Catalog #: RS-3A-UST-1-0213
RS-30
Model
Specification
Items
RS
Single-axis robot Small size rotary type 30W
30
Encoder type
Motor type
A:Absolute specification
I: Incremental specification
30: 30W
Series
Speed reduction ratio Movement range Applicable controller Cable length
50: 1/50
100: 1/100
360: 360 degrees
T1:XSEL-J/K
T2:SCON
SSEL
XSEL-P/Q
Options
N:None
Refer to the options
S :3m
table below.
M: 5m
X: Specified length
Model Number/Specification
RSRS-
Model number
Encoder
type
Motor
output
(W)
Speed
reduction
ratio
Movement
range
(degree)
Speed
(degree/s)
Load inertia (Note1)
(kg•m2)
Rated torque
(N•m)
-30-50-360- - - - L
-30-100-360- - - - L
Absolute
Incremental
30
1/50
1/100
0~360
1~360
1~180
0.0578
0.2303
3.3
6.65
* In the above model numbers,
indicates the encoder type,
indicates the applicable controller,
indicates the cable length, and
indicates the option(s).
Common Specifications
Option
Name
Key-slot option (output shaft)
Home limit switch
Model
number
K
L
Reference page
Positioning
repeatability
Common
Specifications
Speed reducer
Allowable dynamic load moment
Mass
Applicable controller
Cable length (Note 2)
Ambient operating temperature/humidity
Notes
Refer to the diagram below
Refer to the diagram below Standard feature
* The home limit switch (L) is standard feature of the RS Series.
±0.028 degree
Harmonic drive
9.8 N•m
2.0 kg
T1: XSEL-J/K T2: XSEL-P/Q, SSEL, SCON
N: None, S: 3m, M: 5m, X: Specified length
0 to 40°C, 85%RH (non-condensing)
Diagram
2D
CAD
64.5
29.5
CAD drawings
are available for
download from
our website.
6
5X5 key
29
Key-slot shaft dimension
4-9 drilled
8.5
25
50
101.5
Cable joint
connector *1
11
ø14h7
20
112
11
56
ø14h7
90
58
56
23
29.5
Home limit switch
25
160
22
(300)
2-ø8H7, reamed depth 10
(from the opposite side)
*1
Connect the motor cable, encoder cable, and limit
switch cable. Refer to P. RS-4 & RS-5 for the cables.
Applicable Controller Specifications
Applicable Maximum number Connectable
Controller of controlled axes encoder type
X-SEL-P/Q
6 axes
X-SEL-J/K
4 axes
SSEL
2 axes
SCON
1 axis
Absolute/
incremental
Operating
method
Power-supply Reference
voltage
page
Single/threephase 200 VAC
(Note 1)
The load inertia is to be calculated based on the application
conditions. The calculated load inertia is not to exceed the
actuator’s load inertia. (Please see P. RS-3 for further details.)
Single-phase
100/200 VAC
(Note 2)
The maximum cable length is 30 m. Specify a desired length
in meters. (Example. X08 = 8 m)
Program
Positioner pulse
train control
RS-30
RS-1
RS-60
Model
Specification
Items
RS
Series
Single-axis robot Medium size rotary type 60W
60
Encoder type
Motor type
A:Absolute specification
I: Incremental specification
60: 60W
Speed reduction ratio Movement range Applicable controller Cable length
50: 1/50
100: 1/100
360: 360 degrees
T1:XSEL-J/K
T2:SCON
SSEL
XSEL-P/Q
Options
N:None
Refer to the options
S :3m
table below.
M: 5m
X: Specified length
Model Number/Specification
RSRS-
Model number
Encoder
type
Motor
output
(W)
Speed
reduction
ratio
Movement
range
(degree)
Speed
(degree/s)
Load inertia (Note1)
(kg•m2)
Rated torque
(N•m)
- 60-50-360- - - - L
- 60-100-360- - - - L
Absolute
Incremental
60
1/50
1/100
0~360
1~360
1~180
0.108
0.421
5.58
11.1
* In the above model numbers, indicates the encoder type,
* If higher torque is needed, custom order can be arranged.
indicates the applicable controller,
indicates the cable length, and
indicates the option(s).
Common Specifications
Option
Model
number
K
L
Name
Key-slot option (output shaft)
Home limit switch
Reference page
Notes
Refer to the diagram below
Refer to the diagram below Standard feature
* The home limit switch (L) is standard feature of the RS Series.
Positioning
repeatability
Common
Specifications
Speed reducer
Allowable dynamic load moment
Mass
Applicable controller
Cable length (Note 2)
Ambient operating temperature/humidity
±0.028 degree
Harmonic drive
23.5 N•m
3.2 kg
T1: XSEL-J/K T2: XSEL-P/Q, SSEL, SCON
N: None, S: 3m, M: 5m, X: Specified length
0 to 40°C, 85%RH (non-condensing)
Diagram
2D
CAD
39
CAD drawings
are available for
download from
our website.
6
38
6X6 key
83
Key-slot shaft dimension
11.5
4-9 drilled
60
126.5
30
Cable joint
connector *1
11
ø20h7
20
112
90
11
56
76
ø20h7
56
28
39
Home limit switch
30
22
(300)
198
2-ø8H7, reamed depth 10
(from the opposite side)
*1
Connect the motor cable, encoder cable, and limit
switch cable. Refer to P. RS-4 & RS-5 for the cables.
Applicable Controller Specifications
Applicable Maximum number Connectable
Controller of controlled axes encoder type
X-SEL-P/Q
RS-2
6 axes
X-SEL-J/K
4 axes
SSEL
2 axes
SCON
1 axis
RS-60
Operating
method
Absolute/
incremental
Power-supply Reference
voltage
page
Single/threephase 200 VAC
(Note 1)
The load inertia is to be calculated based on the application
conditions. The calculated load inertia is not to exceed the
actuator’s load inertia. (Please see P. RS-3 for further details.)
Single-phase
100/200 VAC
(Note 2)
The maximum cable length is 30 m. Specify a desired length
in meters. (Example. X08 = 8 m)
Program
Positioner pulse
train control
Technical Reference
Rotary Shaft (RS Series ) Selection Guide
For selecting the right RS Series model for your particular application, check the following points:
● Speed and Load Inertia
First, determine the actuator speed required in your application. Second,
determine the load inertia based on the shape and the weight of the arm,
chuck, or other end-effector to be attached to the rotating axis of your RS
Series rotary actuator. Third, refer to the table below and select an actuator
model with a larger load inertia than that required in your system.
RS-30W
Model
1/50
360
0.058
(0.59)
Speed Reduction Ratio
Rated Speed (degree/s)
Load Inertia kg·m2 (kgfcm-s2)
RS-60W
1/50
360
0.11
(1.1)
1/100
180
0.23
(2.35)
1/100
180
0.42
(4.3)
● Load Capacity and Load Inertia of the Motor
Load inertia is determined by the weight and the shape of the body, and is expressed as J=∫ r2dM. The load inertia of a simple shaped body is expressed as J=MK2.
In a rotational motion, when torque is applied to a body which has
a load inertia, angular acceleration is generated. Therefore, the load
capacity of a rotary actuator is expressed in terms of load inertia.
With the RS Series rotary actuators, a rotating force is applied to the payload
which causes it to spin around. This rotating force is expressed as torque. Torque
is also called the moment of force. In linear motion, when force is applied to a
weight (inertia), acceleration is generated in the direction of the force.
F=M•a
.
F : Force
N (kgf )
M : Weight (kg)
a : Acceleration (cm/s2)
T=J•ω T : Torque N·m (kgf-cm)
J : Load Inertia kg·m2 (kgfcm-s2)
.
ω : Angular Acceleration (rad/s2)
● Determining the Load Inertia of a Typical Shaped Body
J : Load Inertia (kg·m2)
M : Load Weight (kg)
r, a, a1, a2, b : Distance (m)
Cylinder (includes Thin Circular Plate)
Thin Rectangle Plate (Rectangular Parallelepiped)
Thin Rectangle (Rectangular Parallelepiped)
Rotating axis is at the center of the axis.
Rotating axis goes through the center of gravity
of the plate, and is perpendicular to the axis.
RS Series Lineup
Rotating axis goes through a point on the plate,
which is perpendicular to the axis.
RS-30W
RS-60W
● Guidelines for Rotary Actuator Model Selection
To select the right RS Series actuator for your application, consider the position of the payload to be attached to the output shaft of the actuator. Refer to the model selection guidelines below:
A. Payload is centered and located directly below the actuator.
Weight of circular plate (kg)
50
Weight of circular plate (kg)
50
40
40
RS−60
RS−30
30
r
(Radius)
20
10
10
0
10
0
20
30
40
Radius of circular plate (cm)
<Reduction Ratio 1/50>
RS−30
20
20
30
40
Radius of circular plate (cm)
<Reduction Ratio 1/100>
RS−60
20
RS−60
(Load)
15
r
(Offset distance)
10
Payload weight (kg)
25
Payload weight (kg)
25
RS−60
30
20
B. Payload is offset from the rotating axis shaft of the actuator.
RS−30
10
10
5
5
0
10
20
0
30
40
Offset distance (cm)
<Reduction Ratio 1/50>
RS−30
15
10
20
30
40
Offset distance (cm)
<Reduction Ratio 1/100>
Technical Reference
RS-3
Spare Parts
Motor Cable / Encoder Cable
These are joint cables to connect the actuator cable joint connector and the controller.
There are two kinds of cables; a motor cable for the motor power, and an encoder cable for the encoder signals.
Also, when you use the cable with a cable track, please use the robot cable which is heavy-duty and has excellent bending resistance. (*)
(*) For motor/encoder cables for single-axis robots, all the standard cables are robot cables.
Motor cable (for XSEL-J/K/P/Q, SSEL, SCON)
Model:
CB-X-MA
*  is the cable length (L); supports up to 30m.
Example: 080 = 8m
L
(20)
(ø9)
(21)
(16)
1
(41)
(18)
4
(10)
1
(Front view)
4
Controller side
(Front view)
Mechanical side
Minimum bend radius R: r = 51mm or larger (for movable use)
Wire Color Signal No.
Green PE
1
Red U
2
0.75sq
3
White V
4
Black W
No. Signal Color Wire
1
U Red
2
V White 0.75sq
3
W Black (crimped)
4
PE Green
Encoder cable (for XSEL-J/K)
Model:
CB-X-PA
(42)
*  is the cable length (L); supports up to 30m.
Example: 080 = 8m
(14)
L
(8)
Wire Color Signal No.
—
—
1
—
—
2
—
3
—
—
4
—
—
—
5
—
—
6
0.15sq Blue SD
7
8
(crimped) Orange SD
Black BAT+ 9
Yellow BAT- 10
Green VCC 11
Brown GND 12
Gray BK- 13
Red BK+ 14
— 15
—
The shield is clamped to the hood
1
(25)
(36.8)
(ø8)
(36)
(16)
9
(Front view)
Controller side
(Front view)
Mechanical side
Minimum bend radius R: r = 44mm or larger (for movable use)
No. Signal Color Wire
1 BAT+ Black
2 BAT- Yellow
3
SD Blue
4
SD Orange 0.15sq
5 VCC Green
(crimped)
6 GND Brown
7
FG Ground
8
BK- Gray
9 BK+ Red
Braided ground & shield wire
Limit switch cable (for XSEL-J/K)
CB-X-LC
(18)
L
(12)
(12)
(8)
1
(18)
(22)
(ø6)
1
*  is the cable length (L); supports up to 30m.
Example: 080 = 8m
(30)
Model:
(Front view) 6
6
Controller side
(Front view)
Mechanical side
Wire
Minimum bend radius R: r = 33mm or larger (for movable use)
Color
Light Blue
Pink
Light Green
AWG24
Orange
Gray
1B/Light Blue
Signal No.
24VOUT 6
N
5
LS
4
CREEP 3
OT
2
RSV
1
Note) 1B indicates one black dot mark.
RS-4
Spare Parts
No. Signal
Color
Wire
1 24VOUT Light Blue
N
2
Pink
LS
3
Light Green AWG24
(crimped)
4 CREEP
Orange
OT
5
Gray
RSV 1B/Light Blue
6
Spare Parts
Encoder cable (for XSEL-P/Q, SSEL, SCON)
Model:
CB-X1-PA
(41)
*  is the cable length (L); supports up to 30m.
Example: 080 = 8m
(14)
L
Wire
Color
—
—
—
—
1
—
14
1
—
—
26
13
—
9
—
(Front
view)
(Front view)
—
Controller side
Mechanical side
—
Plug housing: XMP-09V (Nichiatsu)
—
AWG26
Socket contact: BXA-001T-P0.6 (Nichiatsu) x 9
—
Retainer: XMS-09V (Nichiatsu)
—
(soldered)
—
—
—
Orange
Green
Purple
Gray
Red
Minimum bend radius R: r = 44mm or larger (for movable use)
Black
Blue
Yellow
—
(8)
(25)
(37)
(ø8)
(13)
Signal
—
—
E24V
OV
LS
CREEP
OT
RSV
—
—
—
A+
AB+
BZ+
ZSRD+
SRDBAT+
BATVCC
GND
BKRBKR+
—
No.
10
11
12
13
26
25
24
23
9
18
19
1
2
3
4
5
6
7
8
14
15
16
17
20
21
22
The shield is clamped to the hood
No.
1
2
3
4
5
6
7
8
9
Signal Color
Wire
BAT+ Purple
Gray
BATOrange
SD
Green AWG26
SD
Red (crimped)
VCC
Black
GND
Ground
FG
Blue
BKYellow
BK+
Braided ground & shield wire
Encoder Cable (for XSEL-P/Q, SSEL, SCON, and LS equipped connection)
Model:
CB-X1-PLA
(41)
*  is the cable length (L); supports up to 30m.
Example: 080 = 8m
L
(14)
L S side
(8)
14
1
26
13
(ø8)
(18)
1
61
(25)
(37)
(13)
9
(Front view)
Controller side
(Front view)
Mechanical side
Minimum bend radius R: r = 54mm or larger (for movable use)
Wire
Signal
Color
—
—
—
—
E24V
White/Blue
OV
White/Yellow
LS
White/Red
White/Black CREEP
OT
White/Purple
RSV
White/Gray
—
—
—
—
—
—
A+
—
AWG26
A—
(soldered)
B+
—
B—
Z+
—
Z—
SRD+
Orange
SRDGreen
BAT+
Purple
BATGray
VCC
Red
GND
Black
BKRBlue
BKR+
Yellow
—
—
The shield is clamped to the hood
No.
10
11
12
13
26
25
24
23
9
18
19
1
2
3
4
5
6
7
8
14
15
16
17
20
21
22
No.
1
2
3
4
5
6
Signal
E24V
OV
LS
CREEP
OT
RSV
No.
1
2
3
4
5
6
7
8
9
Signal
BAT+
BATSD
SD
VCC
GND
FG
BKBK+
Color
Wire
White/Blue
White/Yellow
AWG26
White/Red
White/Black (crimped)
White/Purple
White/Gray
Color
Purple
Gray
Orange
Green
Red
Black
Ground
Blue
Yellow
Wire
AWG26
(crimped)
Braided ground & shield wire
(White/Blue in cable color indicates the colors of line/insulator.)
Spare Parts
RS-5