rozum robotics RDrive 60 User Manual Download Page 1 | Manualshive

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Summary of Contents for RDrive 60

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Page 2: ...e servo motors specifications of the RDrive 50 servo motor as well as its allowable radial and axial loads requirements and instructions on mechanical and electrical integration of the RDrive 50 servo motor instructions and recommendations on enabling motion control of RDrive servos maintenance transportation and storage recommendations WARNING SIGNS AND THEIR MEANINGS Below you can see the warnin...

Page 3: ...al loads 10 4 INTEGRATION INTO AN APPLICATION 10 4 1 Installation requirements 10 4 2 Installation procedure 11 4 2 1 Preparing for servo installation 11 4 2 2 Mechanical integration 11 4 2 3 CAN connection 12 4 2 3 1 General requirements 12 4 2 3 2 Connection diagrams 12 Connection for control based on CANOpen 12 Connection for control via API 13 4 2 4 Connecting to a power supply 13 4 2 4 1 Elec...

Page 4: ...OZUM ROBOTICS RDrive 60 servo motors Rev 5 valid from Q1 2019 Page 4 19 5 2 3 Setting new CAN IDs when connecting multiple servos 18 6 MAINTENANCE 18 7 TROUBLESHOOTING 18 8 TRANSPORTATION AND STORAGE 19 ...

Page 5: ...brushless alternating current AC motor comprising a rotor and a stator as well as a negative temperature coefficient NTC thermistor fitted into the stator winding 3 A hollow shaft which you can use for laying the cables to connect the servo to a machine 4 A strain wave gearhead that reduces rotation speed RPM and increases motor torque By design the RDrive servo motor also comprises a cable gland ...

Page 6: ...ign loads The set is customizable and can include the following see Ошибка Источник ссылки не найден an energy eater complete with a power supply cable a capacitor module comprising one or more capacitors attached to the input flange a USB CAN adapter a USB A Micro USB cable 1 m long a terminating resistor 120 Ohm a quick start cable set comprising a power supply cable 1 m long and a CAN cable 1 m...

Page 7: ...o and a PC If your PC runs Windows 8 or earlier versions of the operating system you will need to download and install a driver to be able to work with the CAN USB dongle For the downloading link and installation instructions go to the webpage https www st com en development tools stsw stm32102 html The dongle has two connectors Figure 1 3 1 for connecting the device to a CAN bus Molex 0022035045 ...

Page 8: ...igned controller and two encoders see Section 2 2 During servo operation the components of the system interact as described below The controller receives a control command from a control device and applies current to a frameless AC motor to produce motion with required parameters Two encoders monitor the absolute positions of the rotor and output shaft and send feedback to the controller The contr...

Page 9: ...ins performance electrical and mechanical specifications as well as dimensions of the RDrive 60 servo motor Table 3 1 Specifications of the RDrive 60 servo motor PERFORMANCE DATA Rated rotation speed 55 RPM RMS current 3 1 A Rated torque 39 N m Peak torque 54 N m Torque constant Kt at 20 C 86 mN m A Service life 35 000 hours ELECTRICAL DATA Rated power 225 W Supply voltage 48 V MECHANICAL DATA Mot...

Page 10: ...80 Allowable radial load Fr N 1 2 520 1 These data are valid for n 15 RPM and Llo 25 000 h where Llo is the operating life of the output bearing 2 These data are valid only provided the following conditions are met For Fa M 0 Fr 0 Fr M 0 Fa 0 where M is the tilting moment 4 INTEGRATION INTO AN APPLICATION 4 1 Installation requirements Magnetic sensitive objects such as banking cards pacemakers or ...

Page 11: ...or visible damages Using damaged servos is forbidden because it can result in unintended operation of the machine and endanger the operator 3 Clean the fitting surfaces with a lint free cloth and a suitable cleaning agent if needed and degrease them 4 2 2 Mechanical integration For mating dimensions and surfaces see the confirmation drawings available for downloading at https rozum com servomotors...

Page 12: ...se 150 300 Ohm resistors In a CAN to PC connection you have to provide only one resistor because one is already integrated into the USB CAN dongle included in the RDrive supply package The bus line cable must be a twisted pair cable with the lay length of 2 to 4 cm For the cross section of the bus line see Table 4 1 To ensure the baud rate required for your application LΣ should meet the specific ...

Page 13: ...LOW Figure 4 2 CAN to PC connection to control servos via API Before connecting make sure to solder the CAN cable leads into the Molex 0050375043 housing included in the USB CAN dongle supply package using the Molex 08 70 1039 pins also included in the supply package Figure 4 3 Connectors on the USB CAN dongle 4 2 4 Connecting to a power supply Before starting any wiring works make sure that no po...

Page 14: ...cess of the power supply voltage one or more capacitor to accumulate electric energy and supply to the servo compensating for short term consumption peaks due to inductive resistance Total capacitance requirement for a power supply circuit is 5 uF per 1 W of connected servo power To meet the safe and correct operation requirement you have two ways to proceed to order a servobox offered by Rozum Ro...

Page 15: ...are using make sure to meet the following electrical connection requirements The total circuit length from the power supply unit to any servo motor must not exceed 10 meters The L1 length must not be longer than 10 meters o When the total connected motor power is less than 250 W the cable cross section within the segment must be at least 1 00 mm2 o When the total connected motor power is less than...

Page 16: ... As soon as the connections are provided and the checks are completed as appropriate you can supply power to servo motors and enable motion control Before you proceed to enable motion control and operate a servo connected to a load it is advisable to perform its test run in accordance with instructions in Section 5 For a testing circuit you do not have to use capacitors or eaters 5 ENABLING MOTION...

Page 17: ...ne motor to the same CAN bus Accordingly before you proceed to enable control via API make sure to change the default CAN IDs of connected servos as described in Section 5 2 3 5 2 2 Software prerequisites Software prerequisites depend on the preferred coding technology and operating system C Linux OS Windows OS gcc MinGW compiler libpthread library make package Cygwin gcc MinGW compiler libpthread...

Page 18: ...ollowing Visual inspection of electrical connections for damages Checking screw connections and tightening the loosened ones Monitoring vibration and noise levels as well as heating during daily operation The above listed maintenance procedures are not mandatory It is up to the user to decide to follow the recommendations or not depending on the application specific conditions e g whether a servo ...

Page 19: ...nnel can perform repair works 8 TRANSPORTATION AND STORAGE For transporting the RDrive servo motor always use the original packaging In case you have no plans to put the servos into operation immediately upon delivery make sure to meet the following storage requirements Store servo motors in a dry dust and vibration free location The admissible storage temperature range from 5 C to 40 C The storag...

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