RSF-5B IDT Supermini Actuator
The compact RSF-5 miniature actuator with a zero backlash Harmonic Drive® gear delivers high torque with exceptional accuracy and repeatability. The actuator features an integrated servo drive utilizing CANopen® communication. 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 miniature actuator product 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. See also FHA-IDT for more actuators with integrated servo drives.
Key Features:
- Actuator + Integrated Servo Drive with CANopen® Communication
- 24VDC Nominal Supply Voltage (7VDC to 30VDC range)
- Single Cable with only 4 conductors is needed:
CANH, CANL, +24VDC, 0VDC - Zero Backlash Harmonic Drive® Gearing
- Replaceable flex-rated cable assembly with front and rear exiting options
- Input Sensing Encoder: 14 bit resolution (16,384 cpr)
- Control Modes: Torque, Velocity, Position, CSP, CSV, CST
- Harmonic Drive® HDL Software
Options:
- Flex-rated extension cables with sealed connectors
Catalog
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Ordering Code RSF-5B Miniature with Integrated Servo Drive
| RSF | - | 5 | B | - | 50 | - | IDT14b | - | PT1 | - | SP | ||
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||
| 1. | Model |
RSF Supermini Series |
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| 2. | Size |
5 |
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| 3. | Design Version |
B |
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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 |
Specifications*
| Model | RSF-5B | |||||
| Gear Ratio | 30 | 50 | 100 | |||
| Maximum Torque | N.m | 0.5 | 0.9 | 1.4 | ||
| Maximum Speed | rpm | 150 | 90 | 45 | ||
| Torque Constant |
Nm/A(rms) | 0.3 | 0.54 | 1.1 | ||
| Maximum Current | A(rms) | 2.3 | 2.2 | 1.7 | ||
| Allowable continuous current | A(rms) | 1.11 | 0.92 | 0.76 | ||
| EMF Constant | V/(rpm) | 0.04 | 0.07 | 0.13 | ||
| One-way Positioning Accuracy | arc-min | 4 | 3 | 3 | ||
| Allowable Moment Load | Nm | 15 | ||||
| Phase resistance | Ω(20°C) | 0.82 | ||||
| Phase inductance | mH | 0.27 | ||||
| Input Power supply | V | 24VDC (+7 to +30VDC) | ||||
| Number of Poles | 8 | |||||
| Moment Stiffness | Nm/rad | 7.41 x 102 | ||||
| Moment of Inertia (GD2/4) |
kgm2 | 7.09 x 10-5 | 1.97 x 10-4 | 7.88 x 10-4 | ||
| Encoder Type and resolution |
IDT14b - Integrated Drive 14bit resolution absolute encoder on motor input |
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| Output Shaft Resolution*1 | counts/rev | 491,520 | 819,200 | 1,638,400 | ||
| Mass | g | 77 | ||||
| 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 (motor encoder resolution) x (gear ratio)
Outline Dimensions
Flange Output, Rear Exit Cable
Flange Output, Front Exit Cable
Shaft Output, Rear Exit Cable
Shaft 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 RSF-5B 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.
