Two New Integrated Actuators
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The Servo Drive is Inside! RSF-5B Supermini Actuator and RSA-8A Mini Actuator with Integrated Servo Drives

Mini Actuator with Integrated Servo Drive + Standard Mini Actuator Full Size Servo Drive RSF-5B Mini Actuator WITH Drive The compact RSF-5B and RSA-8A mini actuators with zero backlash Harmonic Drive® gears have high torque density with exceptional accuracy and repeatability. The actuators feature an integrated servo drive utilizing CANopen® communication. This evolutionary product eliminates the need for an external drive and greatly simplifies cabling while retaining high-positional accuracy and torsional stiffness in a compact housing. Since it communicates via CANopen, only 4 conductors...

■ Mini Actuators with Integrated Servo Drives RSF-5B with Shaft Output RSA-8A with Flange Output Integrated Servo Drive: CANopen 24VDC (+7 to 30VDC) 14bit Absolute Encoder PT5 Front Exit Cable PT2 Right Exit Cable LEMO® Connector Output: Flange Output: Flange CSF-5-2XH Harmonic Drive® Gearhead CSF-8-1U-CC Harmonic Drive® Gearhead LEMO® Connector ■ Ordering Code (Mini Actuator with Integrated Drive) Design Version Gear Ratio Encoder Type and Resolution IDT14b - Integrated Drive 14bit resolution absolute encoder on motor input Blank - Shaft Output F - Flange Output Cable Exit Options Special...

■ Specifications RSF-5B Supermini with Integrated Servo Drive RSF-5B Maximum torque Allowable continuous torque Maximum output speed Allowable continuous output speed Motor maximum current Motor allowable continuous current Torque constant Input power supply voltage Phase resistance Phase inductance Number of poles Moment of inertia Output shaft resolution (Note) 1 One-way positioning accuracy Allowable radial load Moment Stiffness Ambient environment specification Totally enclosed self-cooled Use temperature: 0 to 40°C/Storage temperature: -20 to +60°C, Use humidity and storage humidity:...

■ Specifications RSA-8A Mini with Integrated Servo Drive RSA-8A Maximum torque Allowable continuous torque Maximum output speed Allowable continuous output speed Motor maximum current Motor allowable continuous current Torque constant Input power supply voltage Phase resistance Phase inductance Number of poles Moment of inertia Output shaft resolution (Note) 1 One-way positioning accuracy Allowable moment load Moment Stiffness Ambient environment specification Totally enclosed self-cooled Use temperature: 0 to 40°C/Storage temperature: -20 to +60°C, Use humidity and storage humidity: 20 to...

■ RSF-5B Supermini Outline Dimensions FLANGE OUTPUT PT1 rear exit cable 77 NFIGURATION 1: NFIGURATION 1: UTWITH PT1 REAR FACING CABLES WITH PT1 REAR FACING UT CONFIGURATION 1: NFIGURATION 1: CABLES 8 3X PT1 REAR3 E OUTPUT WITH M2X0.4 3FACING CABLES T WITH PT1 REAR FACING CABLES 3X M2X0.4 ONFIGURATION 2: front exit cable PT5 NFIGURATION 2: UT WITH PT5 FRONT FACING UT WITH PT5 FRONT FACING CABLES CONFIGURATION 2: NFIGURATION 2: CABLES E OUTPUT WITH PT5FACINGFACING CABLES T WITH PT5 FRONT FRONT CABLES NFIGURATION 3: NFIGURATION 3: SHAFT OUTPUT WITH PT1 REAR FACING CABLES WITH PT1 REAR FACING...

■ RSA-8A Mini Outline Dimensions FLANGE OUTPUT CONFIGURATION 2: FLANGE OUTPUT PT5 frontWITH PT5 FRONT FACING CABLES SHOWN exit cable INTEGRATED ACTUATOR WITH SHAFT OUTPUTWITH 24VDC (7VDC-28VDC) SUPPLY, ENCODER CONFIGURATION NUMBER PT5 front exit cable CONFIGURATION 1: SHAFT OUTPUT 2. THERE IS NO RELATION BETWEEN M3 HOLES AND "D" CUT ON SHAFT 3. DIMENSIONS PT5 FRONT MILLIMETERS SHOWN WITHSHOWN ARE IN FACING CABLES OUTPUT TYPE DESIGN AND/OR HANDLING MUST BE IN COMPLIANCE WITH TECHNICAL INFORMATION FOUND IN THE HD CATALOG WEIGHT WITHOUT CABLE ASSEMBLY 194g RECOMMENDED MATING CABLE ORDERED...

■ 50% Duty Motion Range This range indicates the torque/speed where 50% duty cycle operation is permitted (the ratio of operating time and delay time is 50:50). 0.3 0.2 Continuous motion range Continuous motion range 50% duty motion range Acceleration/ deceleration motion range 50% duty motion range 0.2 Continuous motion range 0.0 Acceleration/ deceleration motion range Continuous motion range Acceleration/ deceleration motion range Continuous motion range Acceleration/ deceleration motion range 50% duty motion range 50% duty motion range 50% duty motion range Acceleration/ deceleration...

■ One-Way Positional Accuracy The one-way positioning accuracy is defined as the maximum positional difference between the commanded position and the actual stop position when a series of positioning moves are performed in the same rotation direction. (Refer to JIS B-6201-1987). The RSF Supermini actuator incorporates a Harmonic Drive® gear which inherently has high-rotational position accuracy. Because of the gearing's high ratio, any rotational error at the input (i.e. motor shaft position error or motor feedback error) is reduced by a factor of the ratio (1/ratio) and typically becomes...

■ HDL-IDE 3.0 Software: HDL-IDE 3.0 software provides the ability to setup or commission the RSF-5B and RSA-8A 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, a termination resistor 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: T orque...

■ Actuators with an Integrated Servo Drive An integrated actuator from Harmonic Drive eliminates the need for a separate servo drive to be connected to the system. RSF-5B-IDT and RSA-8A-IDT join the new Integrated Actuator product category, along with 3 models of FHA-IDT, sizes 8, 11 and 14. • Mitigates cable management concerns • o encoder cables connected to the servo drive and therefore N no wire harnesses or cable tracks and associated electrical noise concerns • Reduction in number of potential failures with less connections • Simplifies the control hardware saving cabinet space •...