AC Servo Actuator RSF supermini Series Manual

Transcription

1 AC Servo Actuator RSF supermini Series Manual (With RSF-C and RSF-B) ISO00 (HOTAKA Plant) ISO900

2 Introduction Thank you very much for your purchasing our RSF supermini series servo actuator. Be sure to use sufficient safety measures when installing and operating the equipment so as to prevent an accident resulting in a serious physical injury damaged by a malfunction or improper operation. Product specifications are subject to change without notice for improvement purposes. Keep this manual in a convenient location and refer to it whenever necessary in operating or maintaining the units. The end user of the actuator should have a copy of this manual.

3 SAFETY GUIDE To use the servo system safely, be sure to read SAFETY GUIDE and other parts of this document carefully and fully understand the information provided herein before using the driver. NOTATION Important safety information you must note is provided herein. Be sure to observe these instructions. Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious personal injury. WARNING Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate personal injury and/or damage to the equipment. CAUTION LIMITATION OF APPLICATIONS The equipment listed in this document may not be used for the applications listed below: Space equipment Aircraft, aeronautic equipment Nuclear equipment Household apparatus Vacuum equipment Automobile, automotive parts Amusement equipment Machine or devices acting directly on the human body Instruments or devices to transport or carry people Apparatus or devices used in special environments Instruments or devices to prevent explosion If the above list includes your intending application for our products, please consult us. CAUTION If this product is utilized in any facility in which human life is at stake or that may incur material losses, install safety devices so that accidents will not occur even when the output control is disabled due to damage.

4 SAFETY GUIDE SAFETY NOTE Precautions when using a direct drive motor NOTICES ON DESIGN BE SURE TO READ THE MANUAL FOR DESIGNING. CAUTION Always use under followings conditions: The motor is designed to be used for indoor. - Ambient temperature: 0 C to 0 C - Ambient humidity: 0% to 80%RH (Non-condensation) - Vibration: 9 m/s or less - No contamination by water, oil - No metal powder, dust, oil mist, corrosive gas, or explosive gases Follow exactly the instructions to install the actuator in the equipment. - Ensure exact alignment of motor shaft center and corresponding center in the application. - Failure to observe this caution may lead to vibration, resulting in damage of output shaft. OPERATIONAL PRECAUTIONS BE SURE TO READ THE MANUAL BEFORE OPERATING THE PRODUCT. WARNING Never connect cables directly to a power supply socket. - Direct drive motor cannot be operated unless it is connected to dedicated driver. - Never connect it to commercial power supply directly. Direct drive motor may be damaged and causes fire. Do not apply shocks to actuator. - Do not apply shocks because direct drive motor is directly connected to high precision encoder. - If the encoder is damaged, it may cause uncontrollable operation. Avoid handling of motor by cables. - Failure to observe this caution may damage the wiring, causing uncontrollable or faulty operation of direct drive motor. CAUTION Keep limited torques of the actuator. - Keep limited torques of the actuator. - Be aware that, if arms directly attached to the output shaft are hit, the output shaft may become non-controllable.

5 SAFETY GUIDE Precautions when using a driver NOTICES ON DESIGN BE SURE TO READ THE MANUAL FOR DESIGNING. CAUTION Always use drivers under followings conditions: The driver generates heat. Take extra caution for radiation and use it under the following conditions. - Mount in a vertical position keeping sufficient distance. - 0 to 0, 9% RH or below (Non condensation) - No vibration or shocks - No metal powder, dust, oil mist, corrosive gas, or explosive gases Use sufficient noise suppressing means and safe grounding. Any noise generated on a signal wire will cause vibration or improper motion. Be sure to observe the following conditions. - Keep signal and power leads separated. - Keep leads as short as possible. - Ground actuator and driver at one single point, minimum ground resistance class: D (less than 00 ohms) - Do not use a power line filter in the motor circuit. Pay attention to negative torque by inverse load. - Inverse load may cause damages of direct drive motor. Please consult our sales office, if you intend to apply products for inverse load. Use a fast-response type ground-fault detector designed for PWM inverters. When using a fast-response type ground-fault detector, use one that is designed for PWM inverters. Do not use a time-delay-type ground-fault detector. If this product is utilized in any facility in which human life is at stake or that may incur material losses, install safety devices so that accidents will not occur even when the output control is disabled due to damage.

6 SAFETY GUIDE OPERATIONAL PRECAUTIONS BE SURE TO READ THE MANUAL BEFORE OPERATING THE PRODUCT. WARNING CAUTION Never change wiring while power is active. Make sure to turn OFF the power before detaching wires, or disconnecting or connecting the connectors. Failure to observe this caution may result in electric shock or uncontrollable operation. Do not touch terminals immediately after turning OFF power. - Even after the power supply is turned OFF, electric charge remains in the driver. To prevent electric shock, perform an inspection upon confirming that the charge voltage monitor LED on the panel is turned OFF after the power is turned off. - Make installation of products not easy to touch their inner electric components. Do not make a voltage resistance test. - Do not perform a megger test or voltage resistance test. Failure to observe this caution may result in damage to the control circuit of the driver. Please consult our sales office, if you intent to make a voltage resistance test. Do not operate control units by means of power ON/OFF switching. - Frequent power ON/OFF may result in deterioration of internal circuit elements. - Start/stop operation should be performed via input signals. DISPOSAL DISPOSAL OF AN ACTUATOR AND/OR A DRIVER CAUTION All products or parts have to be disposed of as industrial waste. Dispose of these items as industrial waste.

7 Contents SAFETY GUIDE... NOTATION... LIMITATION OF APPLICATIONS... SAFETY NOTE... Contents... Chapter Overview of the RSF supermini Series - Overview of RSF supermini Series Major characteristics Ordering information... - Actuator Model Combinations with drivers Specifications of RSF supermini actuators External dimensions of actuators One-way positioning accuracy Torsional stiffness Detector resolution Mechanical accuracy Allowable load Allowable radial load and allowable thrust load Radial load when the operating point is different Rotary direction Impact resistance Vibration resistance Operable range Cable specifications... - Chapter Selection of the RSF supermini Series - Allowable load moment of inertia Variable load inertia Verifying loads Examining operating status... - Examining actuator rotation speed... - Calculating and examining load inertia moment... - Calculating load torque... - Acceleration time and deceleration time... -

8 Contents Examining duty... - Examining effective torque and average rotational speed Permissible overloaded time Chapter Installing the actuator - Receiving inspection Notice on handling Location and installation... - Environment of location... - Considerations into External Noise... - Installation... - Chapter Motor shaft retention brake(rsf-b) - Motor shaft retention brake specifications Controlling the brake power supply... - Using a relay cable (Recommended method)... - Not using a relay cable... - Chapter Options - Relay cables Relay cable wire bound specifications Connectors... - Appendix A- Conversion of unit... A- A- Moment of inertia... A-. Calculation formulas for mass and moment of inertia... A-. Moment of inertia of circular cylinder... A- 6

9 Chapter Overview of the RSF supermini Series Outlines of servo actuator models, specifications, external dimensions, etc., are explained in this chapter. - Overview of RSF supermini Series - - Major characteristics - - Ordering information - - Combinations with drivers - - Specifications of RSF supermini actuators - -6 External dimensions of actuators - -7 One-way positioning accuracy -7-8 Torsional stiffness -8-9 Detector resolution -9-0 Mechanical accuracy -9 - Allowable load -0 - Rotary direction - - Impact resistance - - Vibration resistance - - Operable range - -6 Cable specifications - -0

10 - Overview of RSF supermini Series Overview of the RSF supermini series 6 - Overview of RSF supermini Series The RSF supermini series are ultra-small AC servo actuators combining ultra-precision control deceleration device Harmonic Drive that provides precision rotation operation at a high torque with ultra-small AC servo motor developed to make use of the performance of the decelerator. Actuators with an electromagnetic brake are also included in the lineup. They can meet fail-safe requirements of equipment to prevent accidents upon power supply failure. The dedicated servo driver HA-680 is an AC servo driver for VDC power supply. The small and multi-functional HA-680 driver is equipped with position control, speed control, and torque control as standard to control operation of the RSF supermini series correctly and precisely. The RSF supermini series can contribute to downsizing of driving of robot joints, semiconductor/lcd panel manufacturing equipment, machine tools, and other FA equipment. By utilizing its small and high-torque characteristics, it can also be used for small equipment and for research. - Major characteristics Small, lightweight, and high-torque The RSF supermini series with the precision-control deceleration device Harmonic Drive realizes a high torque and has a very high output torque for the outer dimensions compared to the direct driving method with a high-capacity motor alone. Also, combination with the dedicated AC servo motor realizes size and weight reduction that are never possible before. Standard lineup of actuators with a brake (only RSF-B) The standard lineup of AC servo actuators includes the deenergisation operation type actuators with an electromagnetic brake for the first time for this size of actuators. Fail-safe requirements of equipment can be met to prevent accidents upon power failure without providing any external brake or changing the equipment structure to install a brake. Superior positioning precision The characteristics of the control deceleration device Harmonic Drive such as non-backlash and superior positioning precision realize high-precision mechanisms. Stable controllability The high deceleration gear ratio of the control deceleration device Harmonic Drive provides stable controllability for large variations of load moment of inertia. -

11 - Ordering information - Ordering information Model codes for the RSF supermini series actuators are as follows: Actuator Model RSF- B-0-E 00-C-SP Model: AC servo actuator Series: RSF series Frame size: or Design version Reduction ratio of Harmonic Drive 0: /0 0: /0 00: /00 Encoder specifications E: incremental encoder Overview of the RSF supermini series 6 Encoder pulses on motor shaft 00: 00p/rev (Model ) 00: 00p/rev (Model ) Option C: With connector (Standard product) BC: (model No. only): With break or connector No symbol: No option available Special specification No symbol: Standard product SP: Special product - Combinations with drivers The RSF supermini series actuators are used in combination with the HA-680-B- driver. The HA-680 driver can perform position control, speed control, and torque control. For details of the driver, refer to AC Servo Driver for VDC Power Supply HA-680 Series Technical Data. The optional relay cable is required for connection between the actuator and the driver. -

12 - Specifications of RSF supermini actuators Overview of the RSF supermini series 6 - Specifications of RSF supermini actuators Specifications of actuators are as follows: Time rating: Continuous Service temperature: 0~0 C Excitation method: Permanent magnet type Storage temperature: -0~+60 C Insulation class: B Humidity (Operating/Storage) 0~80%RH (no condensation) Withstanding voltage: AC00V/min Vibration resistance: 9m/s (0-00Hz) Insulation resistance: DC00V 00MΩ or more Shock resistance 00m/s Structure: Totally enclosed self cooling type Lubricant: Grease (Harmonic Grease) Model RSF-C RSF-B Item Power supply voltage(diver) V DC±0% DC±0% Allowable A continuous current Allowable continuous torque Nm (during operation at allowable continuous kgf cm rotation speed) Allowable continuous rotation speed r/min (output shaft) Allowable Nm continuous stall torque kgf cm Instantaneous maximum current A Max. torque Nm kgf cm Max. speed r/min Torque constant Nm/A kgf cm /A MEF constant V/(r/min) Phase resistance (at 0 C) Ω. 0.8 Phase inductance mh Moment GD / kg m ( ) ( ) (. 0 - ) of inertia Note J kgf cm s (. 0 - ) (. 0 - ) ( ) Gear ratio Allowable radial N 6 90 load kgf.6 (output shaft 9. central value) Allowable thrust N 0 70 load kgf. 7. -

13 - Specifications of RSF supermini actuators Model RSF-C RSF-B Item Encoder pulses (motor shaft) Encoder resolution (Output shaft: when multiplied by ) Note Motor shaft brake Mass Note 6 Pulse/ Pulse/ Rotation,000 0,000 80,000 60,000 00,000 00,000 Input power supply V - DC±0% voltage Retention Nm torque kgf cm Without brake With brake g (except clamp filter) 66 (except clamp filter) g - 86 (except clamp filter) Combined driver HA-680-B- HA-680-B- Overview of the RSF supermini series 6 Note : Note : Note : Note : Note : Note 6: The table shows typical output values of actuators. the values in the table above are obtained when it is combined with the combined driver (HA-680-B-). All values are typical. The moment of inertia is the total value of the motor shaft and Harmonic Drive moment of inertia values converted to the output side. The values in parentheses are for equipment with a brake. The encoder resolution is (motor shaft encoder resolution when multiplied by ) x (gear ratio). The mass of clamp filter is 6g for each. -

14 -6 External dimensions of actuators Overview of the RSF supermini series 6-6 External dimensions of actuators The external drawings are shown as follows: RSF-C-XXX-E00-C -plane cut Motor lead wire (Finished outside diameter: φmax) Line locating Motor lead wire range of Encoder cable wire Encoder lead wire (Finished outside diameter: φ.max) Clamp filter() ZCAT8-070(TDK) Note) For detailed external dimensions, check the delivery specification drawing issued by us. -

15 -6 External dimensions of actuators RSF-B-XXX-E00-C -Mx evenly spaced -φ. evenly spaced Motor lead wire (Finished outside diameter: φ6max) Encoder lead wire (Finished outside diameter: φ.max) FG line Overview of the RSF supermini series 6 Clamp filter() ZCAT8-070(TDK) RSF-B-XXX-E00-BC(with brake) -Mx evenly spaced -φ. evenly spaced Motor lead wire FG line Motor and Brake lead wire (Finished outside diameter: φ6max) Encoder lead wire (Finished outside diameter: φ.max) Brake lead wire Clamp filter() ZCAT8-070(TDK) Note) For detailed external dimensions, check the delivery specification drawing issued by us. -6

16 -7 One-way positioning accuracy Overview of the RSF supermini series 6-7 One-way positioning accuracy The following table shows the one-way positioning accuracy." The following table contains representing values. RSF supermini series actuators house the speed reducer harmonic drive for precision control, positioning errors of the motor shaft are compressed by reduction ratio to 0, 0 or 00. Actually, the angle transmission error of the speed reducer determines the positional accuracy. As a result, the measured angle transmission error of the speed reducer is indicated as the positional accuracy of the RSF supermini series. The accuracy for each gear ratio is shown below. Model RSF-C RSF-B Gear ratio Item One-way accuracy positioning arc min 0 rad Reference (Accuracy display and measurement method according to JIS B 60: 987) One-way positioning of rotation shaft motion First, perform positioning at any one position in a fixed direction. This position is the reference position. Next, perform positioning in succession in the same direction, and measure the difference between the angle actually rotated from the reference position and the desired angle at each position. The maximum difference in one rotation among these values is taken as the measurement value. Measurement of equipment with the continuous positioning function for rotational motion shall be done once per 0 degrees or positions throughout the entire rotation range as a rule. Commanded stop position One-way positioning accuracy Start position Positional difference Actual position -7

17 -8 Torsional stiffness -8 Torsional stiffness When a torque is applied to the output flange of the actuator with the motor locked, the resulting torsional wind up is near proportional to the torque. The upper right figure shows the torsional stiffness characteristics of the output flange applying torque starting from zero to plus side [+T0] and minus side [ T0]. This trajectory is called torque-torsion characteristics which typically follows a loop 0 A B A B A as illustrated. The torsional stiffness of the RSF supermini actuator is expressed by the slope of the curve that is a spring rate (wind-up) (unit:n m/rad). The torsional stiffness may be evaluated by dividing torque-torsion characteristics curve into three major regions. The spring rate of each region is expressed K, K, and K respectively. K: spring rate for torque region 0-T K: spring rate for torque region T-T K: spring rate for torque region over T The wind-up for each region is expressed as follows: T wind-up for torque region 0-T: ϕ = K Overview of the RSF supermini series 6 wind-up for torque region T-T: T T ϕ = θ + K wind-up for torque region over T: T T ϕ = θ + K The following table shows average values of T through T, K through K, and θ through θ for different gear ratios. Model RSF-C RSF-B Gear ratio Symbol T K θ T K θ K Nm kgf m Nm/rad kgf m/arc min x0 - rad arc min Nm kgf m Nm/rad kgf m/arc min x0 - rad arc min Nm/rad kgf m/arc min

18 -9 Detector resolution Overview of the RSF supermini series 6-9 Detector resolution The motor part of the RSF supermini series actuator is equipped with a 00-pulse/revolution encoder (model No. ) or a 00-pulse/revolutiom encoder (model No. ), and the motor output speed is reduced to /0, /0 or /00 using the speed reducer harmonic drive for precision control. Accordingly, the resolution per a single revolution of the actuator output shaft is 0, 0 or 00 times the encoder pulse (motor shaft). In addition, the encoder signal is electrically multiplied by. The resolution of the output shaft at each reduction ratio is shown in the table below. Item Detector resolution (when multiplied by ) Angle per one pulse Model RSF-C RSF-B Gear ratio Pulse/Rotation,000 0,000 80,000 60,000 00,000 00,000 Angle second (arc sec) -0 Mechanical accuracy The machining accuracy of the output flange and the mounting flange of RSF supermini actuators are indicated in the table below. RSF-C RSF-B Machined accuracy of the output flange * T.I.R. unit: mm Symbol Accuracy value Machined parts Model RSF-C RSF-B a Runout of the tip of the output shaft b Concentricity of installed spigot joint c Squareness of installation surface d Output flange surface contact e Parallelism of installation surface and output flange *) T.I.R(Total Indicator Reading): Indicates the total amount of dial gage reading when the measurement unit is rotated once. -9

19 - Allowable load - Allowable load Allowable radial load and allowable thrust load The gear head used in the RSF supermini series incorporates the high-precision -point contact ball bearing for direct support of external load (output part). The allowable radial load and thrust load of the output shaft are shown below. The allowable radial load F r is obtained with respect to the center (L/) 0 point of the output shaft. The values in the following table are designed by considering the life of the bearing. The allowable values must not be exceeded. F S FR L R L/ 0 point F r L a Overview of the RSF supermini series 6 L Model Unit RSF-C RSF-B Allowable radial load (F r ) Allowable thrust load (F S ) N 6 90 kgf.6 9. N 0 70 kgf 7-0

20 - Allowable load Overview of the RSF supermini series 6 Radial load when the operating point is different If the operating point of radial load is different, the allowable radial load value is also different. The relation between radial load position L R and allowable radial value F R is obtained from the following formula. The allowable values must not be exceeded. F R F R F r L a L R L L a = L + L a R F r Allowable radial load at distance L R from the 0 point [N] Allowable radial load at the 0 point [N] Distance from the bearing starting point to the 0 point [mm] Distance from the position where radial load is exerted to the 0 point [mm] Shaft length [mm] Allowable radial load (F r ) Model RSF-C RSF-B N 6 90 kgf.6 9. L a mm L mm 7 0 -

21 - Rotary direction - Rotary direction The rotary direction of the RSF supermini series actuators when a forward rotation command is given from the HA-680 driver is forward rotation seen from the output shaft side (i.e. clockwise: CW). The rotary direction of the HA-680 can be switched by using the Parameter 0: Rotary direction command setting. 0: Rotary direction command setting Value FWD command REV command Setting 0 FWD rotation REV rotation Default REV rotation FWD rotation * The model shape is RSF-B. RSF-C is also the same. * For details of the driver, refer to AC Servo Driver HA-680 Series Technical Data. - Impact resistance FWD: CW rotation Overview of the RSF supermini series 6 The impact resistance of the actuators is as follows. Impact acceleration: 00 m/s Direction: top/bottom, right/left, front/back Repeating times: three Right Top Back However, do not apply impact to the output shaft. Front Left Bottom Impact resistance - Vibration resistance The vibration resistance of the actuators for up/down, left/right, and front/back is as follows. Vibration acceleration: 9m/s (G) Frequency: 0 to 00Hz Top This specification does not guarantee fretting wear of mechanism components due to micro vibrations. Right Left Back Front Horizontal installation Bottom Vibration resistance -

22 - Operable range Overview of the RSF supermini series 6 - Operable range The following graphs show the usable ranges of the RSF supermini series actuators. Acceleration and deceleration range: This range indicates the torque rotation speed at which the product can be operated at this instant. The range is typically used for acceleration or deceleration. Continuous duty range: This range indicates the torque rotation speed at which the actuator can be operated continuously. 0% duty range: This range indicates the torque rotation speed at which the actuator can be operated at 0% duty operation (the ratio of operating time and delay time is 0:0). RSF-C-0-E00-C Torque トルク [Nm] Acc./dec. 運転可能領域 range 加減速運転領域 RSF-A-0 放熱板 :8*8* 放熱板 :8x8x(mm) Radiation plate 80 8 (mm) 0.0 Continuous 連続使用領域 range 0% テ ューティ使用領域 duty range Speed 回転速度 [r/min] [r/min] RSF-C -0-E00-C 0. RSF-A-0 放熱板 :8*8* 放熱板 :8 8 mm 放熱板 :8x8x(mm) Radiation plate 80 8 (mm) 0.0 Torque トルク [Nm] Acc./dec. 加減速運転領域運転可能領域 range 0.0 Continuous 連続使用領域 range 0% テ ューティ使用領域 duty range RSF-C -00-E00-C Speed 回転速度 [r/min] [r/min] 0. RSF-A-00 放熱板 :8 8 (mm) 放熱板 :8x8x(mm) 放熱板 :8*8* 放熱板 :8 8 mm Radiation plate 80 8 (mm) 0.0 Torque トルク [Nm] Acc./dec. 加減速運転領域運転可能領域 range 0.0 Continuous 連続使用領域 range 0% テ ューティ使用領域 duty range Speed 回転速度 [r/min] [r/min] -

23 - Operable range Note: The values of the graph are obtained when the aluminum radiation plate shown at the upper right of the graph. Note: If it is used continuously in one direction, please consult with us. RSF-B-0-E00-C, RSF-B-0-E00-BC RSF-B-0-E00-C, RSF-B-0-E00-BC Torque [Nm] Acc./dec. range Continuous range Radiation plate 0 0 (mm) Speed [r/min] 0% duty range Overview of the RSF supermini series 6.0 Radiation plate 0 0 (mm) Torque [Nm] Acc./dec. range 0. Continuous range 0% duty range Speed [r/min] RSF-B-0-E00-C, RSF-B-00-E00-BC. Radiation plate 0 0 (mm) Torque [Nm] Acc./dec. range Continuous range 0% duty range Speed [r/min] Note: The values of the graph are obtained when the aluminum radiation plate shown at the upper right of the graph. Note: Even in the continuous range, if it is used continuously in one direction, please consult with us. -

24 -6 Cable specifications Overview of the RSF supermini series 6-6 Cable specifications The following tables show specifications of motor lead wires, brake lead wires and encoder lead wires of the RSF supermini actuators. Motor cable Pin No. Color Signal name Remark Red (RED) U Motor phase-u White (WHT) V Motor phase-v Black (BLK) W Motor phase-w Green (GRN) FG Grounding *RSF-B only Connector used Housing: PALR-0VF (with retainer) Contact: S(B)PAL-00T-P0. Recommended connector Housing: PARP-0V (with retainer) Contact: S(B)PA-00T-P0. Manufactured by J.S.T. Mfg Co., Ltd Brake lead wire Pin No. Line color Blue (BLU) Yellow (YEL) Gray (GRY) Encoder lead wire Connector used Housing: PALR-0VF (with retainer) Contact: S(B)PAL-00T-P0. Recommended connector Housing: PARP-0V (with retainer) Contact: S(B)PA-00T-P0. Pin No. Color Signal name Remark White (WHT) A A phase output Green (GRN) B B phase output Yellow (YEL) Z Z phase output Brown (BRW) U U phase output Blue (BLU) V V phase output 6 Orange (ORG) W W phase output 7 Red (RED) +V Power supply input 8 Black (BLK) GND Power supply input 9 Connector used Housing: NSHR-09V-S Terminal: SSHL-00T-P0. Manufactured by J.S.T. Mfg Co., Ltd Manufactured by J.S.T. Mfg Co., Ltd -

25 Chapter Selection of the RSF supermini Series This chapter explains how to select a proper RSF supermini series actuator. - Allowable load moment of inertia - - Variable load inertia - - Verifying loads - - Examining operating status - -0

26 - Allowable load moment of inertia Selection of the RSF supermini Series 6 - Allowable load moment of inertia To make full use of high precision and high performance of the RSF supermini series actuator, perform temporary selection by considering the load moment of inertia and rotation speed. As a guideline, the load moment of inertia should be to times the moment of inertia of the actuator. For the moment of inertia of the actuator, refer to [- Specifications of RSF supermini actuators] (P-). For the method of calculating inertia moment, refer to [Appendix Moment of inertia] (Page A-). The rotation speed cannot exceed the maximum rotation speed of the actuator. For the maximum rotation speed, refer to [- Specifications of RSF supermini actuators] (P-). - Variable load inertia RSF supermini series actuators include Harmonic Drive gearing that has a high reduction ratio. Because of this there are minimal effects of variable load moment of inertias to the servo drive system. In comparison to direct servo systems this benefit will drive the load with a better servo response. For example, assume that the load moment of inertia increases to N-times during its motion (for example, robot arms). The effect of the variable load moment of inertia to the [total inertia converted into motor shaft] is as follows: The symbols in the formulas are: J S : J M : total moment of inertia converted into motor shaft moment inertia of motor L: Ratio of load moment of inertia to motor inertia R: reduction ratio of RSF supermini series N: variation ratio of load moment of inertia Direct drive J =JM + L Before: S ( ) After: ( ) JS ' =JM + NL Ratio: + NL Js' /Js= + L RSF supermini actuator drive Before: J S =JM + After: R L J NL S ' =JM + Ratio: R + NL /R Js' /Js= + L /R In the case of the RSF supermini series, this is an extremely large number, such as R = 0, R = 0 or R = 00, that is R = 900, R = 00, or R = The ratio is Js' JS. This means that drive systems are hardly affected by the load moment of inertia variation. Therefore, it is not necessary to take the load moment of inertia variation in consideration for selecting an RSF supermini actuator or for setting up the HA-680 driver. - Verifying loads The RSF supermini series incorporates a precision -point contact ball bearing for direct support of external load. To make full use of the performance of the RSF supermini series, check the maximum load moment, life of the -point contact ball bearing, and static safety factor. For detailed calculation methods for the maximum load moment, life of the -point contact ball bearing, and static safety factor, refer to the Harmonic Drive CSF Mini series catalogue. -

27 - Examining operating status - Examining operating status When the operation pattern (duty cycle) is such that the actuator starts and stops repeatedly, starting current and braking current flow through the motor at high frequency and the actuator generates heat. Accordingly, examine whether or not the generated heat can be accommodated. The study is as follows: Examining actuator rotation speed Calculate the required RSF supermini actuator speed (r/min) to drive the load. For linear motion, convert with the formula below: Rotary speed (r/min) = Liner speed (mm/min) Pitch of screw(mm) Select a reduction ratio from [0], [0] and [00] of an RSF supermini actuator of which the maximum speed is more than the required speed. Screw pitch (mm) Speed (r/min) 00r/min 90r/min r/min r/min 0r/min 00r/min Selection of the RSF supermini Series 6 Calculating and examining load inertia moment Calculate the load moment of inertia driven by the RSF supermini series actuator. For the calculation methods, refer to [Appendix Conversion of unit] (Page A-). Tentatively select an RSF supermini actuator referring to section [- Allowable load moment of inertia] (P-) with the calculated value. Calculating load torque Calculate the load torque as follows: Linear speed (mm/min) Rotary motion The torque for the rotating mass [W] on the friction ring of radius [r] as shown in the figure to the right. T = 9.8 μ W r T: torque (N m) μ: coefficient of friction W: mass (kg) r: radius of friction face (m) Friction:μ Mass: W Radius: r -

28 - Examining operating status Selection of the RSF supermini Series 6 Horizontal linear motion The following formula calculates the torque for horizontal linear motion of mass [W] fed by the screw of pitch [P]. P T = 9.8 μ W π Mass: W T: torque (N m) μ: coefficient of friction W: mass (kg) P: screw pitch (m) Vertical linear motion The following formula calculates the torque for vertical linear motion of mass [W] fed by the screw of pitch [P]. P T = 9.8 W π Acceleration time and deceleration time Pitch: P Friction: μ Mass: W Pitch: P The fastest acceleration and deceleration times with the selected actuator can be calculated using the following formula. Acceleration: ta ( JA + JL) Deceleration: td ( ) π N = () 60 TM TL π N = JA + JL () 60 TM + TF TL N Speed ta: acceleration time (sec) td: deceleration time (sec) JA: actuator inertia (kg m ) JL: load moment of inertia (kg m ) N: actuator speed (r/min) TM: maximum torque of actuator (N m) TL: load torque (N m) For polarity, the rotation direction is set to positive (+), and the opposite direction is set to negative (-). The friction torque of the actuator T F (N m) can also be obtained from the following formula: TF=KT IM-TM () KT : Torque constant [N m/a] IM : Maximum current [A] ta td Time -

29 - Examining operating status Example: Select an actuator that best suits the following operating conditions: Rotary speed: 0r/min Load moment of inertia: kg m Since the load mechanism is mainly inertia, the load torque is negligibly small. Acceleration/deceleration time is 0.0sec (0msec) or less. () Compare these conditions with the [- Specifications of RSF supermini actuators] (P-) and temporarily select RSF-B-0. () Obtain JA= kg m, TM =0.9 N m, KT=0. N m/a, and IM =.A from [- Specifications of RSF supermini actuators] (P-). () The friction torque of the actuator is TF = = 0.9 N m from Formula () on the previous page. () Therefore, the shortest acceleration time and deceleration time can be obtained from Formula () and Formula (), as follows: ta = ( ) π/60 0/0.9 = 0.08 sec (8msec) td = ( ) π/60 0/( ) = 0.0 s (msec) () Because the assumed acceleration/deceleration time is 0.0sec (0msec) or less, the temporarily selected actuator can be used for acceleration/deceleration, based on the result of (). Selection of the RSF supermini Series 6 (6) If the calculation results of the acceleration/deceleration time do not fall within the desired time range, examine them again as follows. Try to reduce the load moment of inertia. Re-examine the gear ratio and gear head model. Examining duty During the selecting process of the RSF supermini series, the temporal variability of torque and rotation speed need to be taken into account. During acceleration or deceleration in particular, a large amount of electricity flows to generate a large amount of torque, resulting in a greater amount of heat. N Speed ts: stop time Using the following formula, calculate the duty: %ED when the actuator is operated repeatedly in the drive pattern shown to the right. ta tr td t: duty cycle ts Time KLa ta + KLr tr + KLd td %ED = 00 t () Torque ta: Acceleration time from speed 0 to N [s] td: Deceleration time from speed N to 0 [s] tr: Operating time at a constant speed of N [s] t: single cycle time in second [s] KLa: duty factor for acceleration time KLr: duty factor for driving time KLd: duty factor for deceleration time Ta, Tr, Td: output torque Td Time -

30 - Examining operating status Selection of the RSF supermini Series 6 How to obtain K La, K Lr and K Ld and example of duty calculation As a result of Calculation Example shown below, the selected actuator RSF-B-0 works fine, so RSF-B-0 can be used for duty factor graphs. Operation conditions: The inertial load is accelecated at the maximum torque of the actuator, and decelerated at the maximum torque after operation at a fixed speed. The movement angle θ of one cycle is 0. The duration of one cycle is 0. (s). The other conditions are the same as Calculation Example. () KLa and KLd: The average speed during the rotation speed change from 0 to 0r/min is 70r/min. From the duty factor graphs, KLa=KLd. can be obtained. () KLr: Tr 0 for the inertial load. Similarly, from the duty factor graphs, KLr 0.9 can be read. () The movement angle can be obtained from the area in the Rotation speed-time diagram above. In other words, the movement angle θ can be expressed as follows: θ = (N / 60) x {tr + (ta + td) / } x 60 Solving the formula above for tr (operation time at a fixed speed of N), the following can be obtained. tr = θ/ (6 x N) (ta + td) / Substituting θ= 0 and ta= 0.0(s), td= 0.0(s), and N= 0r/min from Example, tr=0.(s). () Because the cycle time is 0.(s), the %ED is obtained as follows: %ED = (.x x x 0.0) / 0. x 00 = 0.7% Because the value of %ED obtained is below 00, continuous repeated operation of this cycle can be done. If this value is 00 or above, Operation pattern Load reduction must be reexamined..0 RSF-B-0-E00-C Radiation plate: 0 0 [mm] () KLa, KLd 0.8. Acc./dec. range Torque トルク [Nm] KL= Estimation line for KL= 回転速度 Speed [r/min] () KLr -

31 - Examining operating status Graphs of duty factor RSF-C-0-E00-C Torque [Nm] トルク [Nm] RSF-C-0-E00-C Radiation plate: 8 8 [mm] Acc./dec. range KL= 回転速度 Speed [r/min] [r/min] Radiation plate: 8 8 [mm] Acc./dec. range.0 Selection of the RSF supermini Series 6 Torque トルク [Nm] KL= RSF-C-00-E00-C 回転速度 Speed [r/min] Radiation plate: 8 8 [mm] Torque トルク [Nm] [Nm] KL=0..0 Acc./dec. range Speed [r/min] 回転速度 [r/min] -6

32 - Examining operating status Selection of the RSF supermini Series 6 Torque トルク [Nm] Torque トルク [Nm] RSF-B-0-E00-C Radiation plate: 0 0 [mm] 0.6 Acc./dec. range KL= Speed 回転速度 [r/min] RSF-B-0-E00-C Radiation plate: 0 0 [mm] Acc./dec. range KL= Speed 回転速度 [r/min] RSF-B-00-E00-C Torque トルク [Nm] Torque トルク [Nm] RSF-B-0-E00-BC Radiation plate: 0 0 [mm] Acc./dec. range KL= Speed 回転速度 [r/min] RSF-B-0-E00-BC Radiation plate: 0 0 [mm] Acc./dec. range KL= Speed 回転速度 [r/min] RSF-B-00-E00-BC.6 Radiation plate: 0 0 [mm].6 Radiation plate: 0 0 [mm].. Torque トルク [Nm] KL= Acc./dec. range Torque トルク [Nm] KL= Acc./dec. range Speed 回転速度 [r/min] [r/min] Speed 回転速度 [r/min] -7

33 - Examining operating status Examining effective torque and average rotational speed Addionally to the former studies, the effective torque and the average speed should be studied. () The effective torque should be less than allowable continuous torque specified by the driver. () The average speed should be less than allowable continuous speed of the actuator. Calculate the effective torque (Tm) and the average speed of an operating cycle (Nav) as shown in [Examining duty] (P-). T N m av = = T a N t ( ta + td) a t + T r t + N tr + N t t r d Tm: effective torque (N m) Ta: maximum torque (N m) Tr: load torque (N m) ta: acceleration time (s) td: deceleration time (s) tr: running time at (s) t: time for one duty (s) constant speed cycle Nav: average speed (r/min) N: driving speed (r/min) If the calculation results for the effective torque and average rotation speed are not within the range of continuous usage in the graph shown in [- Operable range] (P-) take measures to reduce the duty. Example : getting effective torque and average speed Effective torque and average speed are studied by using the operation conditions of Example and. Selection of the RSF supermini Series 6 ) Effective torque From the parameters of Ta = 8. N m, Tr = 0 N m, ta = 0. s, tr = td = 0.0 s, t=0. s, T m = 0.9 ( ) 0. = 0.9 N m The value exceeds the allowable continuous torque (0.9 N m) of RSF-B-0 temporarily selected in Example, so continuous operation cannot be done using the cycle set in Example. The following formula is the formula for effective torque solved for t. By substituting the value of allowable continuous torque in T m of this formula, the allowable value for one cycle time can be obtained. t = T a ( ta + td) T m + T r t r Substituting 0.9 N m for Ta, 0 N m for Tr, 0.9 N m for T m, 0.0 s for ta, 0. s for tr, and 0.0 s for td : 0.9 = ( ) 0.9 t = 0.78 [s] Namely, when the time for one duty cycle is set more than 0.78 s, the effective torque [Tm] becomes less than 0.9 N m, and the actuator can drive the load with lower torque than the continuous torque continuously. -8

34 - Examining operating status ) Average speed From the parameters of N = 0 r/min, ta = 0.0 s, tr = 0. s, td = 0.0 s, t = 0. s Nav = =.6 [r/min] Selection of the RSF supermini Series 6 As the speed is less than the continuous speed (90 r/min) of RSF-B-0, it is possible to drive it continuously on new duty cycle. Permissible overloaded time In case RSF supermini series is intermittently operated in allowable continuous torque or more, the overloaded time is limited by the protective function in the driver even if the duty cycle is allowed. The limits are shown in the figure below. RSF-C 過負荷検出時間 [sec] Loaded time [s] 00 0 RSF-C-0 RSF-C-00 RSF-C-0 RSF-B Torque トルク [Nm] RSF-B-0 RSF-B-00 Loaded time [s] RSF-B-0 Torque [Nm] -9

35 Chapter Installing the actuator The following explains the installation procedures of the actuators. - Receiving inspection - - Notice on handling - - Location and installation - -0

36 - Receiving inspection - Receiving inspection Check the following when products are received. Installing the actuator Inspection procedure () Check the shipping container and item for any damage that may have been caused during transportation. If the item is damaged, immediately report the damage to the dealer it was purchased from. () A label is attached on the side of the RSF supermini series actuator. Confirm the products you ordered by comparing with the model on the [TYPE] line of the label. If it is different, immediately contact the dealer it was purchased from. For details of model symbols, refer to [- Ordering information] (P-). () On the label of the HA-680 driver, the model code of the actuator to be driven is indicated on the [ADJUSTED FOR USE WITH] line. Match the actuator with its driver so as not to confuse the item with the other actuators. WARNING Only connect the actuator specified on the driver label. The drivers have been tuned for the actuator specified on the driver label. Wrong combination of drivers and actuators may cause low torque problems or over current that may cause physical injury and fire. () The HA-680 driver is for VDC supply voltage only. Any power supply voltage other than VDC cannot be used. WARNING Do not connect a supply voltage other than the voltage specified on the label. The wrong power supply voltage (other than VDC) may damage the driver resulting physical injury and fire. -

37 - Notice on handling - Notice on handling Handle the RSF supermini series actuator carefully by observing the notices specified below. WARNING CAUTION Do not plug the actuators directly into a commercial line power source. This could burn out the actuator, potentially resulting in a fire and/or electrical hazard. () Do not apply impact or unnecessary excessive force to output flange of actuators. () Do not put actuators on in a location where the driver could easily fall. () The allowable temperature for storage is from -0 C to +60 C. Do not expose it to the sunlight for a long time and do not store it in areas with widely fluctuating temperatures. () The allowable relative humidity for storage is less than 80%. Do not store it in highly humid place or in a place where temperature changes excessively during the course of a day. () Do not use or store the actuator in locations subject to corrosive gases or dust particles. Installing the actuator -

38 - Location and installation - Location and installation Installing the actuator Environment of location The environmental conditions of the installation location for RSF supermini series actuators must be as follows. Determine an appropriate installation location by observing these conditions without fail. Service temperature:0 C to 0 C The temperature in the cabinet may be higher than the atmosphere depending on the power loss of housed devices and size of the cabinet. Design the closed space size, ventilation system, and device locations so the ambient temperature near the actuator is always less than 0 C. Service humidity:0 to 80% relative humidity, without condensation Make sure no water condensation occurs at the place where there is a large temperature change in a day or due to frequent heat-and-cool cycles due to the operation of the actuator. Vibration:less than 9m/sec (0Hz~00Hz) Impact:less than 00 m/sec Make sure the actuator is in an area free from dust, water condensation, metal powder, corrosive gas, water, water drops, and oil mist. Locate the driver indoors. Do not expose it to the sunlight. Considerations into External Noise Pay sufficient attention when installing the actuator: The actuator may malfunction by external noise depending on the conditions of installation. Make sure that the FG line of RSF-B is securely grounded. Because RSF-C does not have any FG line from the motor enclosure. Thus, when using it, make sure that that enclosure is securely grounded to the body of the equipment through the gear head house. In addition, make sure that the body of the equipment is securely grounded. Do not bind the motor line and encoder signal line together. Do not draw any external power line (i.e., driver power supply line, 00/00 VAC line.), actuator signal line, and motor line through the same pipe or duct or bind them together. The noise tolerance values of RSF supermini equipment are listed below. They are guide values from a measurement that were performed using a standard relay cable in a noise test environment while the clamp filter included with the product was installed to the equipment. Note that the noise tolerance values in your actual environment of use may differ from them. Model RSF-C RSF-B Noise tolerance (encoder signal line).kv.0kv -

39 - Location and installation Installation Since the RSF supermini series actuator is a high precision servo mechanism, great care is required for proper installation. Install the actuator taking care not to damage accurately machined surfaces. Do not hit the actuator with a hammer. Take note that actuators provide a glass encoder, which may be damaged by impact. Procedure () Align the axis of rotation of the actuator and the load mechanism precisely. Note : Very careful alignment is required especially when a rigid coupling is applied. Slight differences between centerlines will cause failure of the output shaft of the actuator. Note : When attaching a coupling, be sure not to apply force to the actuator output shaft. () Fasten the flange of the actuator with flat washers and high strength bolts. Use a torque wrench when tightening the fasteners. The recommended tightening torque is shown in the table below: Model RSF-C RSF-B Number of bolts Bolt size M.6 M Installation PCD mm Wrenching torque N m kgf m Transfer torque N m.0.0 kgf m Recommended bolt: JIS B 76 bolt with hexagonal hole; Strength category: JIS B 0.9 or greater Installing the actuator () For wiring operation, refer to AC Servo Driver for VDC Power Supply HA-680 Series Technical Data. () Motor cable and encoder cable Do not pull the cable. Do not hang the actuator with the cable. If you do, the connection part may be damaged. Install the cable with slack not to apply tension to the actuator. Especially, do not use the actuator under any condition where the cable is bent repeatedly. CAUTION Do not disassemble and re-assemble the actuator. The actuator uses many precision parts. The Harmonic Drive Systems, Inc. does not guarantee the actuator that has been reassembled by others than the authorized persons by the Harmonic Drive Systems, Inc. -

40 - Location and installation Installing the actuator -

41 Chapter Motor shaft retention brake(rsf-b) RSF-B actuator is standard-equipped with a motor shaft holding brake. (Option symbol: B) An external brake is not required to meet the fail safe and other requirements. The brake has coils; one for releasing brake, and another for retaining the released state. By controlling the currents through the coils, power consumption during retention of brake release can be reduced. - Motor shaft retention brake specifications - - Controlling the brake power supply - -0

42 - Motor shaft retention brake specifications - Motor shaft retention brake specifications Motor shaft retention brake(rsf-a) Gear ratio Item Method Single disc dry type deenergisation operation type (Separate attraction coil and retention coil) Brake operating voltage V VDC±0% Current consumption during release (at 0 C) A 0.8 Current consumption during retention of release (at 0 C) A 0.0 Retention torque Note N m kgf cm Moment of inertia Note (GD /) kg cm (J) kgf cm s Weight Note g 86 (excluding the clamp filters) Number of allowable brake operations Note 00,000 times Note :This is a value at the output shaft of the actuator. Note :This is a value for the entire actuator. Note :The motor shaft rotation speed is controlled as shown in the following table. Gear ratio Output shaft rotation speed [r/min] :0.0 :0.0 :00. Motor shaft rotation speed [r/min] 0 -

43 - Controlling the brake power supply - Controlling the brake power supply Using a relay cable (Recommended method) The optional relay cables for brakes (EWA-B -JST0-TMC) incorporate a circuit that controls the brake current. You don t have to control the brake current, so it is recommended to use the actuator with a brake in combination with a relay cable for brakes. If the relay cable for brakes is used, brake can be operated by turning on/off the brake power supply. The power supply for the brake (that can output VDC±0%) shall be provided by the customer. Use a power supply unit that can output the current during release as described in [- Motor shaft retention brake specifications] (P-). The supply duration of the current consumption during release is 0.sec or less at VDC±0%. Not using a relay cable If the optional relay cable for brakes (EWA-B -JST0-TMC) is not used, the customer must control the brake power supply to the brake release coil and release retention coil. Supply the power upon brake release and during brake release retention, as shown below. Lead wire color Applied voltage Upon brake Gray/Yellow release Blue/Yellow VDC±0% During release Gray/Yellow 0VDC retention Blue/Yellow VDC±0% During brake Gray/Yellow use Blue/Yellow 0VDC Motor shaft retention brake(rsf-a) Supply the power to the coils according to the following time chart. Brake released Brake ON Brake release Brake release retained Brake release coil Wiring: Gray/Yellow (GND) Brake release retention coil Wiring: Blue/Yellow (GND) 00ms(MAX) Control the power supply so that the duration in which the power is supplied to the brake release coil (gray/yellow) is 00ms or less. The brake will not be released only by the power supply to the brake release retention coil. To release the brake, also supply the power to the brake release coil. -

44 - Controlling the brake power supply WARNING The power supply to the brake must be controlled. Control the power supply to the brake as described in [- Controlling the brake power supply] (P-). If the current flows continuously to the attraction coil, the actuator burns due to temperature rise, causing fire or electric shock. WARNING Be careful not to exceed the number of allowable brake operations (Refer to [- Motor shaft retention brake specifications] (P-)). If the number is exceeded, the retention torque drops and it cannot be used as a brake. Motor shaft retention brake(rsf-a) -

45 Chapter Options Options you can purchase as necessary are explained in this chapter. - Relay cables - - Relay cable wire bound specifications - - Connectors - -0

46 - Relay cables - Relay cables There are relay cables that connect the RSF supermini series actuator and driver. There are types of relay cables for encoders, motors, and brakes. Select an appropriate type according to the model of the actuator you ordered. Relay cable model (XX indicates the cable length m, m, or 0m.) () For encoders EWA-E -JST09-M Cable length (0=m, 0=m, 0=0m) : L [Actuator side] [Driver side] Options Base side model SM09B-NSHSS-TB J.S.T. Mfg. Co., Ltd. () For motors EWA-M -JST0-TN Caution label Clamp filter ZCAT0-090 (TDK) Clamp filter ZCAT0-090 (TDK) Connector: 0-000PE Cover: 0-F0-008 Mfg by M Cable length (0=m, 0=m, 0=0m) : L Shield Round terminal.- crimp-style E Green/Yellow W V U Black White Red Mfg by J.S.T. Mfg. Co., Ltd. PARP-0V Mfg by Omron XWB-06B-H () For brakes (RSF-B only) EWA-B -JST0-TMC Cable length (0=m, 0=m, 0=0m) Application of VDC (non polar) Round crimp-style terminal.- - Mfg by J.S.T. Mfg. Co., Ltd. PARP-0V

47 - Relay cable wire bound specifications - Relay cable wire bound specifications The following tables show the wire bound specifications of the relay cables. () For encoders (EWA-E -JST09-M) Actuator side Driver side Pin NO. Signal name Pin NO. Signal name Pin NO. Signal name Pin NO. Signal name A phase 6 W phase +V 8 GND B phase 7 +V B+ phase 9 U+ phase Z phase 8 GND Z+ phase 0 U- phase U phase 9 N.C. B- phase V+ phase V phase A+ phase V- phase Connector: SM09B-NSHSS-TB J.S.T. Mfg. Co., Ltd. 6 Z- phase W+ phase 7 A- phase W- phase Connector:0-000PE Cover: 0-F0-008 M Options () For motors (EWA-M -JST0-TN) Actuator side Driver side Pin NO. Signal name Signal name U phase U phase V phase V phase W phase W phase Connector FG Housing: PARP-0V FG Shield Retainer: PMS-0V-S Contact: S(B)PA-00T-P0. Connector XWB-06B-H Omron Round crimp-style terminal.- With insulating coating J.S.T. Mfg Co.,Ltd () For brakes (EWA-B -JST0-TMC) Actuator side Power supply side for brake Pin NO. Wire color Wire color Connector Red White Black Connector Retainer: PMS-0V-S Housing: PARP-0V Contact: S(B)PA-00T-P0. J.S.T. Mfg Co.,Ltd Red, black (nonpolar) Round crimp-style terminal.- With insulating coating -

48 - Connectors - Connectors There are types of connectors for the driver for different set types: Connector model: CNK-HA68-S For CN, CN, actuator line connection, power supply connection.. types Connector model: CNK-HA68-S For CN, power supply connection. types Options Connector for CN Mfg by Sumitomo M Connector type: 0-000PE Case type: 0-F0-008 Connector for actuator connection Mfg by Phoenix Contact Model: MC./6 ST.8 Or Mfg by Omron Model: XWB 06B H Connector for CN Mfg by Sumitomo M Connector type: PE Case type: 00-F0-008 Connector for power supply Mfg by Phoenix Contact Model: MC./ ST.8 Or Mfg by Omron Model: XWB 0B H -

49 Chapter 6 Appendix This chapter explains the conversion of unit and the moment of inertia. A- Conversion of unit A- A- Moment of inertia A-

50 A- Conversion of unit A6- Conversion of unit This technical manual basically uses the SI unit system. The conversion coefficients between the SI unit system and other unit systems are shown below. App Appendix () Length SI unit m Unit ft. in. Coefficient Unit ft. in. Coefficient SI unit m () Linear speed SI unit m/s Unit m/min ft./min ft./s in/s Coefficient x Unit m/min ft./min ft./s in/s Coefficient SI unit m/s () Linear acceleration SI unit m/s Unit m/min ft./min ft./s in/s Coefficient.78x0-8.7x Unit m/min ft./min ft./s in/s Coefficient 600.8x SI unit m/s () Force SI unit N Unit kgf lb (force) oz (force) Coefficient Unit kgf lb (force) oz (force) Coefficient SI unit N () Mass SI unit kg Unit lb. oz. Coefficient Unit lb. oz. Coefficient.0.7 SI unit kg 0 付 付 A-

51 A- Conversion of unit (6) Angle SI unit rad Unit Deg. Min. Sec. Coefficient x0 -.88x0-6 Unit Deg. Min. Sec. Coefficient 7..x0.06x0 SI unit rad (7) Angular speed SI unit rad/s Unit Deg./s Deg./min r/s r/min Coefficient x Unit Deg./s Deg./min r/s r/min Coefficient 7..x SI unit rad/s (8) Angular acceleration SI unit rad/s Unit Deg./s Deg./min Coefficient x0 - Unit Deg./s Deg./min Coefficient 7..x0 SI unit rad/s (9) Torque SI unit Nm Unit kgfm lbft lbin ozin Coefficient x0 - Unit kgfm lbft lbin ozin Coefficient SI unit Nm App Appendix (0) Moment of inertia SI unit kgm Unit kgfms kgfcms lbft lbfts lbin lbins ozin ozins Coefficient x x0.6 Unit kgfms kgfcms lbft lbfts lbin lbins ozin ozins Coefficient x x0-7.06x0 - SI unit kgm () Torsional spring constant, moment of rigidity SI unit Nm/rad Unit kgfm/rad kgfm/arc min kgfm/deg. lbft/deg. lbin/deg. Coefficient x0 -.78x Unit kgfm/rad Kgfm/arc min kgfm/deg. lbft/deg. lbin/deg. Coefficient x SI unit Nm/rad A-

52 A- Moment of inertia App Appendix A6- Moment of inertia. Calculation formulas for mass and moment of inertia () When center of revolution and line of center of gravity match Calculation formulas for mass and moment of inertia are shown below. m:mass (kg), Ix, Iy, Iz: moment of inertia (kgm ) making Axes x, y and z as centers of revolution G:Distance from edge surface of center of gravity (m) ρ:density (kg/m ) Units - Length: m, mass: kg, moment of inertia: kgm Shape of object Circular cylinder x R z L y Tilted circular cylinder θ L R Mass, inertia, position of center of gravity m = π R Ix = mr Iy = Iz = m m m = π R Iθ = m L ρ R R L ρ L + L + { R ( + cos θ) + L sin θ} Shape of object Round pipe z x R R L y R:Outside diameter R:Inside diameter Sphere R Mass, inertia, position of center of gravity m = π Iy = m ( R R ) L ρ ( ) Ix = m R + R Iz = m m = πr I = mr ( R + R ) ( R + R ) ρ L + L + 0 Elliptic circular cylinder z B x C y L Prism B z x C y A Cone m = π BC L ρ m = π R Lρ z Ix = mr Ix = m( B + C ) R 0 6 x Iy = m R + 80 = C L Iy m + G y L Iz = m R + 80 B Iz = m m = ABCρ L + ( C ) Ix = m B + ( A ) Iy = m C + ( B ) Iz = m A + Regular square pipe D x B z A y L G = ( L ) ( L ) m = AD( B - D)ρ {( B - D) D } Ix = m + A Iy = m + ( B-D) + D 6 A Iz = m + ( B-D) + D 6 付 付 A-

53 A- Moment of inertia Shape of object Rhombic prism x Equilateral triangular prism x G B B z A z A C y C y Mass, inertia, position of center of gravity m = ABCρ Ix = m B + Iy = m C + m = ABCρ = B Ix m Iy = Iz = C G = ( C ) ( A ) ( A ) Iz = m B + m A m A + C + C B + Shape of object Regular hexagon prism Right-angled triangular prism Mass, inertia, position of center of gravity Example of density The following table shows informative values of density. Please check actual specific gravities of materials individually. Material Density Material Density Material Density SUS0 790 Aluminum 700 Epoxy resin 900 SC 7860 Duralumin 800 ABS 00 SS Silicon 00 Silicon resin 800 Cast iron 790 Quartz glass 00 Polyurethane rubber 0 Copper 890 Teflon 00 Brass 800 Fluorocarbon resin 00 () When center of revolution and line of center of gravity do not match Moment of inertia when axis of center of gravity and axis of revolution of an inertia field do not match is calculated by the following formula. I = Ig + mf F I: Moment of inertia when axis of center of gravity and axis of revolution do not match (kgm ) Ig: Moment of inertia when axis of center of gravity and axis of revolution match (kgm ) Calculated by formula shown in () in accordance with shape. m: Mass (kg) F: Distance between axis of revolution and axis of center of gravity (m) x B x G B G z z A A C y B y m = AB ρ Ix = mb Iy = m A + B Iz = m = ABCρ Ix = m( B + C ) 6 Iy = m A + C Iz = m A + B C G = m A Axis of revolution + B B G = Axis of center of gravity App Appendix () Moment of inertia of linear motion object The moment of inertia converted into an FHA-C actuator axis of a linear motion object driven by a screw is calculated by the following formula. P I = m π I: Moment of inertia converted into actuator axis of a linear motion object (kgm ) m: Mass (kg) P: Amount of linear movement per revolution of actuator (m/rev) A-

54 A- Moment of inertia App Appendix. Moment of inertia of circular cylinder Approximate values of moment of inertia of circular cylinder can be calculated from the graph on the right. Length Radius The top graph is applied to aluminum (density 700) and the bottom graph, to steel (density 780). (Example) Material: Aluminum Outside diameter: 00mm 0 - Length: 7mm Shape: Circular cylinder 0 Outside diameter: 00mm - Since the outside diameter is 00mm, 0 the radius is 0mm. -6 Based on the top graph, moment of inertia is about.9 x 0 - kgm. (Calculated value: kgm ) Moment of inertia (kgm ) Moment of inertia (kgm ) 000 Moment of inertia (Density 700) Length (mm) Radius R(mm) Moment of inertia (Density 780) 00 0 Length (mm) 付 付 Radius R (mm) A-

55 Warranty Period and Terms The RSF supermini series actuators are warranted as follows: Warranty period Under the condition that the actuator are handled, used and maintained properly followed each item of the documents and the manuals, all the RSF supermini series actuators are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or,000 hours of operation time. Warranty terms All the RSF supermini series actuators are warranted against defects in workmanship and materials for the warranted period. This limited warranty does not apply to any product that has been subject to: () user's misapplication, improper installation, inadequate maintenance, or misuse. () disassembling, modification or repair by others than Harmonic Drive Systems, Inc. () imperfection caused by the other than the RSF supermini series actuator and the HA-680 servo driver. () disaster or others that does not belong to the responsibility of Harmonic Drive Systems, Inc. Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive Systems, Inc. to be defective. Harmonic Drive Systems, Inc. shall not be liable for consequential damages of other equipment caused by the defective products, and shall not be liable for the incidental and consequential expenses and the labor costs for detaching and installing to the driven equipment.

56 Certified to ISO00(HOTAKA Plant)/ISO900 (TÜV Management Service GmbH) All specifications and dimensions in this manual subject to change without notice. This manual is correct as of November 0. Head Office/Believe Omori 7F 6--Minami-Ohi,Shinagawa-ku,Tokyo,Japan 0-00 TEL+8(0) FAX+8(0)-7-78 Overseas Division/86- Hotakamaki Azumino-shi Nagano,Japan TEL+8(0) FAX+8(0) HOTAKA Plant/86- Hotakamaki Azumino-shi Nagano,Japan TEL+8(0) FAX+8(0) Harmonic Drive AG/Hoenbergstraβe,6 Limburg,Germany TEL FAX Harmonic Drive L.L.C/7 Lynnfield Street, Peabody, MA, 0960, U.S.A. TEL FAX Harmonic Drive is a registered trademark of Harmonic Drive Systems, Inc. Harmonic Drive represents the academic concept generally referred to as wave motion gearing. Trademark rights have also been acquired in South Korea and Taiwan. -0R-TRSFm