Harmonic Drive: RSA-8A Integrated Drive


October 13, 2021

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


  •    –   Flex-rated extension cables with sealed connectors


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