Harmonic Drive RSF supermini Series User Manual

1-5 Specifications of RSF supermini actuators
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Overview of the RSF supermini series
1-5 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
Humidity
(Operating/Storage)
20~80%RH (no condensation)
Withstanding
voltage:
AC500V/min
Vibration
resistance:
Note7
49m/s
2
(10-400Hz)
Insulation
resistance:
DC500V 100MΩ or more
Shock
resistance:
Note7
300m/s
2
Structure:
Totally enclosed self
cooling
Lubricant: Grease (Harmonic Grease®)
Size
Item
RSF-3C
RSF-5B
30
50
100
30
50
100
Power supply
voltage(diver)
V
DC24±10% DC24±10%
Allowable
continuous
current
A
rms
0.65 0.66 0.56 1.11 0.92 0.76
Allowable
continuous torque
Nm 0.03 0.07 0.11 0.18 0.29 0.44
(during operation
at allowable
continuous
rotation speed)
kgf cm 0.31 0.68 1.08 1.83 2.95 4.48
Allowable
continuous
rotation speed
(output shaft)
rpm 150 90 45 150 90 45
Allowable
continuous stall
torque
Nm
0.04
0.08
0.12
0.28
0.44
0.65
kgf cm 0.41 0.82 1.22 2.85 4.48 6.62
Instantaneous
maximum current
A
rms
1.5 1.4 1.1 2.3 2.2 1.7
Max. torque
Nm
0.13
0.21
0.30
0.5
0.9
1.4
kgf cm
1.27
2.05
2.94
5.1
9.17
14.3
Max. speed
rpm
333
200
100
333
200
100
Torque constant
Nm/A
rms
0.11
0.18
0.40
0.3
0.54
1.1
kgf cm /A
1.12
1.84
4.08
3.06
5.51
11.22
EMF constant
V/(rpm)
0.015
0.025
0.05
0.04
0.07
0.13
Phase resistance
(at 20°C)
Ω 1.34 0.82
Phase inductance
mH
0.18
0.27
Moment
of inertia
Note 3
GD
2
/4 kg m
2
0.11×10
-4
0.29×10
-4
1.17×10
-4
0.66×10
-4
1.83×10
-4
7.31×10
-4
（
0.11×10
-3
） （
0.31×10
-3
） （
1.23×10
-3
）
J kgf cm s
2
1.07×10
-4
2.98×10
-4
11.90×10
-4
0.67×10
-3
1.87×10
-3
7.45×10
-3
（
1.13×10
-3
） （
3.15×10
-3
）
（
12.6×10
-3
）
Gear ratio
30
50
100
30
50
100
Allowable radial
load
(output shaft
central value)
N
36
90
kgf
3.6
9.1
Allowable thrust
load
N
130
270
kgf
13.2
27.5

Harmonic Drive RSF supermini Series Specifications

General

Brand	Harmonic Drive
Model	RSF supermini Series
Category	Controller
Language	English