RSF-5B Supermini Actuator with Integrated Servo Drive

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The actuator features an integrated servo drive utilizing CANopen庐 communication. This evolutionary product eliminates the need for an external drive and greatly improves wiring while retaining high-positional accuracy and torsional stiffness in a compact housing. This new miniature <a data-udi="umb://document/4062f8246e944996a994c287dd43817e" href="/products/rotary-actuators/actuators-without-hollow-shaft/rsf-supermini" title="RSF-Supermini">actuator</a> product is ideal for use in robotics. </p> <p>Since it communicates via CANopen, only 4 conductors are needed: CANH, CANL, +24VDC, 0VDC. A single-turn 14bit (16384 cpr) gear output sensing encoder has been integrated. See also <a data-udi="umb://document/7fdf4068ad19409eb9eee37c8e596e48" href="#" title="FHA-Mini Integrated Drive">FHA-IDT</a> for more actuators with integrated servo drives. </p> <h3>Key Features:</h3> <ul> <li>Actuator + <strong>Integrated Servo Drive</strong> utilizing CANopen communication conforming to DS402 and DS301</li> <li>24VDC Nominal +7 to 30VDC Supply Voltage Range</li> <li style="text-align: left;">Single Axis BLDC Motor Controller/Driver with CAN & TTL-UART Interface</li> <li>Field Oriented Control</li> <li><strong>Single</strong> Cable with only 4 conductors needed: CANH, CANL, +24VDC, 0VDC</li> <li>Zero Backlash</li> <li>Pigtail Connectors with 2 exit options</li> <li>14bit (16384 cpr) resolution motor encoder</li> <li>Control Modes Including Torque, Velocity, and Position Control, CSP, CSV, CST</li> <li>Harmonic Drive HDL Software for initial tuning, commissioning, and analysis</li> <li>Homing modes include: single-ended, double-ended, double-ended with 16bit autoscale hardstop homing or teachable position</li> <li>Harmonic Drive <a rel="noopener" data-udi="umb://document/e1c6d2fbaa284dc7a5613384592bf846" href="/downloads/hdl-software/request-hdl-software" target="_blank" title="Request HDL Software">HDL Software</a> for initial tuning, commissioning, and analysis</li> </ul> <p>Options:</p> <ul> <li>Flex-rated extension cables with sealed connectors</li> </ul> </div> <div class="col-md-6"> <div class="row"> <div class="col-md-12"> <div class="text-right hd-product-download-content"> <p> </p> <p><a rel="noopener" href="/_hd/content/documents1/RSA-8_RSF-5-IDT_Brochure.pdf" target="_blank"><img src="/media/2375/pdf-icon-small.jpg?width=32px&height=30px" alt="" width="32" height="30"> Catalog </a></p> <p> </p> <table border="0" width="480" height="140" style="height: 166px; max-width: 100%; width: 480px; float: right;"> <tbody> <tr> <td> </td> </tr> <tr> <td> <p><strong><em>Don't see what you need or not sure where to start?</em></strong></p> <p><strong><span class="pull-right"><em>Our team can help you find the right actuator for your application!</em></span></strong></p> <p><a href="/about-us/contact-us" title="Contact Us"><img src="/media/2365/contactus-icon.jpg?width=175&height=50" alt=""></a></p> </td> </tr> <tr> <td> </td> </tr> </tbody> </table> <p style="text-align: right;"> </p> <p style="text-align: right;"><img style="max-width: 100%; height: 300px;" src="/media/3022/400x300-rsf-5e2q.jpg?width=419&height=300" alt="" data-udi="umb://media/8bb0a83035714bdca1addf31c0e8a19d"></p> </div> </div> </div> <div class="row"> <div class="col-md-12"> <div id="carousel-top-main" class="carousel slide hd-carousel hd-carousel-banner hd-slider-sm" data-ride="carousel" data-interval="8000"> <div class="carousel-inner hd-equal-height"> </div> </div> </div> </div> </div> </div> </div> <div class="container"> <div class="row"> <div class="col-md-12"> <hr /> <p> </p> <p> </p> <h4 style="text-align: center;">Ordering Code RSF-5B Miniature with Integrated Servo Drive</h4> <p> </p> <table border="0" width="308" height="63" align="center" style="height: 47px; max-width: 100%; width: 308px;"> <tbody> <tr style="height: 23px;"> <td colspan="2" align="center" style="width: 28px; height: 23px;">RSF</td> <td align="center" style="width: 11px; height: 23px;">-</td> <td align="center" style="width: 15px; height: 23px;">5</td> <td align="center" style="width: 15px; height: 23px;">B</td> <td align="center" style="width: 11px; height: 23px;">-</td> <td align="center" style="width: 23px; height: 23px;">50</td> <td align="center" style="width: 10px; height: 23px;">-</td> <td align="center" style="width: 86px; height: 23px;">IDT14b</td> <td align="center" style="width: 15px; height: 23px;">- </td> <td align="center" style="width: 12px; height: 23px;"> </td> <td align="center" style="width: 36px; height: 23px;">PT1</td> <td align="center" style="width: 12px; height: 23px;">-</td> <td align="center" style="width: 26px; height: 23px;">SP</td> </tr> <tr style="height: 24px;"> <td colspan="2" align="center" style="width: 28px; height: 24px;"><strong>1</strong></td> <td align="center" style="width: 11px; height: 24px;"> </td> <td align="center" style="width: 15px; height: 24px;"><strong>2</strong></td> <td align="center" style="width: 15px; height: 24px;"><strong>3</strong></td> <td align="center" style="width: 11px; height: 24px;"> </td> <td align="center" style="width: 23px; height: 24px;"><strong>4</strong></td> <td align="center" style="width: 10px; height: 24px;"> </td> <td align="center" style="width: 86px; height: 24px;"><strong>5</strong></td> <td align="center" style="width: 15px; height: 24px;"> </td> <td align="center" style="width: 12px; height: 24px;"><strong>6</strong></td> <td align="center" style="width: 36px; height: 24px;"><strong>7</strong></td> <td align="center" style="width: 12px; height: 24px;"> </td> <td align="center" style="width: 26px; height: 24px;"><strong>8</strong></td> </tr> </tbody> </table> <p> </p> <table border="0" width="614" height="534" align="center" style="height: 534px; max-width: 100%; width: 614px;"> <tbody> <tr> <td valign="top" style="width: 16px;"><strong>1.</strong></td> <td valign="top" style="width: 111px;">Model</td> <td valign="top" style="width: 84px;"> </td> <td valign="top" style="width: 366px;"> <p>RSF Supermini Series</p> </td> </tr> <tr> <td valign="TOP" style="width: 16px;"><strong>2.</strong></td> <td valign="TOP" style="width: 111px;">Size</td> <td valign="top" style="width: 84px;"> </td> <td valign="top" style="width: 366px;"> <p>5</p> </td> </tr> <tr> <td valign="TOP" style="width: 16px;"><strong>3.</strong></td> <td valign="TOP" style="width: 111px;">Design Version</td> <td valign="top" style="width: 84px;"> </td> <td valign="top" style="width: 366px;"> <p>B</p> </td> </tr> <tr> <td valign="TOP" style="width: 16px;"><strong>4.</strong></td> <td valign="TOP" style="width: 111px;">Gear Ratio</td> <td valign="top" style="width: 84px;"> </td> <td valign="top" style="width: 366px;"> <p>30, 50, 100</p> </td> </tr> <tr> <td valign="TOP" style="width: 16px;"><strong>5.</strong></td> <td valign="TOP" style="width: 111px;">Encoder Type and Resolution</td> <td valign="top" style="width: 84px;"> </td> <td valign="top" style="width: 366px;"> <p>IDT14b - Integrated Drive<br /><em>14bit resolution absolute encoder on motor input</em></p> </td> </tr> <tr> <td valign="TOP" style="width: 16px;"><strong>6.</strong></td> <td valign="TOP" style="width: 111px;">Output</td> <td valign="top" style="width: 84px;"> </td> <td valign="top" style="width: 366px;"> <p>Blank - Shaft Output<br />F - Flange Output</p> </td> </tr> <tr> <td valign="TOP" style="width: 16px;"><strong>7.</strong></td> <td valign="TOP" style="width: 111px;">Cable Exit Options</td> <td valign="top" style="width: 84px;"> </td> <td valign="top" style="width: 366px;"> <p>PT1 - Rear exit cable<br />PT5 - Front exit cable</p> </td> </tr> <tr> <td valign="TOP" style="width: 16px;"><strong>8.</strong></td> <td valign="TOP" style="width: 111px;">Special specification</td> <td valign="TOP" style="width: 84px;"> </td> <td valign="top" style="width: 366px;"> <p>Blank - Standard product<br />SP____ - Special specification code</p> </td> </tr> </tbody> </table> <h3><br /><br />Specifications* </h3> <p> </p> <table border="1" cellspacing="0" cellpadding="0" width="600" height="458" align="center" style="height: 804px; max-width: 100%; width: 600px;"> <tbody> <tr style="height: 21px;"> <td colspan="4" align="center" style="height: 21px; width: 384px;" bgcolor="#73BAFF"><strong>Model </strong></td> <td colspan="3" align="center" style="text-align: center; height: 21px; width: 249px;" bgcolor="#73BAFF"><strong>RSF-5B</strong></td> </tr> <tr style="height: 21px;"> <td colspan="4" align="center" style="height: 21px; width: 384px;" bgcolor="#73BAFF"><strong>Gear Ratio</strong></td> <td align="center" style="height: 21px; width: 83px;" bgcolor="#ACD6FF">30</td> <td align="center" style="height: 21px; width: 83px;" bgcolor="#ACD6FF">50</td> <td align="center" style="height: 21px; width: 83px;" bgcolor="#ACD6FF">100</td> </tr> <tr style="height: 21px;"> <td colspan="3" align="center" style="height: 21px; width: 374px;" bgcolor="#73BAFF"><strong>Maximum Torque </strong></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF">N.m</td> <td align="center" style="height: 21px; width: 83px;">0.5</td> <td align="center" style="height: 21px; width: 83px;">0.9</td> <td align="center" style="height: 21px; width: 83px;">1.4</td> </tr> <tr style="height: 21px;"> <td colspan="3" align="center" style="height: 21px; width: 374px;" bgcolor="#73BAFF"><strong>Maximum Speed</strong></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF">rpm</td> <td align="center" style="height: 21px; width: 83px;">150</td> <td align="center" style="height: 21px; width: 83px;">90</td> <td align="center" style="height: 21px; width: 83px;">45</td> </tr> <tr style="height: 21px;"> <td colspan="3" align="center" style="height: 21px; width: 374px;" bgcolor="#73BAFF"><strong>Torque Constant<br /></strong></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF">Nm/A(rms)</td> <td align="center" style="height: 21px; width: 83px;">0.3</td> <td align="center" style="height: 21px; width: 83px;">0.54</td> <td align="center" style="height: 21px; width: 83px;">1.1</td> </tr> <tr style="height: 21px;"> <td colspan="3" align="center" style="height: 21px; width: 374px;" bgcolor="#73BAFF"><strong>Maximum Current</strong></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF">A(rms)</td> <td align="center" style="height: 21px; width: 83px;">2.3</td> <td align="center" style="height: 21px; width: 83px;">2.2</td> <td align="center" style="height: 21px; width: 83px;">1.7</td> </tr> <tr style="height: 21px;"> <td colspan="3" align="center" style="height: 21px; width: 374px;" bgcolor="#73BAFF"><strong>Allowable continuous current</strong></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF">A(rms)</td> <td align="center" style="height: 21px; width: 83px;">1.11</td> <td align="center" style="height: 21px; width: 83px;">0.92</td> <td align="center" style="height: 21px; width: 83px;">0.76</td> </tr> <tr style="height: 21px;"> <td colspan="3" align="center" style="height: 21px; width: 374px;" bgcolor="#73BAFF"><strong>EMF Constant</strong></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF">V/(rpm)</td> <td align="center" style="width: 83px; height: 21px;">0.04</td> <td align="center" style="width: 83px; height: 21px;">0.07</td> <td align="center" style="width: 83px; height: 21px;">0.13</td> </tr> <tr style="height: 21px;"> <td colspan="3" align="center" style="height: 21px; width: 374px;" bgcolor="#73BAFF"><strong>One-way Positioning Accuracy</strong></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF">arc-min</td> <td align="center" style="height: 21px; width: 83px;">4</td> <td align="center" style="height: 21px; width: 83px;">3</td> <td align="center" style="height: 21px; width: 83px;">3</td> </tr> <tr style="height: 21px;"> <td colspan="3" align="center" style="height: 21px; width: 374px;" bgcolor="#73BAFF"><strong>Allowable Moment Load</strong></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF">Nm</td> <td colspan="3" align="center" style="height: 21px; width: 249px;">15</td> </tr> <tr> <td colspan="3" align="center" style="height: 21px; width: 374px;" bgcolor="#73BAFF"><strong>Phase resistance</strong></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF">惟(20掳C)</td> <td colspan="3" align="center" style="width: 249px;">0.82</td> </tr> <tr> <td colspan="3" align="center" style="height: 21px; width: 374px;" bgcolor="#73BAFF"><strong>Phase inductance</strong></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF">mH</td> <td colspan="3" align="center" style="width: 249px;">0.27</td> </tr> <tr style="height: 21px;"> <td colspan="3" align="center" style="height: 21px; width: 374px;" bgcolor="#73BAFF"><strong>Input Power supply</strong></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF">V</td> <td colspan="3" align="center" style="width: 249px; height: 21px;">24VDC (+7 to +30VDC)</td> </tr> <tr> <td colspan="3" align="center" style="height: 21px; width: 374px;" bgcolor="#73BAFF"><strong>Number of Poles</strong></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF"> </td> <td colspan="3" align="center" style="width: 249px;">8</td> </tr> <tr style="height: 24px;"> <td colspan="3" align="center" style="height: 21px; width: 374px;" bgcolor="#73BAFF"><strong>Moment Stiffness</strong></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF">Nm/rad</td> <td colspan="3" align="center" style="height: 21px; width: 249px;">7.41 x 10<sup>2</sup></td> </tr> <tr style="height: 24px;"> <td colspan="3" align="center" style="height: 69px; width: 374px;" bgcolor="#73BAFF"><strong>Moment of Inertia<br /> (GD<sup>2</sup>/4)</strong></td> <td align="center" style="height: 69px; width: 10px;" bgcolor="#ACD6FF">kgm<sup>2</sup></td> <td align="center" style="height: 69px; width: 83px;">7.09 x 10<sup>-5</sup></td> <td align="center" style="height: 69px; width: 83px;">1.97 x 10<sup>-4</sup></td> <td align="center" style="height: 69px; width: 83px;">7.88 x 10<sup>-4</sup></td> </tr> <tr style="height: 21px;"> <td colspan="3" align="center" style="height: 42px; width: 374px;" bgcolor="#73BAFF"><strong>Encoder Type and resolution</strong><br /><br /></td> <td align="center" style="height: 21px; width: 10px;" bgcolor="#ACD6FF"> </td> <td colspan="3" align="center" style="height: 42px; width: 249px;">IDT14b - Integrated Drive<br /><em>14bit resolution absolute encoder on motor input</em></td> </tr> <tr style="height: 21px;"> <td colspan="2" align="center" style="height: 42px; width: 373.333px;" bgcolor="#73BAFF"><strong>Output Shaft Resolution<sup>*1</sup></strong></td> <td colspan="2" style="height: 42px; text-align: center; width: 10.6667px;" bgcolor="#ACD6FF">counts/rev</td> <td style="width: 83px; height: 42px; text-align: center;">491,520</td> <td style="width: 83px; height: 42px; text-align: center;">819,200</td> <td style="width: 83px; height: 42px; text-align: center;">1,638,400</td> </tr> <tr style="height: 21px;"> <td colspan="3" align="center" style="height: 63px; width: 374px;" bgcolor="#73BAFF"><strong>Mass</strong></td> <td align="center" style="height: 63px; width: 10px;" bgcolor="#ACD6FF">g</td> <td colspan="3" align="center" style="height: 63px; width: 249px;">77</td> </tr> <tr style="height: 233px;"> <td colspan="3" align="center" style="height: 233px; width: 374px; text-align: center;" bgcolor="#73BAFF"><strong>Ambient environment specification</strong></td> <td colspan="4" style="width: 249px; height: 233px;">0 to 40掳 C ambient operational temperature range, Storage temperature is -20 to 60掳 C with humidity 20 to 80%RH (non-condensing). Free from dust, dirt, metallic powder, corrosive gas, flammable gas, oil mist, and others. Avoid outdoor use or direct sunlight. Altitude: 1,000 m or less. Motor insulation: 100 M惟 (500 VDC) or higher. Dielectric strength: 1500 VAC/1 min. Insulation class: B</td> </tr> </tbody> </table> <p> </p> <p> </p> <p>* Table shows typical output values</p> <p><span><span>*1 Motor ABS encoder resolutions are obtained by (motor encoder resolution) x (gear ratio)</span><br /></span></p> </div> </div> </div> <div class="container"> <div class="row"> <div class="col-md-12"> <h3>Outline Dimensions</h3> <p><img style="max-width: 100%; height: 0px;" src="/nothing.jpg" alt="" data-udi="umb://media/81bb73bd4ed340b5b23a58e346f85792">Flange Output, Rear Exit Cable</p> <p><a data-udi="umb://media/b532e6ba4b63491c8a86d0b09df9d9be" href="/media/3000/rsf-5b-flange-r.png" title="RSF-5B Flange R.png"><img style="max-width: 100%; height: 120px;" src="/media/2992/rsf-5b-flange-r.png?width=500&height=120" alt="" data-udi="umb://media/7135c1e439394ce7a1c99e8ce60f5ab8"></a></p> <p>Flange Output, Front Exit Cable</p> <p><a data-udi="umb://media/e1363812f66844e8a4fcfe85eedbc190" href="/media/3003/rsf-5b-flange-f.png" title="RSF-5B Flange F.png"><img style="max-width: 100%; height: 121.52777777777777px;" src="/media/2993/rsf-5b-r.png?width=500&height=121.52777777777777" alt="" data-udi="umb://media/1021065e2577407a9eebbb88d699ad4d"></a></p> <p><img style="max-width: 100%; height: 0px;" src="/nothing.jpg" alt="" data-udi="umb://media/81bb73bd4ed340b5b23a58e346f85792">Shaft Output, Rear Exit Cable</p> <p><a data-udi="umb://media/75a7c5451a0e4656a0f006c2701d2179" href="/media/3002/rsf-5b-shaft-r.png" title="RSF-5B Shaft R.png"><img style="max-width: 100%; height: 123.99598393574298px;" src="/media/2995/rsf-5b-shaft-r.png?width=500&height=123.99598393574298" alt="" data-udi="umb://media/2828fcb6e8b44032b2ac5f0b09dd7f95"></a></p> <p>Shaft Output, Front Exit Cable</p> <p><a data-udi="umb://media/bb6553e017ad49c9abc9c13be105e45a" href="/media/3001/rsf-5b-shaft-f.png" title="RSF-5B Shaft F.png"><img style="max-width: 100%; height: 162.60744985673352px;" src="/media/2994/rsf-5b-shaft-f.png?width=500&height=162.60744985673352" alt="" data-udi="umb://media/df815d49cc034407b5f9d2f60a7fbb51"></a> </p> <h3>Optional Extension Cable: 3 Lengths (ZZ) Available: 3m (03), 5m (05), 10m (10)</h3> <p> <img style="max-width: 100%; height: 75px;" src="/media/2720/cable-2.png?width=568&height=75&mode=max" alt="" data-udi="umb://media/136ed00e426445f18e30f4c769036e68"></p> <table border=".5" cellspacing="2" cellpadding="5" width="454" style="width: 116px; height: 80px;"> <tbody> <tr style="height: 21px;"> <td style="width: 141px; height: 21px;"><strong>Description</strong></td> </tr> <tr style="height: 21px;"> <td style="max-width: 100%; height: 21px;">CBL-DZZ-L004-N</td> </tr> </tbody> </table> <p> </p> <p> </p> <h3>HDL-IDE 3.0 Software</h3> <p>HDL-IDE 3.0 software provides the ability to setup or commission the RSF-5B Mini 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 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:</p> <table border="0" height="276" style="height: 342px; width: 916px; max-width: 100%; border-collapse: collapse;"> <tbody> <tr> <td style="width: 294px;"> <ul> <li> <p>Torque Mode and Graph</p> </li> <li> <p>Velocity Mode and Graph</p> </li> <li> <p>Position Mode and Graph</p> </li> <li> <p>Homing Mode</p> <ul> <li> <p>Limit Switch</p> </li> <li> <p>Current Position</p> </li> <li> <p>Hardstop Homing</p> </li> </ul> </li> <li> <p>Step Response</p> </li> <li> <p>Bode Plot</p> </li> <li> <p>Parameter List</p> </li> <li> <p>Virtual Mode (shown)</p> </li> </ul> </td> <td style="width: 442px;"> <p><img style="max-width: 100%; height: 290px;" src="/media/2738/hdl-screen.png?width=407&height=290&mode=max" alt="" data-udi="umb://media/34e76f89620a41ff9d09b053b9c1b34d"></p> <p> </p> <p> </p> </td> </tr> </tbody> </table> <p> </p> <p> </p> <p><a data-udi="umb://document/c9b170838eac4eddb6560605870181f7" href="/about-us/contact-us" title="Contact Us"><img src="/media/2365/contactus-icon.jpg?width=175&height=50" alt=""></a><strong>for more information.</strong></p> <p> </p> <p> </p> </div> </div> </div> </div> <div class="hd-footer hidden-print navbar-default"> <div class="container"> <div class="row"> <div class="col-sm-4"> <h4><a href="/about-us">About Us</a></h4> <p><a href="/about-us/us-locations">US Locations</a><br /> <a href="/about-us/harmonic-drive-group-companies">Group Companies</a><br /> <a href="/about-us/quality-certification">Quality Certification</a><br /> <a href="/careers">Employment</a><br /> <a href="/about-us/privacy-policy">Privacy Policy</a><br /> <a href="/about-us/terms-and-conditions-sale">Terms & Conditions of Sale</a><br /> <a href="/about-us/terms-of-use">Terms of Use</a><br /> <a href="/about-us/contact-us">Contact Us</a></p> </div> <div class="col-sm-4"> <h4><a href="/products">Products</a></h4> <p><a href="/products/rotary-actuators">Rotary 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RSF-5B Supermini Actuator with Integrated Servo Drive | Harmonic Drive