RSA-8A Integrated Drive

The RSA mini actuator is extremely compact and delivers high torque with exceptional accuracy and repeatability. 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 mini actuator is ideal for use in robotics.

Since it communicates via CANopen, only 4 conductors are needed: CANH, CANL, +24VDC, 0VDC. A single-turn 14bit (16384 cpr) absolute encoder has been integrated.

Key Features:

• Actuator + Integrated Servo Drive utilizing CANopen communication conforming to DS402 and DS301
• 24VDC Nominal +7 to 30VDC Supply Voltage Range
• Single Cable with only 4 conductors needed: CANH, CANL, +24VDC, 0VDC
• Zero Backlash
• Pigtail Connectors with 4 exit options
• Input Sensing Encoder 14bit (16384 cpr) resolution
• Control Modes Including Torque, Velocity, and Position Control, CSP, CSV, CST
• Harmonic Drive HDL Software for initial tuning, commissioning, and analysis
• Homing modes include: single-ended, double-ended, double-ended with 16bit autoscale hardstop homing or teachable position

Options:

• Flex-rated extension cables with sealed connectors

• Ordering Code RSA-8A Mini with Integrated Servo Drive

   

  RSA		-	8	A	-	50	-	IDT14b		-	PT1	S	-	SP
  1			2	3		4		5	6		7	8		9

   

  1.	Model		RSA Mini Series
  2.	Size		8
  3.	Design Version		A
  4.	Gear Ratio		30, 50, 100
  5.	Encoder Type and Resolution		IDT14b - Integrated Drive 14bit resolution absolute encoder on motor input
  6.	Output		Blank - Shaft Output F - Flange Output
  7.	Cable Exit Options		PT1 - Rear exit cable PT2 - Right exit cable PT3 - Left exit cable PT5 - Front exit cable
  8.	Special specification		Blank - Standard product SP____ - Special specification code

   

  RSA Mini actuators with an integrated servo drive offer four cable exit orientation options with standard Lemo® connectors. Optional extension cables are available in 3 lengths.
   

  Specifications*

   

  Specification / Model			RSA-8A
  Gear Ratio			30	50	100
  Maximum Torque		N.m	1.8	3.3	4.8
  Maximum Speed		rpm	283.3	170.0	85.0
  Torque Constant		Nm/A(rms)	0.7	1.2	2.0
  Maximum Current		A(rms)	4.0	4.0	3.5
  Allowable continuous current		A(rms)	2.05	2	1.7
  One-way Positioning Accuracy		arc-min	2	2	2
  EMF Constant		V/(rpm)	0.051	0.085	0.170
  Input Power Supply Voltage		V	24VDC (+7 to +30VDC)
  Phase Resistance		Ω(20°C)	0.8
  Phase Inductance		mH	0.285
  Number of Poles			14
  Allowable Moment Load		Nm	3.46
  Moment Stiffness		Nm/rad	2.76 x 103
  Moment of Inertia (GD2/4)		kgm2	7.74x10-4	2.15x10-3	8.60x10-3
  Encoder Type and resolution			IDT14b - Integrated Drive 14bit resolution absolute encoder on motor input
  Output Shaft Resolution*1	Motor	counts/rev	491,520	819,200	1,638,400
  Enclosure			Totally enclosed, self-cooled
  Mounting Direction			Can be installed in any direction
  Mass		kg	200 (190 with F option)
  Ambient environment specification		0 to 40° C ambient operational temperature range, Storage temperature is -20 to 60° 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 MΩ (500 VDC) or higher. Dielectric strength: 1500 VAC/1 min. Insulation class: B

   

  * Table shows typical output values

  *1 Motor ABS encoder resolutions are obtained by (encoder bit count) x (gear ratio)

• HDL-IDE 3.0 Software

  HDL-IDE 3.0 software provides the ability to setup or commission the RSA 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:

  Torque Mode and Graph Velocity Mode and Graph Position Mode and Graph Homing Mode Limit Switch Current Position Hardstop Homing Step Response Bode Plot Parameter List Virtual Mode (shown)