Harmonic Drive RSF supermini Series User Manual

1-5 Specifications of RSF supermini actuators
1-5
1
2
3
4
5
6
Overview of the RSF supermini series
Size
Item
RSF-3C
RSF-5B
30
50
100
30
50
100
Encoder pulses
(motor shaft)
Pulse/ 200 500
Encoder
resolution
(Output shaft:
when multiplied
by 4)
Note 4
Pulse/
Rotation
24,000 40,000 80,000 60,000 100,000 200,000
Motor
shaft
brake
Input
power
supply
voltage
V
-
DC24±10%
Retention
torque
Nm
-
0.18
0.29
0.44
kgf cm
-
1.83 2.95 4.48
Mass
Note 5
Without
brake
g 31 (except clamp filter) 66 (except clamp filter)
With
brake
g - 86 (except clamp filter)
Recommended
drive
HA-680-4B-24 HA-680-4B-24
DCJ-055-09, DDP-090-09
Note 1: The table shows typical output values of actuators.
Note 2: the values in the table above are obtained when it is combined with the combined driver
(HA-680-4B-24).
Note 3: Moment of inertia is the total value of the motor shaft and the HarmonicDrive
®
gear moment of inertia
values converted to the output side. The values in parentheses are for model with a brake.
Note 4: The encoder resolution is (motor shaft encoder resolution when multiplied by 4) x (gear ratio).
Note 5: The mass of clamp filter is 6g for each.
Note 6: Refer to "1-13 Vibration resistance" or "1-14 Shock resistance" on page 12 for the test conditions.

Harmonic Drive RSF supermini Series Specifications

General

Brand	Harmonic Drive
Model	RSF supermini Series
Category	Controller
Language	English