Rotary Type - RF Stepping Motor | Single Axis Robot

Rotary Type - RF
Max 20,480
pulse per
and Compact

Rotary type (RF)
Universality, energy-saving and low impact achieved with multi-position positioning unique to motorized devicesbr
Compact rotary axis type. High-precision bearing specifications are also available.



01 New control method combines the best features of servo and stepping motors!

Stepping motors provide great features such as low cost , yet they have a drastic drop in torque at high speeds and heavy current consumption when stopped. The TRANSERVO by YAMAHA eliminates all these problems by adopting an innovative vector control method. In effect, the TRANSERVO delivers the same functions of a servo motor while using a lower cost stepping motor.

Energy saver!

Control is basically the same as a servomotor so power consumption is kept to a minimum, which saves energy and helps cut down on CO 2 emissions.

Perfect stop!

Also perfect stop can be achieved as the same as with ordinary stepping motors so choose this setting if needed.


02 Environmentally rugged resolver provides closed loop control

The resolver used for detecting the motor position is the same reliable resolver as used in our high-level robots. Resolver offer stable position detection even in harsh environments containing dust or oil, etc. Addtionally the resolution of the resolver is 20480 pulses per revolution.

rugged resolver

The resolver is a magnetic position detector. Its structure is simple with no electronic component and no optical elements. One great feature compared to ordinary optical encoders is that there are very few points where a failure might occur. Vast quantities of resolvers are used in fields like aviation and the automobile industry where reliability is essential and also because they are highly tough in harsh environments with a low failure rate.

Rotary Type

01Rotation axis model, first in TRANSERVO series

  • Rotation axis model, first in TRANSERVO series
  • Thin and compact
  • Can be secured from the top or bottom surface.
  • Hollow hole, through which the tool wiring is passed, is prepared.
  • Workpiece can be attached easily.
  • Motor is built-into the body to achieve the space-saving.
  • Standard model or high rigidity model can be selected.
Belt Type


Type RF02 RF03 RF04
Catalog (Dimensions)
Model Standard/High precision Standard/High precision Standard/High precision
Motor 20□Step motor 28□Step motor 42□Step motor
Resolution 4096 4096 20480
Torque type Standard High torque Standard High torque Standard High torque
Rotating torque (N・m) 0.22 0.32 0.8 1.2 6.6 10
Max. pushing torque (N・m) 0.11 0.16 0.4 0.6 3.3 5
Repeated positioning accuracy (°)*1 +/-0.05 +/-0.05 +/-0.05
Backlash (°) +/-0.5 +/-0.5 +/-0.5
Drive method Special warm gear + belt Special warm gear + belt Special warm gear + belt
Max. moment of inertia (kg・m2) 0.0018 0.004 0.0012 0.0027 0.04 0.1
Maximum speed (°/sec)*2 420 280 420 280 420 280
Rotation range (°) 310(RF02-N)
Cable length (m) Standard:1 / Option:3,5,10
*1. Positioning repeatability in one direction.
*2. The maximum speed may vary depending on the moment of inertia.

Rotary Type - RF | Stepping Motor | Single Axis Robot

belt type