Kollmorgen RGM 14 User Manual Download | Manualshive

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2.1 General

2.1.1 About this manual

This manual describes the RGM robotic joint modules. Each RGM combines a frameless torque motor, low
voltage DC drive, brake, strain wave gear, dual feedback system, and a thermal sensor in a single joint
assembly to be used in a robot configuration. Please review the entire manual which includes information on:

l

Power

l

Speed and Torque Ratings

l

Duty Cycle

l

Rotation Limits

l

Thermal Ratings and Monitoring Thermistor

l

Brake Function

l

Installation and Mounting

l

Rear Cover Removal and Daisy Chaining

l

Wiring

l

RGM EWV

l

CANopen

l

End Effectors

RGM User Manual | 2 Introduction to RGM

Kollmorgen | kdn.Kollmorgen.com | February 2019

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Summary of Contents for RGM 14

Page 1: ...RGM User Manual Edition B February 2019 Part Number 903 800006 00 Original Documentation For safe and proper use follow these instructions Keep them for future reference ...

Page 2: ...sed on Frequency Response Patents referring to fieldbus functions are listed in the matching fieldbus manual Technical changes which improve the performance of the device may be made without prior notice Printed in the United States of America This document is the intellectual property of Kollmorgen All rights reserved No part of this work may be reproduced in any form by photocopying microfilm or...

Page 3: ...This page intentionally left blank RGM User Manual 3 Kollmorgen kdn Kollmorgen com February 2019 ...

Page 4: ...1 2 Manually Releasing the Brake 17 12 Bolting Joint to Joint Mounting Screws 19 13 Environmental Requirements 20 14 IP Rating 21 15 Joint to Joint Plastic Rings Rubber Bands 22 16 Rear Cover Removal Daisy Chain Connections 24 17 Daisy Chain Wire Sizes Colors and Functions 27 18 RGM Workbench Software Drive Commissioning 28 19 Serial Cable Part Number 29 20 CANopen Termination 30 21 Brake Initiali...

Page 5: ...2 Introduction to RGM 2 1 General 6 2 1 1 About this manual 6 2 2 Safety 7 2 2 1 You should pay attention to this 7 2 3 Package 7 2 3 1 Delivery Package 7 2 4 Important Brake Usage Guidelines 8 5 Kollmorgen kdn Kollmorgen com February 2019 ...

Page 6: ...nt assembly to be used in a robot configuration Please review the entire manual which includes information on l Power l Speed and Torque Ratings l Duty Cycle l Rotation Limits l Thermal Ratings and Monitoring Thermistor l Brake Function l Installation and Mounting l Rear Cover Removal and Daisy Chaining l Wiring l RGM EWV l CANopen l End Effectors RGM User Manual 2 Introduction to RGM Kollmorgen k...

Page 7: ...le or damage to property The operator must therefore ensure that all persons entrusted to work on the motor have read and understood the manual and that the safety notices in this manual are observed Pay attention to the technical data Adhere to the technical data and the specifications on connection conditions rating plate and documentation If permissible voltage values or current values are exce...

Page 8: ...To avoid accidental damage it is recommended during development activities that users configure the fault event actions using RGM Workbench to NONE or set the range where the event is triggered to a value that is well outside normal operation Fault event actions can be reset to operational values after the development process is complete and the risk of accidental brake damage is minimized The use...

Page 9: ...ndling a regenerative load i e a regen resistor in the supply is turned on if the DC bus exceeds 52VDC As a reference for a 6 axis 6 DOF robot a switching DC supply with approximately 12 Amps 600W capacity is suggested Although the table below shows currents that individual joint may draw momentarily not all joints will draw these values simultaneously during typical robot motions Therefore it is ...

Page 10: ...table below See Duty Cycle to determine RMS continuous speed and continuous torque capability based on the joint duty cycle percentage in the intended application Max Speed RPM RGM14 35 RGM17 30 RGM20 25 RGM25 20 RGM User Manual 4 Maximum Speed Kollmorgen kdn Kollmorgen com February 2019 10 ...

Page 11: ...gs 5 Torque Ratings Maximum instantaneous acceleration torque capability for each RGM size is listed in the table below Max Intermittent Torque Nm RGM14 34 RGM17 66 RGM20 102 RGM25 194 11 Kollmorgen kdn Kollmorgen com February 2019 ...

Page 12: ...tinuous Torque Capability Nm 负载周期 RPM 25 50 75 100 5 49 49 49 49 10 49 49 49 44 15 49 49 45 5 40 20 49 49 40 9 35 4 25 47 42 7 34 9 30 2 RGM17 Continuous Torque Capability Nm 负载周期 RPM 25 50 75 100 5 61 61 61 60 7 10 61 61 61 56 4 15 61 61 60 3 52 2 20 61 57 49 4 42 8 RGM20 Continuous Torque Capability Nm 负载周期 RPM 25 50 75 100 5 133 133 128 111 10 133 118 96 6 83 7 15 79 8 56 4 46 1 39 9 RGM25 Cont...

Page 13: ...to a robot with multiple axes degrees of freedom and the daisy chain wiring in the center of the output plate is used to connect joint to joint or joint to arm the maximum rotation in either direction is 360 mechanical If this angular limit is exceeded connecting wires may be damaged and the warranty will be voided 13 Kollmorgen kdn Kollmorgen com February 2019 ...

Page 14: ...curacy Repeatability Accuracy of RGM output plate absolute encoder is 0 1 mechanical Repeatability is 0 001 mechanical RGM User Manual 8 Accuracy Repeatability Kollmorgen kdn Kollmorgen com February 2019 14 ...

Page 15: ...ould be expected and duty cycles should be adjusted lower than shown in Duty Cycle to prevent exceeding 50 C case temperature of the gearing Otherwise grease may be degraded and premature failure of the gearing may occur If RGM is used outside the recommended thermal rating of the gearing RGM warranty may be voided RGM is equipped with an internal linear thermistor on the gearing case to assist cu...

Page 16: ...ve analog input 4 is the gear case 50 C max rating thermistor It is the user s responsibility to include provisions in the control system to monitor the thermistor at frequent intervals and take actions such as reducing speed of motion or reducing duty cycle to keep gear case temperature within rated limits Thermistor CID Sub Index Data Gear 2206h 0 C 16 bit RGM User Manual 10 Monitoring Thermisto...

Page 17: ...he same manner when the RGM drive is disabled by the user s controller power is removed from the coil and the brake will mechanically engage with an audible click 11 2 Manually Releasing the Brake If the user needs to manually rotate the output plate of the RGM unit when no power is available to electrically release the brake it is possible to manually release it Remove the 3 screws and the blue r...

Page 18: ...Figure 2 Push to release the RGM s brake RGM User Manual 11 Brake Function Manually Releasing the Brake Kollmorgen kdn Kollmorgen com February 2019 18 ...

Page 19: ...n the table below Class 12 9 steel socket head cap screws are suggested with a corrosion resistant coating such as Zinc Stainless steel screws are not recommended due to their reduced strength Model Fastener Size Torque Nm RGM14 M3 x 8mm long SHCS 1 81 RGM17 M3 x 6mm long SHCS 1 81 RGM20 M3 x 8mm long SHCS 1 81 RGM25 M4 x 10mm long SHCS 4 29 RGM Mounting Screws The application of removable thread ...

Page 20: ...tion cycle accordingly to protect the gearing RGM is designed for stationary mounting in a general indoor industrial environment RGM should not be used in applications where excessive dust high shock and vibration vehicles etc corrosive substances explosive materials or operation in a vacuum are required See IP Rating for moisture resistance and IP rating details Consult factory for non standard a...

Page 21: ...rements which are available for purchase from Kollmorgen as an accesory RGMXX Customer Parts Kit The customer has responsibility for assuring proper fit of the rings and bands when assembled into the application and for properly installing and confirming a seal at the rear cover if it has been removed The customer s hardware design must include proper sealing provisions fit o ring gasket etc at th...

Page 22: ... units together place the flexible band over the housing behind the output plate as shown in Figure 3 Figure 3 Position the band at the start of the process 2 Then place the plastic ring into the housing pilot at the output plate end as shown below in Figure 4 Figure 4 Placing the plastic ring into the housing pilot 3 Confirm that the plastic ring is pushed inward until it is flush with the housin...

Page 23: ...t slide the plastic ring outward so it covers the screws and touches the stationary flange of the second RGM unit Figure 6 right Figure 6 Units are bolted together left and the plastic ring is set to cover the screws right 5 Then move the flexible seal band so it holds the plastic ring in position Figure 7 Figure 7 Move the flexible seal band so it holds the plastic ring in place 23 Kollmorgen kdn...

Page 24: ...re must be taken to avoid damaging these wires 1 Remove the 3 screws and blue rear cover as shown in Figure 8 Figure 8 Remove the blue cover 2 Route the incoming wires through the upper access hole in the housing as shown in Figure 9 Care must be taken to route them cleanly around the motor power wires that attach to the drive PCB in this same area Figure 9 Routing wires between joints 3 As the tw...

Page 25: ...ure the smooth side of the crimped ferrule is facing the white spring side of the connector slot when pushing it in See Board Layout p 34 for a diagram of the PCB Figure 11 Power and CANopen connections 5 After insertion give the wires a light tug to confirm they are properly inserted If the wire needs to be removed from the poke in connector push downward on the white spring por tion of the conne...

Page 26: ...ins PCB silkscreen note positions for W white CAN high and B blue CAN low To remove pull straight up on the body of the black plastic connector housing Be sure wires are arranged to avoid accidentally pinching them when the cover is re installed RGM User Manual 16 Rear Cover Removal Daisy Chain Connections Kollmorgen kdn Kollmorgen com February 2019 26 ...

Page 27: ...ize RGM14 RGM17 RGM20 RGM25 Red 48 VDC Positive 20 AWG 18 AWG Black 48 VDC Negative 20 AWG 18 AWG White CANopen High 24AWG Blue CANopen Low 24AWG CANopen connector housing TE part number 7 87499 2 CANopen connector contact TE part number 102128 1 contacts and TE crimp tool 91517 1 27 Kollmorgen kdn Kollmorgen com February 2019 ...

Page 28: ...Drive Commissioning Please refer to separate document RGM Workbench User Manual for software and interface instructions RGM User Manual 18 RGM Workbench Software Drive Commissioning Kollmorgen kdn Kollmorgen com February 2019 28 ...

Page 29: ...RGM User Manual 19 Serial Cable Part Number 19 Serial Cable Part Number A serial communication cable part 969745 is available for purchase from Kollmorgen 29 Kollmorgen kdn Kollmorgen com February 2019 ...

Page 30: ...stor at the source master and 1 termination resistor at the final drive at the end of the network RGM drive PCB is equipped with a jumper resistor at connector location P2 Placing the jumper across both posts of connector P2 puts the termination resistor into the circuit Removing the jumper or moving it to a position that only contacts one of the P2 posts will remove the termination resistor from ...

Page 31: ...is activated with a solenoid Power must be applied to the solenoid to release the brake Once the solenoid is energized to release the brake the controller needs to move shake the joint back and forth to ensure the brake pin is not hung on the brake wheel The recommended move distance is 0 5 degrees of gear motion T move Degree Deg sec Deg sec2 0 05 1 40 1600 0 1 1 20 400 0 2 1 10 100 Typical Motio...

Page 32: ...or dissipated by friction It is possible under certain conditions that regenerative action will raise the bus voltage above the RGM drives rated maximum voltage If this occurs the drives will shut down with an over voltage fault If regeneration does shut down the drive the user will either need to modify the application by slowing down the process or use a power supply with regeneration capability...

Page 33: ...bsite If the end effector will rely upon the RGM daisy chain wiring for DC power then motion of the output plate must be restricted to 360 If end effector power will be provided by another wiring path and the RGM daisy chain will not be used for this purpose or connected to the end effector then continuous rotation of the RGM output plate is possible Customer is responsible for communication and I...

Page 34: ...24 Board Layout 24 1 CANopen RGM User Manual 24 Board Layout Kollmorgen kdn Kollmorgen com February 2019 34 ...

Page 35: ...RGM User Manual 24 Board Layout 24 2 EtherCAT 35 Kollmorgen kdn Kollmorgen com February 2019 ...

Page 36: ...25 Data Sheets 25 1 RGM14 37 25 2 RGM17 38 25 3 RGM20 39 25 4 RGM25 40 RGM User Manual 25 Data Sheets Kollmorgen kdn Kollmorgen com February 2019 36 ...

Page 37: ...er Resolution 19 bits 0 0007 Mechanical Accuracy 0 1 Mechanical Repeatability 0 001 Mechanical Communication Fieldbus CANopen DS301 and DS402 Center Shaft Wiring 4 wires Red Black White Blue 20 AWG 48VDC 20 AWG 48VDC 24 AWG CANopen high 24 AWG CANopen low Weight 1 48 kg IP Rating when properly installed per instructions IP54 Mounting Fasteners M3 x 8mm long class 12 9 socket head cap screw RGM14 S...

Page 38: ...ution 19 bits 0 0007 Mechanical Accuracy 0 1 Mechanical Repeatability 0 001 Mechanical Communication Fieldbus CANopen DS301 and DS402 Center Shaft Wiring 4 wires Red Black White Blue 20 AWG 48VDC 20 AWG 48VDC 24 AWG CANopen high 24 AWG CANopen low Weight 1 97 kg IP Rating when properly installed per instructions IP54 Mounting Fasteners M4 x 10mm long class 12 9 socket head cap screw RGM17 Specific...

Page 39: ... Temperature 50 C Absolute Encoder Resolution 19 bits 0 0007 Mechanical Accuracy 0 1 Mechanical Repeatability 0 001 Mechanical Communication Fieldbus CANopen DS301 and DS402 Center Shaft Wiring 4 wires Red Black White Blue 18 AWG 48VDC 18 AWG 48VDC 24 AWG CANopen high 24 AWG CANopen low Weight 2 56 kg IP Rating when properly installed per instructions IP54 Mounting Fasteners M3 x 8mm long class 12...

Page 40: ...ncoder Resolution 19 bits 0 0007 Mechanical Accuracy 0 1 Mechanical Repeatability 0 001 Mechanical Communication Fieldbus CANopen DS301 and DS402 Center Shaft Wiring 4 wires Red Black White Blue 18 AWG 48VDC 18 AWG 48VDC 24 AWG CANopen high 24 AWG CANopen low Weight 4 20 kg IP Rating when properly installed per instructions IP54 Mounting Fasteners M4 x 10mm long class 12 9 socket head cap screw RG...

Page 41: ... Effector 33 H Harmonic gearing 15 I IP54 21 22 J Joint seal kit 22 O Output plate 19 24 33 P Performance rating 20 R Rotation 13 S Screws mounting 19 Serial cable about 29 Speed 15 Speed max RPM 10 Speed RPM 12 T Temperature max 15 Thermal rating 15 Thermal sensitivity 15 Thermistors 16 20 41 Kollmorgen kdn Kollmorgen com February 2019 ...

Page 42: ...Torque 11 12 15 Torque tightening 19 V Voltage 9 W Wiring 27 Wiring daisy chain 13 24 Workbench 28 RGM User Manual 26 Index Kollmorgen kdn Kollmorgen com February 2019 42 ...

Page 43: ...base for answers get downloads and suggest improve ments North America Kollmorgen 203A West Rock Road Radford VA 24141 USA Web www Kollmorgen com Mail support Kollmorgen com Tel 1 540 633 3545 Fax 1 540 639 4162 Europe Kollmorgen Europe GmbH Pempelfurtstraße 1 40880 Ratingen Germany Web www Kollmorgen com Mail technik Kollmorgen com Tel 49 2102 9394 0 Fax 49 2102 9394 3155 South America Kollmorgen...

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