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Rh Dc Servo Catalog

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  DC Servo Systems RH Mini Series Total Motion Control Harmonic Drive ™ acutator  Precision Gearing & Motion Control  2 Precision Gearing & Motion Control DC SERVO ACTUATORS FEATURES: ã ZERO BACKLASH ã HIGH POSITIONAL ACCURACY ã HIGH STIFFNESS  Th RH m srs atatrs ar s  hh ma stra sr sstms a r rs mt tr a hh tr aat  r mat aas. Select the optimum DC servo actuatorThe RH actuators combining precision Harmonic Drive™ gear and DC servo motors offer unique features unsurpassed by conventionally geared drives. Used in highly demanding industrial servo systems, they provide precision motion con-trol and high torque capacity in very compact packages. The tach-generator and/or encoder are directly mounted onto the motor shaft. Since the gear has zero backlash, high servo gains may be used, providing a very stiff, yet stable servo system.The Harmonic Drive™ gear is lubricated with a specially developed grease to ensure minimum maintenance requirements and long service life. The motor brush holders have seals to prevent dust transfer.  Selection Procedure 4RH Mini Series DC Servo Actuators 6  Technical Data 6  Performance Curves 7  Duty Cycle Characteristics 8  Loading Curves 8  Motor 9  Tach-Generator 9  Encoder 10  Weights 11  Output Shaft Tolerances 11  Dimensions 12Ordering Code 16 3 Contents  Acceleration Torque T 1  < Maximum Output Torque T m Select another actuator which meets this requirementRequirements for Preliminary SelectionLoad Torque T L  [Nm] < Rated Torque T N  [Nm]Load Speed n L  [rpm] < Rated Output Speed n N  [rpm]Load Inertia J L  [kgm 2 ] < 3 J A  (Actuator Inertia) acceptableLoad Inertia J L  [kgm 2 ] < J A  (Actuator Inertia) for best possible dynamic responseDetermination of the duty cyclePreliminary selection of the actuatorSelected actuator meets all requirementsSelect the required encoder resolutionPosition Control requiredSpeed Control requiredDetermination of the acceleration torque T 1  [Nm]T 1   =T L   + ·(J A  + J L ) · n L Encoder ResolutionSelection of Encoder Output Type The most suitable encoder output type can be selected according to the following basic specifications: ◆ AL - Line Driver (+5V version) This type can transmit the encoder signal up to 10m and requires a 5V DC power supply ◆  BL - Line Driver (+12V version) This type can transmit the encoder signal up to 100m and requires a 12V DC power supply ◆  DO - Open Collector (+ 4.75V to 12.6V); AO - Open Collector (+5V) These types can transmit the encoder signal up to 10m. They should not be used in environments suffering from high levels of electrical noise. 60 · 360t 1 θ A  · R · γ 2 π 60n ≥ (5~10) ·[Equation 1]Determination of the average torque T A  [Nm]T A =T 12  · t 1  + T 22  · t 2  + T 32  · t 3 with: T 1  = Acceleration Torque T 2  = T L  = Load Torque T 3  = T 2  - (T 1  - T 2 ) Braking Torque ( if t 1  = t 3 )t 1  + t 2  + t 3  + t 4 [Equation 2][Equation 3] (Values for T m  see page 8, 18, and 19) No Average Torque T A  < Rated Torque T N of the actuatorSelect another actuator which meets this requirement (Values for T N  see page 8, 18 and 19)Where: n = Encoder Resolution R = Gear reduction ratio  θ A = Desired position accuracy at the output [arc-min]  γ = Encoder multiplier Encoder Resolution60 · f s n min  · R · γ n ≥ 3 · Where: n min  = Minimum operating output speed [rpm] f s  = Cut-off frequency [Hz] For HS Series Control Units the cut-off fre-quency f s  can be assumed to be 100 Hz. No Selection Procedure [Equation 4] 4
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