(except clamp filter)
    With Brake (g) None 86.0(except clamp filter)
    Servo Drive Combinations DC24V DCJ-055-09, DDP-090-09, DEP-090-09
      HA-680-4B-24 HA-680-4B-24
    CAD Downloads

    PDF DXF

    PDF DXF
    1. The aforementioned values are those at the output shaft.
    2. The aforementioned values are combined with combination driver (HA-68-4B-24).
    3. The Moment of Inertia in the total of moment of inertia of the motor shaft and Harmonic Drive™ strain wave gearing converted into the output shaft side.
    4. Encoder resolution is calculated by (motor shaft encoder resolution x 4 x Reduction ratio).

    Product Drawing

    RSF-3B (Standard)
    Product Drawing

    List of Dimensions

    Unit: mm
    Symbol øA øB øC øDh7 øE øFh6
    Dimension Table 13 15 17.5 12 7.2 3.5
    Symbol G H I øJ K L
    Dimension Table 47 20.5 26.5 13 300 200

    Product Drawing

    RSF-5A (Standard)
    Product Drawing

    List of Dimensions

    Unit: mm
    Symbol øA øB øC øDh7 øE øFh6
    Dimension Table 22 25 29 20.5 13 5
    Symbol G H I øJ K L
    Dimension Table 58.1 22.7 35.4 20 300 200

    Product Drawing

    RSF-5A (With Brake)
    Product Drawing

    List of Dimensions

    Unit: mm
    Symbol øA øB øC øDh7 øE øFh6
    Dimension Table 22 25 29 20.5 13 5
    Symbol G H I øJ K L
    Dimension Table 69.1 22.7 46.4 20 300 200


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