Gyems RMD-X User manual

光毓机电 RMD-X8
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RMD-X User Manual For Motion Actuator
CATALOGUE
1 PRODUCT INTRODUCTION .................................................................................................. 3
1.1 NAMING RULES ...................................................................................................................................................... 3
1.2 FEATURES ................................................................................................................................................................ 3
1.2.1Control Mode ............................................................................................................................................. 3
1.2.2Communication Control Mode ........................................................................................................... 3
1.2.3Encoder Feedback .................................................................................................................................... 4
1.2.4Technical Highlights................................................................................................................................. 4
1.2.5 IP Level ........................................................................................................................................................ 4
2 INSTALLATION AND PRECAUTIONS ................................................................................... 4
2.1 INSTALLATION DIMENSIONS ................................................................................................................................. 4
2.2 ENVIRONMENTAL CONDITIONS ........................................................................................................................... 6
3 ELECTRICAL PARAMETERS ................................................................................................... 8
3.1 DETAILED PARAMETERS......................................................................................................................................... 8
3.2 WORKING RANGE .................................................................................................................................................. 9

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3.3 HARDWARE CONNECTION .................................................................................................................................... 9
3.3.1 Interface Specification ......................................................................................................................... 9
3.3.2 Interface Debugging ......................................................................................................................... 10
3.3.3 Can Interface 1 ........................................................................................................................................ 10
3.3.4 Can Interface 2 ........................................................................................................................................ 10
3.3.5 Power Interface .................................................................................................................................... 11
3.4 MULTILEVEL CONNECTION LINE ....................................................................................................................... 11
3.5 DIAL CODE SWITCH SETTINGS .......................................................................................................................... 11
3.5.1 Can Bus Device Address Settings（Dial Code Switch 1-3 Bits） ................................. 11
3.5.2
Bus Terminal Resistance Setting
（
4th Dial Code Switch
）
.................................................. 12
4 RMD-L CONFIGINSTALLATION AND PARAMETER SETTING .......................................... 13
4.1 RMD-L CONFIG BRIEF INTRODUCTION ........................................................................................................... 13
4.1.1 RMD-L config
Installation
............................................................................................................... 13
4.1.2 Connection Tools and Driver Installation ................................................................................ 13
4.2 HARDWARE CONNECTION ................................................................................................................................. 14
4.3 PARAMETER SETTING .......................................................................................................................................... 15
4.3.1 Software Connection ......................................................................................................................... 15
4.3.2 Basis Setting .......................................................................................................................................... 15
4.3.3 Encoder Setting ................................................................................................................................... 17
4.4 PRODUCT INFORMATION ................................................................................................................................... 18
4.5 TEST FUNCTION ................................................................................................................................................. 19
5. COMMUNICATION PROTOCOL......................................................................................... 21
5.1 COMMUNICATION PROTOCOL .......................................................................................................................... 21
5.2 RS485 COMMUNICATION PROTOCOL ............................................................................................................ 21

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1 Product Introduction
RMD-X8 motion actuator is a highly integrated power output module. Integrated
with three major functional components of high performance FOC driver, high
power density brushless motor and high precision lightweight reducer. Break
through the traditional distributed design, make the structure of the terminal
product design more concise, product internal wiring more convenient, the
performance of the whole machine more stable.
1.1 Naming Rules
1.2 Features
Programmable, integrated servo motor.
Operating dc voltage 12-48v.
1.2.1 Control Mode
Torque Mode
Speed Mode
Position Mode
1.2.2 Communication Control Mode
RS485 Communication Mode Control
CAN Communication Mode Control

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1.2.3 Encoder Feedback
14-bit Magnetic encoder（Absolute Value）
18-bit Magnetic encoder（Absolute Value）
1.2.4 Technical Highlights
A. Servo control,
B. High positioning accuracy,
C. High speed and high response,
D. Energy saving and high efficient,
E. Multi-control mode,
F. Smooth and low noise,
G. Compact structure.
1.2.5 IP Level
IP54
2 Installation and Precautions
2.1 Installation Dimensions

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Attention
The motor input/output interface needs to keep the connection space, > 20mm is
recommended.
The length of mounting screws shall meet the requirements of the drawings. If too long
it will damage the internal structure. If too short may become loose.
Due to integrated reducer internal, the lubricating grease of the specified model 5-6ml
needs to be refilled every 1000H.
Axial load cannot be greater than 300N, radial load cannot be greater than 1000N.
Warning:
Please carefully read and follow the requirements in this manual, which will help you
set up and operate the drive correctly and achieve optimal drive performance.
Please install the equipment in a dry position, and should be non-flammable
surroundings
Please put in the place without grinding fluid, oil mist, iron powder, chip, etc.
Please put in well ventilated, dry and dust-free place.
Please put in non-vibration place.
Do not use gasoline, diluents, alcohol, acid and alkaline detergents to avoid
discoloration or breakage.
Requirements for the use of motion actuators:
Please ensure that this document is used by design engineers, installers, and those man
responsible for debugging the product.
Be sure to comply with the requirements of this document, as well as documentation
for other components and modules.

Please consider the legal requirements applicable to the place of using, including
—Regulations and standards
—Test organization and insurance company regulations
—National specification


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Transport and storage conditions
Please ensure that products are not subject to more than permitted burdens during
transportation and storage, including
—Mechanical load
—Unacceptable temperature
—Moisture
—Corrosive gas
Please use the original packing for storage and transportation. The original packing
provides enough protection to avoid regular problems.
Technical requirements
General conditions for correct and safe use of products must be complied with:
The technical requirements for the connection and environment conditions specified in
the product technical data and for all other connected components. Only if the product
meets the requirements of motor specification, it is allowed to operate the product in
accordance with the relevant safety procedures.
Please follow the instructions and warnings in this document.
Operator requirements
This product can only be operated by engineers who are familiar with the following
rules:
—Familiar with installation and operation of electrical control system.
—Familiar with applicable provisions for operational safety engineering systems.
—Familiar with applicable provisions for accident protection and occupational safety.
—Familiar with product document on provisions.
2.2 Environmental Conditions
Environment temperature -20℃～ 50 ℃（Not freeze）.
Environmental humidity5～95%RH （Without condensation）.
Storage temperature 10 ℃～ 70 ℃（Not freeze）.
Storage humidity 5～95%RH（Without condensation）.
Installation requirements no insolation, corrosive gas and fuel dust.
Altitude below 1000m.
The vibration is 10 ~ 60Hz below 5.9 m/s 2.

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Attention
Motor fixing screws must be locked;
Cables must not be overstretched;
Motor shaft and equipment shaft must be installed in good alignment;
Avoid any foreign bodies entering the servo drive. Conductive or combustible foreign
bodies such as screws and metal chips entering the servo drive may cause fire and
electric shock.

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3 Electrical Parameters
3.1 Detailed Parameters

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3.2 Working Range
3.3 Hardware Connection
3.3.1 Interface Specification
Debugging interface：Connector type 51146-1.25mm-2p (Brand：molex)
Level range:0-3.3v
Can interface：Connector type SM02-GHS-TB (Brand：JST)
Level range:0-5v
Power interface：Connector type XT30-U (Brand：艾迈斯)

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3.3.2 Interface Debugging
3.3.3 Can interface 1
3.3.4 Can interface 2
Note:
The CAN1 interface and CAN2 interface are connected in parallel and have the same
functions.