Harmonic Drive RSF supermini Series User manual

AC Servo Actuator
RSF supermini Series
＋
Mitsubishi Electric AC servo amplifier
"MELSERVO-J4" SSCNETⅢ/H
communication compatible
Manual
(With RSF-3C and RSF-5B)
ISO14001
ISO9001

Introduction
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.

SAFETY GUIDE
1
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.
Indicates a potentially hazardous situation, which, if not avoided, may result in
minor or moderate personal injury and/or damage to the equipment.
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.
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.
WARNING
CAUTION
CAUTION

SAFETY GUIDE
2
SAFETY NOTE
ITEMS YOU SHOULD NOTE WHEN USING THE ACTUATOR
NOTICES ON DESIGN
BE SURE TO READ THE MANUAL FOR DESIGNING.
Always use under followings conditions:
The motor is designed to be used for indoor.
- Ambient temperature: 0°C to 40°C
- Ambient humidity: 20% to 80%RH (Non-condensation)
- Vibration: 49 m/s2or 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.
- Electrostatic discharge may destroy encoder elements, therefore, we
recommend that installation be performed under the environment where the
relative humidity is 40 to 70 % RH.
OPERATIONAL PRECAUTIONS
BE SURE TO READ THE MANUAL BEFORE OPERATING THE PRODUCT.
Never connect cables directly to a power supply socket.
- Each actuator must be operated with a proper driver.
- Do not directly apply a commercial power supply. Failure to observe this
caution may lead to fire or damage to the actuator.
Do not subject the actuator to impacts and shocks.
- Do not use a hammer during installation as an encoder is directly
connected to the actuator.
- Hitting the actuator may damage the encoder, causing uncontrollable or
faulty operation.
Do not pull cables.
- Failure to observe this caution may damage the wiring, causing
uncontrollable or faulty operation.
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.
CAUTION
WARNING
CAUTION

SAFETY GUIDE
3
OPERATIONAL PRECAUTIONS
BE SURE TO READ THE MANUAL BEFORE OPERATING THE PRODUCT.
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 ACTUATOR
All products or parts have to be disposed of as industrial
waste.
Dispose of these items as industrial waste.
CAUTION
CAUTION

SAFETY GUIDE
4
ITEMS YOU SHOULD NOTE WHEN USING THE SERVO AMPLIFIER
Read the "MR-J4-_B Servo Amp Technical Manuals" (No．SH (name) 030101) and
ensure safe operation.
Before using this product, be sure to read the "MELSERVO-J4 SERIES AC
SERVO SAFETY GUIDE" which comes together with the servo amplifier.
OPERATIONAL PRECAUTIONS
Before performing operations, set and check the parameters.
- Be sure to set correct values for the parameters listed in Chapter 3 of this
manual.
- Setting incorrect values for the parameters may cause insufficient torque or
overcurrent that may lead to actuator burnout, resulting in injury or fire.
WARNING

5
Contents
SAFETY GUIDE .....................................................................................................1
NOTATION....................................................................................................1
LIMITATION OF APPLICATIONS..................................................................1
SAFETY NOTE.............................................................................................2
Contents .............................................................................................................5
Chapter 1 Overview of the RSF supermini Series
1-1 Overview of RSF supermini Series............................................................... 1-1
1-2 Major characteristics..................................................................................... 1-1
1-3 Ordering information..................................................................................... 1-2
Actuator Model.......................................................................................... 1-2
1-4 Actuator - Amplifier Combinations ................................................................ 1-2
1-5 Specifications of RSF supermini actuators ................................................... 1-3
1-6 External dimensions of actuators ................................................................. 1-4
1-7 One-way positioning accuracy...................................................................... 1-6
1-8 Torsional stiffness......................................................................................... 1-7
1-9 Actuator resolution........................................................................................ 1-8
1-10 Mechanical accuracy.................................................................................. 1-9
1-11 Allowable load........................................................................................... 1-10
Allowable radial load and allowable thrust load ...................................... 1-10
Radial load when the operating point is different .....................................1-11
1-12 Rotary direction ........................................................................................ 1-12
1-13 Impact resistance ..................................................................................... 1-12
1-14 Vibration resistance .................................................................................. 1-12
1-15 Operable range ........................................................................................ 1-13
1-16 Cable specifications ................................................................................. 1-15
Chapter 2 Selection of the RSF supermini Series
2-1 Allowable load moment of inertia.................................................................. 2-1
2-2 Variable load inertia...................................................................................... 2-1
2-3 Verifying loads .............................................................................................. 2-1
2-4 Examining operating status .......................................................................... 2-2
Examining actuator rotation speed ........................................................... 2-2
Calculating and examining load inertia moment ....................................... 2-2
Calculating load torque ............................................................................. 2-2
Acceleration time and deceleration time ................................................... 2-3

Contents
6
Examining duty ......................................................................................... 2-4
Examining effective torque and average rotational speed ........................ 2-8
Permissible overloaded time..................................................................... 2-9
Chapter 3 Installing the actuator
3-1 Receiving inspection..................................................................................... 3-1
3-2 Notice on handling........................................................................................ 3-1
3-3 Location and installation............................................................................... 3-2
Environment of location ............................................................................ 3-2
Considerations into External Noise........................................................... 3-2
Installation................................................................................................. 3-3
3-4 Initial settings for amplifier............................................................................ 3-4
3-5 Excitation of actuators .................................................................................. 3-5
3-6 MR-Configurator 2 operation to set PL13..................................................... 3-6
Chapter 4 Motor shaft retention brake(RSF-5B)
4-1 Motor shaft retention brake specifications .................................................... 4-1
4-2 Controlling the brake power supply .................................................................... 4-2
Using a relay cable (Recommended method)........................................... 4-2
Not using a relay cable ............................................................................. 4-2
Chapter 5 Options
5-1 Relay cables ............................................................................................... 5-1
Appendix
A-1 Conversion of unit ........................................................................................ A-1
A-2 Moment of inertia ......................................................................................... A-3
1. Calculation formulas for mass and moment of inertia ........................... A-3
2. Moment of inertia of circular cylinder .................................................... A-5

1-0
Chapter 1
Overview of the RSF supermini Series
Outlines of servo actuator models, specifications, external dimensions, etc., are
explained in this chapter.
1-1 Overview of RSF supermini Series ········································ 1-1
1-2 Major characteristics ·························································· 1-1
1-3 Ordering information ·························································· 1-2
1-4 Actuator - Amplifier Combinations ········································· 1-2
1-5 Specifications of RSF supermini actuators······························· 1-3
1-6 External dimensions of actuators ·········································· 1-4
1-7 One-way positioning accuracy·············································· 1-6
1-8 Torsional stiffness ······························································ 1-7
1-9 Actuator resolution····························································· 1-8
1-10 Mechanical accuracy·························································· 1-9
1-11 Allowable load ································································ 1-10
1-12 Rotary direction······························································· 1-12
1-13 Impact resistance ···························································· 1-12
1-14 Vibration resistance·························································· 1-12
1-15 Operable range ······························································· 1-13
1-16 Cable specifications ························································· 1-15

1-1 Overview of RSF supermini Series
1-1
1
2
3
4
5
6
Overview of the RSF supermini series
1-1 Overview of RSF supermini Series
The RSF supermini series are ultra-compact AC servo actuators that combine a speed reducer
HarmonicDrive®for ultra-precision control with a ultra-compact AC servo motor developed to maximize
the performance of a speed reducer.
Actuators with an electromagnetic brake are also included in the lineup. They can meet the fail-safe
requirements of equipment to prevent accidents upon power supply failure.
Actuators, whose combined servo amplifier option code is J, are combined with Mitsubishi Electric
"MR-J4W2-0303B6-MX940J" series servo amplifiers. The SSCNETⅢ/H network controls operation of
the RSF supermini series actuators correctly and precisely.
The RSF supermini series actuators contribute to downsizing robot joint drive mechanisms,
semiconductor/LCD panel manufacturing devices, machine tools, and other FA equipment. By utilizing
its compact and high-torque characteristics, it can also be used in compact equipment and
researches.
1-2 Major characteristics
Small, lightweight, and high-torque
The RSF supermini series with the precision-control deceleration device HarmonicDrive®
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-5B)
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 HarmonicDrive®such as non-backlash
and superior positioning precision realize high-precision mechanisms.
Stable controllability
The high deceleration gear ratio of the control deceleration device HarmonicDrive®provides
stable controllability for large variations of load moment of inertia.

1-3 Ordering information
1-2
1
2
3
4
5
6
Overview of the RSF supermini series
1-3 Ordering information
Model codes for the RSF supermini series actuators are as follows:
Actuator Model
1-4 Actuator - Amplifier Combinations
When the combined amplifier option is J, the actuator is used in combination with a Mitsubishi Electric
servo amplifier.
Actuator
series name
Mo
del
No.
Input
voltage
(V)
Encoder
type
Combined
amplifier
Relay cable
SSCNET
Ⅲ
/H
compatible
RSF supermini
3DC24
Incremental MR-J4W2-0303B6
-MX940J
For encoders:
FWA-E**JST09-3M14
For motors:
EWA-M**-JST04-TN2
For brakes:
EWA-B**-JST03-TMC
5DC24
When the actuator is used for the first time, it is necessary to setup the combined actuator in the servo
amplifier. For details, refer to "3-1 Receiving inspection" (P3-1).
For details on J4 amplifiers, refer to MR-J4W2-0303B6-MX940J Product Specifications
(No.BCN-B72000-227).
RSF-5 B-50-E 050-C-SP
Model: AC servo actuator
Series: RSF series
Frame size: 3 or 5
Design version
Encoder pulses on motor shaft
020: 200p/rev (Model 3)
050: 500p/rev (Model 5)
Reduction ratio of HarmonicDrive
®
30: 1/30
50: 1/50
100: 1/100
Option
C: With connector (Standard product)
BC: (model 5 only): with brake and connector
J: Combined with Mitsubishi Electric servo amplifier
No code: No option
Encoder specifications
E: Incremental encoder
Special specification
No symbol: Standard product

1-5 Specifications of RSF supermini actuators
1-3
1
2
3
4
5
6
Overview of the RSF supermini series
1-5 Specifications of RSF supermini actuators
Specifications of actuators are as follows:
Time rating:
Continuous
Structure:
Totally enclosed self cooling type
Excitation method:
Permanent magnet type
Lubricant:
Grease (Harmonic Grease)
Item Model
RSF-3C
RSF-5B
30
50
100
30
50
100
Maximum torque
Nm
0.13
0.21
0.30
0.5
0.9
1.4
kgfcm
1.27
2.05
2.94
5.1
9.17
14.3
Allowable continuous torque
*7
(when operated at permissible
continuous rotational speed)
Nm
0.03
0.07
0.11
0.18
0.29
0.44
kgfcm 0.31 0.68 1.08 1.83 2.95 4.48
Allowable continuous
stall torque
Nm
0.04
0.08
0.12
0.28
0.44
0.65
kgfcm
0.41
0.82
1.22
2.85
4.48
6.62
Maximum rotational speed
r/min
243
146
73
243
146
73
Allowable continuous rotational speed
r/min
150
90
45
150
90
45
Torque constant
Nm/A
0.11
0.18
0.40
0.3
0.54
1.1
kgfcm/A
1.12
1.84
4.08
3.06
5.51
11.22
Maximum current
A
1.5
1.4
1.1
2.3
2.2
1.7
Allowable continuous current
A
0.65
0.66
0.56
1.11
0.92
0.76
Input power supply (amplifier)
V
DC24±10%
EMF constant
V/(r/min)
0.015
0.025
0.05
0.04
0.07
0.13
Phase resistance (at 20 ℃ ) Ω1.34 0.82
Phase inductance
mH
0.18
0.27
Inertia
moment *4
GD
2
/4 kgm
2
0.11×10-4 0.29×10-4 1.17×10-4
0.66×10-4
1.83×10-4
7.31×10-4
(1.11×10-4)
(3.15×10-4)
(12.6×10-4)
J kgfcms2 1.07×10-4 2.98×10-4 11.90×10-4
0.67×10-3
1.87×10-3
7.45×10-3
(1.13×10-3)
(3.15×10-3)
(12.6×10-3)
Reduction ratio
30
50
100
30
50
100
Allowable radial load
(output shaft median)
N
36
90
kgf
3.6
9.1
Allowable thrust load
N
130
270
kgf
13.2
27.5
Encoding format
Incremental encoder
Encoder resolution *5
pls/rev
200 [800]
500 [2000]
Actuator resolution*5
pls/rev [24,000] [40,000] [80,000] [60,000] [100,000] [200,000]
Mass
*4 *6
g31 66 （86）
Brake holding torque *4 Nm
- （0.18）（0.29）（0.44）
kgfcm
- （1.83）（2.95）（4.48）
Environmental conditions
Operating temperature: 0 to 40°C /Storage temperature: -20 to 60°C
Operating humidity/storage humidity: 20 to 80% RH (no condensation)
Resistance to vibration: 49 m/s2(frequency 10 to 400 Hz)
Shock resistance: 300 m/s2
No dust, metal powder, corrosive gas, inflammable gas, or oil mist.
To be used indoors, no direct sunlight.
Altitude: less than 1,000 m above sea level
Motor insulation
Insulation resistance: 100 MΩ or more (by 500VDC insulation tester)
Dielectric strength: 1,500VAC/1 min
Insulation class: B
Note 1:The table shows typical output values of actuators.
Note 2:
The values in the table above are obtained when combined with a MR-J4W2-0303B6-MX940J amplifier.
Note 3:All values shown are typical values.
Note 4:The values in parentheses are for models with a brake.
Note 5:The values in brackets are resolution obtained when combined with an amplifier and multiplied by 4.
Note 6:The mass values do not include clamp filters. The mass of a clamp filter is 6 g.
Note 7:Values with saturated temperature rise when installed on an aluminum radiation plate
(RSF-3: 85×85×3 (mm), RSF-5: 150×150×3 (mm)).

1-6 External dimensions of actuators
1-4
1
2
3
4
5
6
Overview of the RSF supermini series
1-6 External dimensions of actuators
The external drawings are shown as follows:
RSF-3C-XXX-E020-CJ
Note) For detailed external dimensions, check the delivery specification drawing issued by us.
Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good).
If necessary, please contact us for the tolerance when it is not indicated in the dimensions.
2-plane cut
Line locating Motor lead wire
range of Encoder cable wire
Motor lead wire
( Finished outside diameter :
φ5Max)
Encoder lead wire
( Finished outside diameter :
φ
3.3Max)
Clamp filter(2) ZCAT1518-0730(TDK)
(Rotary unit max.
diameter)

1-6 External dimensions of actuators
1-5
1
2
3
4
5
6
Overview of the RSF supermini series
RSF-5B-XXX-E050-CJ
RSF-5B-XXX-E050-BCJ(with brake)
Note) For detailed external dimensions, check the delivery specification drawing issued by us.
Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good).
If necessary, please contact us for the tolerance when it is not indicated in the dimensions.
3-M2x3 evenly spaced
2-φ2.3 evenly spaced
FG line
Motor lead wire
( Finished outside diameter :
φ
6Max)
( Finished outside diameter :
φ3.3Max)
Clamp filter(2) ZCAT1518-0730(TDK)
Encoder lead wire
3-M2x3 evenly spaced
Motor and Brake lead wire
Motor lead wire
FG line
2-φ2.3 evenly spaced
( Finished outside diameter :
φ6Max)
( Finished outside diameter :
φ3.3Max)
Encoder lead wire
Clamp filter(2) ZCAT1518-0730(TDK)
Brake lead wire
(Rotary unit max.
diameter)
(Rotary unit max.
diameter)

1-7 One-way positioning accuracy
1-6
1
2
3
4
5
6
Overview of the RSF supermini series
1-7 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 HarmonicDrive®for precision control,
positioning errors of the motor shaft are compressed by reduction ratio to 30, 50 or 100. 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-3C RSF-5B
Gear ratio
Item 30 50 100 30 50 100
One-
way positioning
accuracy
arc min 10 4 3 3
rad 2.9×10-3 1.20×10-3 0.87×10-3 0.87×10-3
Reference
(Accuracy display and measurement method according to JIS B 6201: 1987)
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 30 degrees or 12 positions
throughout the entire rotation range as a rule.
Start position
Actual position
One-way positioning
accuracy
Positional difference
Commanded stop position

1-8 Torsional stiffness
1-7
1
2
3
4
5
6
Overview of the RSF supermini series
1-8 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 K1, K2, and K3
respectively.
K1: spring rate for torque region 0-T1
K2: spring rate for torque region T1-T2
K3: spring rate for torque region over T2
The wind-up for each region is expressed as follows:
wind-up for torque region 0-T1:
wind-up for torque region T1-T2:
wind-up for torque region over T2:
The following table shows average values of T1through T3, K1 through K3, and θ1 through θ2 for
different gear ratios.
Model
RSF-3C
RSF-5B
Gear ratio
Symbol 30 50 100 30 50 100
T1
Nm
0.016
0.016
0.016
0.075
0.075
0.075
kgfm
0.0016
0.0016
0.0016
0.0077
0.0077
0.0077
K1
Nm/rad
27
30
34
90
110
150
kgfm/arc min
0.0008
0.0009
0.0010
0.003
0.003
0.004
θ1
x10-4 rad
5.9
5.3
4.7
8.7
6.9
5
arc min
2.0
1.8
1.6
3
2.4
1.7
T2
Nm
0.05
0.05
0.05
0.22
0.22
0.22
kgfm
0.005
0.005
0.005
0.022
0.022
0.022
K2
Nm/rad
40
47
54
110
140
180
kgf m/arc min
0.0012
0.0014
0.0016
0.003
0.004
0.005
θ2
x10-4 rad
12.5
10.6
9.3
22
18
13
arc min
4.2
3.6
3.1
7.5
6
4.4
K3
Nm/rad
51
57
67
120
170
200
kgfm/arc min
0.0015
0.0017
0.0020
0.004
0.005
0.006
1K
T
=ϕ
2
1
1
K
TT −
+θ=ϕ
3
2
2
K
TT −
+θ=ϕ
Torsional angle
Torsional angle
*φ : Torsional angle
0

1-9 Actuator resolution
1-8
1
2
3
4
5
6
Overview of the RSF supermini series
1-9 Actuator resolution
RSF supermini series actuators are equipped with a 200-pulse (Model No. 3) or a 500-pulse (Model
No. 5) encoder, and the speed is reduced to 1/30, 1/50 or 1/100 using the speed reducer
HarmonicDrive®for precision control. Accordingly, the actuator resolution is 30, 50 or 100 times the
encoder resolution. In addition, the resolution is electrically multiplied by 4 when an actuator is
combined with a dedicated servo amplifier.
The actuator resolution at each reduction ratio is shown in the table below.
Model RSF-3C RSF-5B
Gear ratio
Item 30 50 100 30 50 100
Actuator resolution Pulse/Rotation 24,000 40,000 80,000 60,000 100,000 200,000
Angle per one pulse *1 Angle second
(arc sec) 54 32.4 16.2 21.6 12.96 6.48
* 1: When combined with a J4 servo amplifier, the RSF-3C moves every 8 command pulses only by the angle
listed.
The RSF-5B moves every 4 command pulses only by the angle listed. Therefore, the displacement and
number of command pulses, and rotation speed and command pulse frequencies are as follows:
Command pulse frequency and number of pulses required for the actuator output shaft to move 360
degrees per 30 r/min:
Model
Reduction
ratio
Pulse frequency
(when moving at 30r/min)
No. of pulses
(when moving 360°)
RSF-3C(*2)
30
96000(pls/sec)
192000(pls)
50
160000(pls/sec)
320000(pls)
100
320000(pls/sec)
640000(pls)
RSF-5B(*3)
30
120000(pls/sec)
240000(pls)
50
200000(pls/sec)
400000(pls)
100
400000(pls/sec)
800000(pls)
* 2: Pulse frequency (pls/sec) ＝Rotational speed ÷60 ×(Actuator resolution ×8)
No. of pulses (pls/) ＝Displacement (deg) ÷360 ×(Actuator resolution ×8):
* 3: Pulse frequency (pls/sec) ＝Rotational speed ÷60 ×(Actuator resolution ×4)
No. of pulses (pls/) ＝Displacement (deg) ÷360 ×(Actuator resolution ×4)
For details, see "MR-J4-_B Servo Amplifier Technical Manuals" (No. SH (name) 030101) or contact Mitsubishi
Electric.

1-10 Mechanical accuracy
1-9
1
2
3
4
5
6
Overview of the RSF supermini series
1-10 Mechanical accuracy
The mechanical accuracies of the output shaft and mounting flange for RSF supermini series
actuators are shown below:
RSF-3C RSF-5B
Symbol
Subject Dimension
Accuracy value
Model
RSF-3C
RSF-5B
a
Runout of the tip of the output shaft
0.03
0.03
b
Concentricity of installed spigot joint
0.02
0.04
c
Squareness of installation surface
0.02
0.02
d
Output flange surface contact
0.005
0.005
e
Parallelism of installation surface and output flange
0.015
0.015
*: T.I.R(Total Indicator Reading): Indicates the total amount of dial gage reading when the measurement unit is
rotated once.
Mechanical accuracy * T.I.R. unit: mm

1-11 Allowable load
1-10
1
2
3
4
5
6
Overview of the RSF supermini series
1-11 Allowable load
Allowable radial load and allowable thrust load
The gear head used in the RSF supermini series incorporates the high-precision 4-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 Fris obtained with respect
to the center (L/2) 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.
Model Unit RSF-3C RSF-5B
Allowable radial load (Fr) N 36 90
kgf 3.6 9.1
Allowable thrust load (FS) N 130 270
kgf 13 27
0 point
L
R
L
L/2
F
r
FR
F
S
La

1-11 Allowable load
1-11
1
2
3
4
5
6
Overview of the RSF supermini series
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 LRand allowable radial value FRis obtained from the
following formula.
The allowable values must not be exceeded.
r
Ra
a
R
F
LL
L
F+
=
FRAllowable radial load at distance LRfrom the 0 point [N]
FrAllowable radial load at the 0 point [N]
LaDistance from the bearing starting point to the 0 point [mm]
LRDistance from the position where radial load is exerted to the 0 point [mm]
L Shaft length [mm]
Model RSF-3C RSF-5B
Allowable radial load (Fr) N 36 90
kgf 3.6 9.1
Lamm 8.6 9.85
L mm 7 10