November 29, 2021

The compact RSF-5 miniature actuator with a zero backlash Harmonic Drive® gear delivers high torque with exceptional accuracy and repeatability. The actuator features an integrated servo drive utilizing CANopen® 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 actuator product 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. See also FHA-IDT for more actuators with integrated servo drives.

Key Features:

• Actuator + Integrated Servo Drive utilizing CANopen communication conforming to DS402 and DS301
• 24VDC Nominal +7 to 30VDC Supply Voltage Range
• Single Axis BLDC Motor Controller/Driver with CAN & TTL-UART Interface
• Field Oriented Control
• Single Cable with only 4 conductors needed: CANH, CANL, +24VDC, 0VDC
• Zero Backlash
• Pigtail Connectors with 2 exit options
• 14bit (16384 cpr) resolution motor encoder
• 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

HDL-IDE 3.0 Software

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:

• 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)

For more information on the RSF-5B Miniture Options, Ordering Code, Specifications and more, click here 

For more information on Harmonic Drives' miniature products, click here