RSA-8A Integrated Drive
The RSA mini actuator is extremely compact and delivers high torque with exceptional accuracy and repeatability. This evolutionary product eliminates the need for an external drive and greatly improves wiring while retaining high-positional accuracy and torsional stiffness in a compact housing. This new mini actuator is ideal for use in robotics.
Since it communicates via CANopen, only 4 conductors are needed: CANH, CANL, +24VDC, 0VDC. A single-turn 14bit (16384 cpr) gear output sensing encoder has been integrated along
Key Features:
- Actuator + Integrated Servo Drive utilizing CANopen communication conforming to DS402 and DS301
- 24VDC Nominal +7 to 30VDC Supply Voltage Range
- Single Cable with only 4 conductors needed: CANH, CANL, +24VDC, 0VDC
- Zero Backlash
- Pigtail Connectors with 4 exit options
- Input Sensing Encoder 14bit (16384 cpr) resolution
- Control Modes Including Torque, Velocity, and Position Control, CSP, CSV, CST
- Harmonic Drive HDL Software for initial tuning, commissioning, and analysis
- Homing modes include: single-ended, double-ended, double-ended with 16bit autoscale hardstop homing or teachable position
- Harmonic Drive HDL Software for initial tuning, commissioning, and analysis
Options:
- Flex-rated extension cables with sealed connectors
Catalog
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Ordering Code RSA-8A Mini with Integrated Servo Drive
| RSA | - | 8 | A | - | 50 | - | IDT14b | - | PT1 | S | - | SP | ||
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | ||||||
| 1. | Model |
RSA Mini Series |
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| 2. | Size |
8 |
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| 3. | Design Version |
A |
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| 4. | Gear Ratio |
30, 50, 100 |
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| 5. | Encoder Type and Resolution |
IDT14b - Integrated Drive |
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| 6. | Output |
Blank - Shaft Output |
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| 7. | Cable Exit Options |
PT1 - Rear exit cable |
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| 8. | Special specification |
Blank - Standard product |
RSA Mini actuators with an integrated servo drive offer four cable exit orientation options with standard Lemo® connectors. Optional extension cables are available in 3 lengths.
Specifications*
| Specification / Model | RSA-8A | ||||
| Gear Ratio | 30 | 50 | 100 | ||
| Maximum Torque | N.m | 1.8 | 3.3 | 4.8 | |
| Maximum Speed | rpm | 283.3 | 170.0 | 85.0 | |
| Torque Constant |
Nm/A(rms) | 0.7 | 1.2 | 2.0 | |
| Maximum Current | A(rms) | 4.0 | 4.0 | 3.5 | |
| Allowable continuous current | A(rms) | 2.05 | 2 | 1.7 | |
| One-way Positioning Accuracy | arc-min | 2 | 2 | 2 | |
| EMF Constant | V/(rpm) | 0.051 | 0.085 | 0.170 | |
| Input Power Supply Voltage | V | 24VDC (+7 to +30VDC) | |||
| Phase Resistance | Ω(20°C) | 0.8 | |||
| Phase Inductance | mH | 0.285 | |||
| Number of Poles | 14 | ||||
| Allowable Moment Load | Nm | 3.46 | |||
| Moment Stiffness | Nm/rad | 2.76 x 103 | |||
| Moment of Inertia (GD2/4) |
kgm2 | 7.74x10-4 | 2.15x10-3 | 8.60x10-3 | |
| Encoder Type and resolution | IDT14b - Integrated Drive 14bit resolution absolute encoder on motor input |
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| Output Shaft Resolution*1 | Motor | counts/rev | 491,520 | 819,200 | 1,638,400 |
| Enclosure | Totally enclosed, self-cooled | ||||
| Mounting Direction | Can be installed in any direction | ||||
| Mass | kg | 200 (190 with F option) | |||
| Ambient environment specification | 0 to 40° C ambient operational temperature range, Storage temperature is -20 to 60° C with humidity 20 to 80%RH (non-condensing). Free from dust, dirt, metallic powder, corrosive gas, flammable gas, oil mist, and others. Avoid outdoor use or direct sunlight. Altitude: 1,000 m or less. Motor insulation: 100 MΩ (500 VDC) or higher. Dielectric strength: 1500 VAC/1 min. Insulation class: B | ||||
* Table shows typical output values
*1 Motor ABS encoder resolutions are obtained by (encoder bit count) x (gear ratio)
Outline Dimensions
Shaft Output, Front Exit Cable
Flange Output, Front Exit Cable
Optional Extension Cable: 3 Lengths (ZZ) Available: 3m (03), 5m (05), 10m (10)
| Description |
| CBL-DZZ-L004-N |
HDL-IDE 3.0 Software
HDL-IDE 3.0 software provides the ability to setup or commission the RSA Mini Integrated actuator without connecting to a CANopen master controller. A single actuator can connect to a personal computer or laptop with a CAN communication converter and a power supply. All 256 parameters, including the tuning parameters and 256 general user variables can be set and stored to be recognized by the CANopen master controller operating the specific application. The following are some of the features included in HDL-IDE 3.0 software:
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for more information.
