Harmonic Drive RSF supermini Series User Manual

A-1 Conversion of unit
A-2
4
5
App
Appendix
(6) Angle
SI unit
rad
Unit
Deg.
Min.
Sec.
Coefficient
0.01755
2.93x10
-4
4.88x10
-6
Unit
Deg.
Min.
Sec.
Coefficient
57.3
3.44x10
3
2.06x10
5
SI unit
rad
(7) Angular speed
SI unit
rad/s
Unit
Deg./s
Deg./min
r/s
r/min
Coefficient
0.01755
2.93x10
-4
6.28
0.1047
Unit
Deg./s
Deg./min
r/s
r/min
Coefficient
57.3
3.44x10
3
0.1592
9.55
SI unit
rad/s
(8) Angular acceleration
SI unit
rad/s
2
Unit
Deg./s
2
Deg./min
2
Coefficient
0.01755 2.93x10
-4
Unit
Deg./s
2
Deg./min
2
Coefficient
57.3
3.44x10
3
SI unit
rad/s
2
(9) Torque
SI unit
Nm
Unit
kgfm
lbft
lbin
ozin
Coefficient
9.81 1.356 0.1130 7.06x10
-3
Unit
kgfm
lbft
lbin
ozin
Coefficient
0.102
0.738
8.85
141.6
SI unit
Nm
(10) Moment of inertia
SI unit
kgm
2
Unit
kgfms
2
kgfcms
2
lbft
2
lbfts
2
lbin
2
lbins
2
ozin
2
ozins
2
Coefficient
0.102
10.2
23.73
0.7376
3.42x10
3
8.85
5.47x10
4
141.6
Unit
kgfms
2
kgfcms
2
lbft
2
lbfts
2
lbin
2
lbins
2
ozin
2
ozins
2
Coefficient
9.81 0.0981 0.0421 1.356 2.93x10
-4
0.113 1.829x10
-5
7.06x10
-3
SI unit
kgm
2
(11) Torsional spring constant, moment of rigidity
SI unit
Nm/rad
Unit
kgfm/rad
kgfm/arc min
kgfm/Deg.
lbft/Deg.
lbin/Deg.
Coefficient
0.102
2.97 x10
-5
1.78x10
-3
0.0129
0.1546
Unit
kgfm/rad
Kgfm/arc min
kgfm/Deg.
lbft/Deg.
lbin/Deg.
Coefficient
9.81
3.37 x10
4
562
77.6
6.47
SI unit
Nm/rad

Harmonic Drive RSF supermini Series Specifications

General

Brand	Harmonic Drive
Model	RSF supermini Series
Category	Controller
Language	English