Gyems RMD-X User manual

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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.

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3.3.5 Power interface
*Pay attention to the power supply voltage range and power supply output.
*Pay attention to the anode and cathode of the power supply.
3.4 Multilevel connection line
3.5 Dial code switch Settings
3.5.1 Can bus device address Settings（Dial code switch
1st-3rd ）

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3.5.2 Bus terminal resistance setting（Dial code switch 4th）
*Dial code switch 4th ON mean bus terminal resistance (120 Ω) get through;
*In general, devices in the last stage of the can bus need terminal resistance（Dial code
switch 4th turns On）

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4 RMD-L config Installation And Parameter
Setting
4.1 RMD-L config Brief Introduction
RMD-L config is a PC debugging tool software developed by GYEMS, which can be used
on computers above win7. The operation interface is as follows:
4.1.1 RMD-L config Installation
RMD-L config installation is the same as the Windows universal application, just
double-click the icon and choose the default installation path.
RMD-L config Installation file download address：http://www.gyems.cn/support/download
4.1.2 Connection Tools and Driver Installation
RMD-X8 is designed with a debugging interface (UART port), which usually requires a USB
to UART tool (as shown in the figure below) to connect. The driver of this tool is installed

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before use.
Driver download address：http://www.gyems.cn/support/download
After the download is complete, unzip it and double-click to start the installation until it is
complete. Then insert the USB data cable, you can see whether the installation is
successful in the Windows device manager. The corresponding COM port can be found in
the figure below, indicating the installation is successful.
4.2 Hardware Connection
Power supply voltage adjust to 48v (the power supply with fixed 48v output is better).
Turn off the power button before connecting the motor, as shown in the following figure:

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Note:
Switch on the power supply after the connection. Do not plug the terminals with power.
4.3 Parameter setting
4.3.1 Software Connection
The motor driver and the software can be connected by USB to UART module.
The default baud rate is 115200 when the motor is driven out of the factory, and the
default ID is set by the dial-code switch, generally 1. Therefore, the Settings before the
connection of the software are as follows (COM is selected according to the actual
situation). Click the CONNECT button to CONNECT the device.
4.3.2 Basis Setting
In the Setting page, click the Read button to get the motor information.

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Driver Baudrate：Set the baud rate of the driver.
Shutdown Time：Set the shutdown time of the motor. If no control order is received
during this time, the power will be shut down; When set to 0, the motor will never be
turned off.
Angle：Angle loop control parameters. Kp and Ki modify the PI parameters of the
Angle loop, and Max Angle is used to limit the maximum rotation angle of the motor.
For example, when set to 3600, the maximum rotation angle of the motor is ±
3600°, namely positive and negative 10 turns.
Speed: Speed loop control parameter. Kp and Ki modify the PI parameters of the
Speed loop. Max Speed is used to limit the maximum rotation speed of the motor.
For example, when set to 720, the maximum angular speed of the motor is ±720°/s,
that is 2 cycles per second.
Current: torque loop control parameters. Kp and Ki modify the PI parameters of the
torque loop, and Max Power limits the final output to the motor.

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Note:
1. Acceleration option does not take effect in the current version of the drive, and the
actual Acceleration of the motor depends on the PI parameters,motor load and drive
voltage, etc.
2. After the parameters are modified, click the Write button to save the parameters to
the driver.
3. After setting, the new parameters need to be recharged to take effect.
4.3.3 Encoder Setting
In the Encoder page, click the Read button to get the motor and encoder information.
Motor Poles：Set the number of magnetic poles of the motor, generally it will be set
before out of the factory.
Encoder Type：this parameter is read-only.
Motor/Encoder Ratio：The ratio of motor and encoder calibration, which is a
read-only parameter, is generally around 1000. The closer it is to 1000, the better the
calibration effect will be.
Motor/Encoder Offset：The 0 offset of motor and encoder calibration, which is a
read-only parameter, generally has no effect on motor drive performance. 

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Motor/Encoder Direction：The direction of motor and encoder calibration, which is a
read-only parameter, generally has no effect on motor drive performance. 
Motor/Encoder Align Power：Motor and encoder calibration power, generally use the
default parameters.When the load is large, it can be increased appropriately to
improve the calibration effect.
Align button：Start motor and encoder calibration. Before this step, it is necessary to
ensure that the number of magnetic poles of the motor is set correctly and that the
appropriate calibrated power is selected. After clicking the Align button, the motor
will rotate back and forth to perform the calibration, and the parameters will be
automatically saved to the driver after the calibration completed.
Motor Zero Position：Motor starting position. After clicking the Set button, the
driver will save the current position as the motor starting position.
Note:
1.The calibration of the motor and encoder should be carried out at the condition of no
load of the motor. If the motor does not rotate smoothly during the process of calibration,
please check whether there is any fault of the motor or excessive mechanical friction.
2. After the parameters modified, click the Write button to save the parameters to the
driver.
4.4 Product Information
In the Product page, click the Read button to get the driver model, motor type, hardware
and software versions of the driver.

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4.5 TEST function

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Test function used for simple debugging of single machine.
Torque control Adjust the torque, the symbol represents the rotation direction.
Speed control At this mode，run at the specified speed, the symbol represents the
rotation direction.
Angle control1 At this mode，rotate to the specified angle at the default speed, and the
symbol represents the direction of rotation.
Angle control2 At this mode，to rotate to a specified angle at a specified speed, the
symbol represents the direction of rotation.