Models compatible with collaboration have been added.

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Audrey Lucas
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1 New Product News Vol. 28 AC servo Actuator FHA-C mini series Mitsubishi AC Servo Models compatible with collaboration have been added. A new model of the AC servo actuator that is compatible with MELSER- VO-J4 (manufactured by Mitsubishi Electric Corporation) SSCNETIII/H communication has been added, and the collaborative product lineup has been enhanced. Compatibility with the ultra-small and FHA-C mini series that has a small, flat, and compact shape can further broaden the range of connection network options.

Wider Range of Model Lineups for Your Suitable Selection Ultra small This is the AC servo actuator consisting of both an ultra-small HarmonicDrive and an AC servo motor.

For model 5, the series equipped with the brake is also available.

2 Wider Range of Model Lineups for Your Suitable Selection Ultra small This is the AC servo actuator consisting of both an ultra-small HarmonicDrive and an AC servo motor. This series features ultra-small size, lightweight, and high torque, and realizes downsizing of every type of mechanisms. Select from two models: 3 and 5. For model 5, the series equipped with the brake is also available. Configuration Speed reducer model HarmonicDrive CSF series Encoder Incremental encoder Output shaft bearing 4-point contact ball bearing 47 mm Holding brake Option Without brake With brake (only for model 5) AC servo motor Supported power voltage specification: 24 VDC RSF-3C Small size Flat This is the AC servo actuator consisting of both a small HarmonicDrive and an ultra-flat AC servo motor. The flat and compact shape and hollow-shaft structure simplifies the entire device structure. The size can be selected from three types: 8, 11, and 14. Configuration Cable orientation Speed reducer model HarmonicDrive CSF series Option Side exit Back exit Output shaft bearing Cross roller bearing Encoder Incremental encoder 48.5 mm Hollow-shaft AC servo motor Supported power supply voltage 24 VDC (only for size 8) 100 VAC/200 VAC FHA-8C 2

Features This is the AC servo actuator consisting of both the HarmonicDrive precision control speed reducer and the flat AC

The FHA-C mini series has a hollow structure and enables simplification of the device.

product easily. Combinations The combination of the servo amplifier, actuator, and relay cable is listed below.

supermini 3 5 DC24 MR-J4W2-0303B6-MX940J *1 For the motor: EWA-M**-JST04-NC-M For the encoder: EWA-E**-JST09-A10-M For the

FHA-C mini 8 AC200 MR-J4-10B-RJ920J *2 11 14 AC200 MR-J4-20B-RJ920J *2 8 AC100 MR-J4-10B1-RJ920J *2 11 14 AC100

servo amplifier, please ask Mitsubishi Electric Corporation to provide the product specifications (Material Number:

*3: "**" in the model code indicates the cable length (03 = 3 m, 05 = 5 m, and 10 = 10 m).

3 Features This is the AC servo actuator consisting of both the HarmonicDrive precision control speed reducer and the flat AC servo motor. The compact, flat configuration enables compact machine design. The FHA-C mini series has a hollow structure and enables simplification of the device. The device in which the system is configured by using the "MELSERVO-J4" SSCNET III/H communication enables you to use this product easily. Combinations The combination of the servo amplifier, actuator, and relay cable is listed below. Actuator Series Size Power supply voltage (V) Combined servo amplifier Compatible with SSCNETIII/H Relay cable *3 RSF supermini 3 5 DC24 MR-J4W2-0303B6-MX940J *1 For the motor: EWA-M**-JST04-NC-M For the encoder: EWA-E**-JST09-A10-M For the brake: EWA-B**-JST03-TMC *4 8 DC24 MR-J4W2-0303B6-MX940J *1 For the encoder: EWC-E**-A12-A10-M For the motor: EWC-M**-A06-NC-M FHA-C mini 8 AC200 MR-J4-10B-RJ920J * AC200 MR-J4-20B-RJ920J *2 8 AC100 MR-J4-10B1-RJ920J * AC100 MR-J4-20B1-RJ920J *2 For the encoder: EWC-E**-A12-3M10-M For the motor: EWC-M**-A06-TMC-M *1: For detailed materials of the servo amplifier, please ask Mitsubishi Electric Corporation to provide the product specifications (Material Number: BCN-B ). *2: For detailed materials of the servo amplifier, please ask Mitsubishi Electric Corporation to provide the product specifications (Material Number: BCN-B ). *3: "**" in the model code indicates the cable length (03 = 3 m, 05 = 5 m, and 10 = 10 m). *4: RSF-3 with brake option is not available. SSCNETIII/H System Image MR-J4-B-RJ920J MR-J4W2-0303B6 -MX940J MR-J4-B SSCNETIII/H-applicable controller Manufactured by Harmonic Drive Systems Inc. HG series manufactured by Mitsubishi Electric FHA-C mini series 3

4 Ordering Code RSF - 5 B E CJ - SP (1) (2) (3) (4) (5) (6) (7) (8) (1) Series AC servo actuator RSF series (2) Size 3,5 (3) Version symbol (4) Reduction ratio (6) Motor-shaft encoder resolution pulse/rev (size 3) pulse/rev (size 5) (7) Option: 30 1/30 C With connectors () 50 1/ /100 (5) Encoder type E Incremental encoder (8) B With brake (only for size 5) Specification for combination with the servo J amplifier manufactured by Mitsubishi Electric Corporation Special specifications (not available for the standard product) FHA - 8 C D200 - C J - SP (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (1) Series AC servo actuator FHA-C mini series (2) Size 8, 11, 14 (6) With connectors () (7) Input power supply voltage (3) Version symbol Blank 100-VAC and 200-VAC specifications (4) Reduction ratio 30 1/ / /100 E 24-VDC specifications (only for size 8) (8) Combined servo amplifier J (9) Cable pulling direction Specification for combination with the servo amplifier manufactured by Mitsubishi Electric Corporation (5) Encoder type and resolution Blank Side exit () D Incremental encoder K Back exit (Option) Resolution 2000 pulse/rev (10) Special specifications (not available for the standard product) 4

5 Specification Model RSF-3C RSF-5B Item Maximum torque *2 Nm Allowable continuous torque *2 (running at allowable continuous speed) Nm Allowable continuous stall torque Nm Maximum speed r/min Allowable continuous speed (output shaft) r/min Input power supply voltage (amplifier) V DC24±10% DC24±10% Moment of Inertia (GD 2 /4) Without brake kgm 2 With brake Reduction ratio Allowable radial load (value at center of output shaft) N Allowable thrust load N Encoder type Incremental encoder Encoder resolution *4 pulse/rev 200 [800] 500 [2000] Actuator resolution *4 pulse/rev [24,000] [40,000] [80,000] [60,000] [100,000] [200,000] One-way positioning accuracy arc min Brake Input power supply voltage V - DC24±10% Holding torque Nm Without brake g With brake g - 86 Model FHA-8C FHA-11C FHA-14 Item Maximum torque *2 Nm Allowable continuous torque *2 Nm Maximum speed r/min Allowable continuous speed r/min AC200 (three phases/single phase), Input power supply voltage (amplifier) V AC200 (three phase/single phase), AC100 (single phase) AC100 (single phase), DC24±10% Moment of Inertia (GD 2 /4) kgm Reduction ratio Allowable moment load Nm Moment Stiffness Nm/rad 2 x x x 10 4 Encoder type Incremental encoder Encoder resolution *4 pulse/rev 2,000 [8,000] Actuator resolution *4 pulse/rev [240,000] [400,000] [800,000] [240,000] [400,000] [800,000] [240,000] [400,000] [800,000] One-way positioning accuracy arc sec Mass kg *1: The values in the above table indicate the values for the output shaft. *2: This value is obtained when combining (driven with the ideal sine wave) with the J4 servo amplifier MR-J4-**B-RJ920J (100-V and 200-V specifications) and MR-J4W2-0303B6-MX940J (24-V specifications). *3: The values show typical values. *4: The values in brackets indicate the resolution when combining with the servo amplifier with quadrature. *5: The weight does not include that of the clamp filter. The weight of the clamp filter is 6 g per unit. (Note) For details of terms, refer to the technical manual in the Harmonic Drive general catalog. 5

6 External dimensions Unit: mm RSF-3C (47) (26.5) 13 (5) 4-M P.C.D.15 C MAX 45 φ17.5 φ12 h φ7.2 Max. diameter ( of rotating part ) φ6.5 φ3.5 h φ13 (φ14max) 3.3 C Encoder cable connection range RSF-5B (A) 22.7 (B) M2 3 equally located φ29 φ20.5 h (φ20) φ13 Max. diameter ( of rotating part ) φ5 h C0.3 φ20 φ25 φ φ2.3 equally located (C) (5.5) FG line 22 ±0.5 Dimension table A B C RSF-5B (without brake) RSF-5B (with brake) Lead wire of the motor and encoder (RSF-3C) Lead wire of the motor, encoder, and brake (RSF-5B) (6.3) (Motor lead wire) (20) (5.5) Motor/brake lead wire (6.3) (20) (13.4) (Finished outside diameter: Max. 6) Motor lead wire (Finished outside diameter: Max. 5) 1 4 (13.4) Encoder lead wire (Finished outside diameter: Max. 3.3) (11) (6.3) (11.4) (20) Encoder lead wire (Finished outside diameter: Max. 3.3) (Brake lead wire) 9 (11) 1 (4.2) (6.2) 200 ±20 Clamp filter (two pieces) ZCAT (TDK) (4.2) (6.2) 200 ±20 Clamp filter (two pieces) ZCAT (TDK) * Brake lead wires are not provided for RSF-5B without brake. 6

7 Unit: mm FHA-8C 30 (4.5) (1) φ66 50 ±1 φ49 h φ33.5 h Hollow shaft inside diameter φ6.2 ±0.2 (15) 6-M3 5 P.C.D ±1 4-φ3.4 P.C.D.58 (3) ±0.5 (35.5) 48.5 ±0.5 FHA-11C 30 (10.5) (2) 60 ±1 φ80 φ59 h φ41 h Hollow shaft inside diameter φ8 ±0.2 (15) 6-M4 5 P.C.D ±1 4-φ4.5 P.C.D ±0.5 5 (3.5) (42.5) 56 ±0.5 FHA-14C (16.5) (1) φ ±1 φ74 h φ52.5 h Hollow shaft inside diameter φ13.5 ±0.2 (15) 6-M5 7 P.C.D ±1 4-φ5.5 P.C.D.88 (3.5) ± ±0.5 (47.5) Lead wire of the motor and encoder (Common to FHA-8, 11, and 14C) (28) Motor connector (28) Plug housing: Pin contact: (PE: ) [TE Connectivity (AMP)] 300 ±30 Motor lead wire (PVC tube) (24) (12) (18) Encoder connector Housing: Tab contact: * [TE Connectivity (AMP)] (21) Encoder cable (φ6.8) (φ6.8) 7

8 Mechanical Accuracy Symbol Accuracy item Accuracy value RSF-3C RSF-5B a Output shaft tip runout b Installation pilot concentricity c Installation surface perpendicularity d Output flange runout e Parallelism between the installation surface and the output flange (T.I.R * Unit: mm) Symbol Accuracy item Accuracy value FHA-8/11/14C a Output shaft surface runout b Output shaft axial runout c d Parallelism between the output shaft and the mounted surface Concentricity between the output shaft and the pilot (T.I.R * Unit: mm) * Total indicator reading (T.I.R): Indicates the total amount of reading of the dial gauge when the measured part is rotated one turn. * Although a highly reliable oil seal is used in the output shaft, complete leakage prevention is not ensured. Customers must take actions to protect from grease or oil depend on the application.. Please contact our sales department with any questions. Head Office Ichigo Omori Building 7F, Minami-Oi, Shinagawa-ku,Tokyo JAPAN Phone: / FAX: Overseas Division Hotakamaki, Azumino-shi, Nagano JAPAN Phone: / FAX: Tokyo Office Ichigo Omori Building 2F, Minami-Oi, Shinagawa-ku,Tokyo JAPAN Phone: / FAX: Tokyo Office, Kitakanto Team Ichigo Omori Building 2F, Minami-Oi, Shinagawa-ku,Tokyo JAPAN Phone: / FAX: Koshin Office Hotakamaki, Azumino-shi, Nagano JAPAN Phone: / FAX: Chubu Office Nagoya Inter Building 6F, Hongo, Meito-ku, Nagoya-shi,Aichi JAPAN Phone: / FAX: Kansai Office Shin-Osaka Ueno Toyo Building 3F, Nishi-nakajima, Yodogawa-ku,Osaka-shi, Osaka JAPAN Phone: / FAX: Kyushu Office NMF Hakata-ekimae Building 7F, Hakata-ekimae, Hakata-ku, Fukuokashi,Fukuoka JAPAN Phone: / FAX: Hotaka Plant Hotakamaki, Azumino-shi, Nagano JAPAN Phone: / FAX: Harmonic Drive AG Hoenbergstrasse 14 D Limburg a.d. Lahn GERMANY Phone: / FAX: Harmonic Drive L.L.C. 247 Lynnfield Street, Peabody, MA U.S.A. Phone: / FAX: Harmonic Drive Systems (Shanghai) Co.,Ltd. Rm206,1#,No.641,Tianshan Rd,Changning District, Shanghai, , CHINA Phone: / FAX: HarmonicDrive is a trademark of Harmonic Drive Systems Inc. The academic or generic term of our HarmonicDrive products is strain wave gearing. No R-RSF supermini_fha mini+j4/news28e

Harmonic Drive actuator

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