Gyems RMD-L Series User manual

RMD-L servo motor manual V1.2
Disclaimer
Thank you for purchasing GYEMS RMD-L series servo motor system. Please read this statement carefully before use.
Once used, it is considered as acceptance and acceptance of the entire contents of this statement. Please strictly follow
the manual, product description and related laws, regulations, policies and guidelines to install and use the product. In
the process of using the product, the user is committed to being responsible for his or her actions and all consequences
arising therefrom. GYEMS will not be liable for any loss caused by improper use, installation or modification by the user.
GYEMS is a trademark of Guangyu Electromechanical (Shanghai) Co., Ltd. and its affiliates. Product names, brands, etc.
appearing in this document are trademarks or registered trademarks of their respective companies. This product and
manual are copyrighted by GYEMS. Reproduction may not be allowed in any form without permission. The final
interpretation of the disclaimer is owned by GYEMS .
Introduction
The RMD-L servo motor system used a 32-bit high-performance MCU、High bandwidth op amp 、Low internal
resistance flat MOSFET and combined with an optimized version of the FOC control technology, equipped with a high-
performance brushless motor of the DM series, designed for high-precision, high-response, high-torque applications.
The integrated design of the motor and the driver facilitates ,easily apply for system integration. The driver integrates
a high-precision absolute encoder with an easy-to-use closed-loop control algorithm that greatly improves the accuracy
of position ,speed feedback and torque output.
1. Electrical driver parameter
Input voltage DRC06-S6 7.4V~24V
DRC10-S6 7.4V~36V
Normal current DRC06-S6 6A
DRC10-S6 10A
Maxium current DRC06-S6 8A （10s）
DRC10-S6 15A （10s）
PWM Frequency 24KHz
Torque loop control
frequency
24KHz
Torque loop control
bandwidth
0.4KHz~2.8KHz（Depending on differ motor and torque）
Speed loop control
frequency
8KHz
Position loop control
frequency
8KHz
Encoder 14bit
Bus type RS485（Non-isolation）
2. Motor electrical parameters
Check RMD motor data sheet to get detail motor information
3. Driver interface

Interface Instruction
GND Negative power supply
485B RS485-B
485A RS485-A
VCC Positive power supply
4. Bus feature
Bus interface chip:MAX485
Baud rate：9600, 19200, 57600, 115200(default)
Data bit：8
Parity bit：None
Spot bit：1
5. Setting
 PC connection
The motor drive and the host computer can be connected via USB to RS485 module. The default baud rate is
115200. The default ID is generally 1 (set by the DIP switch) .Therefore, the settings before the host computer is
connected as follows (where COM is selected according to the actual situation), after clicking the CONNECT button,
connect the device.
 Basic settings, in the Settings page, click the Read button to read the motor and encoder information

 Driver ID：Set the ID number of the driver. When set to 0, the ID is selected by the dial switch, and the
corresponding relationship between the two is as follows:
Switch 1 Switch 2 Switch 3 ID
OFF OFF OFF #1
ON OFF OFF #2
OFF ON OFF #3
ON ON OFF #4
OFF OFF ON #5
ON OFF ON #6
OFF ON ON #7
ON ON ON #8
 Driver Baudrate：Set the baud rate of the drive. Note that the new baud rate needs to be powered back on
after the setup is complete.
 Shutdown Time：Set the motor off time. When the control command is not received within this time, the
motor will be turned off; when set to 0, the motor will never turn off. Note that the new shutdown time after
the setup is complete needs to be powered back on to take effect
 Angle：Angle loop control parameters. Kp and Ki modify the PI parameter of the angle ring. 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°,10 turns.
 Speed：Speed loop control parameters. Kp and Ki modify the PI parameter 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
velocity of the motor is ±720°/S, which is 2 turns per second.

 Current：Torque loop control parameters. Kp and Ki modify the PI parameter of the torque loop，Max Power
is used to limit the ouput power to motor
Note:
1. Acceleration option does not take effect in the current version of the drive, the actual acceleration of the
motor depends on the PI parameters, motor load and drive voltage.
2. After the parameters are modified, click the Write button to save the parameters to the driver.
3.After setting ,new parameters will be valid when power on again
 Encoder settings, in the Encoder page, click the Read button to read the motor and encoder information
 Motor Poles：Set the number of magnetic poles of the motor, usually setted before leaving the factory
 Encoder Type：Read-only parameter
 Motor/Encoder Ratio：Read-only parameter, generally around 1000, the closer to 1000, the better the
calibration effect.
 Motor/Encoder Offset：Read-only parameter and generally has no effect on motor drive performance
 Motor/Encoder Direction：Read-only parameter and generally has no effect on motor drive performance.
 Motor/Encoder Align Power：Generally use the default parameters, when the load is large, you can increase
the calibration to improve the calibration effect.
 Align button：Start calibration of the motor and encoder. Before this step, you need to ensure that the number
of poles of the motor is set correctly and select the appropriate calibration power. After clicking the Align

button, the motor will rotate back and forth to perform calibration. After the calibration is completed, the
parameters will be automatically saved to the drive.
 Motor Zero Position：After clicking the Set button, the drive will save the current position as the starting
position of the motor.
Note:
1. Suggest calibrating the motor and encoder under no-load conditions. If the motor does not rotate smoothly
during the calibration rotation, check the motor fault or mechanical friction.
2. After the parameters are modified, click the Write button to save the parameters to the driver
 Product information: in the Product page, click the Read button to read the hardware and software version of
the product
6. Control commands
Upto 32 drivers (depending on the bus load) can be mounted on the bus. To prevent bus collisions, each driver needs
to be set with a different ID. For details, refer to the basic settings in the previous section. The master sends a control
command to the driver, and the corresponding ID driver parses the data after receiving the command, selects the control
mode according to the command type (angle closed loop, speed closed loop, torque loop), and sends reply command
to the master after a period of time (within 0.5 ms)
7. Each control command consists of 2 parts: frame header + data, as specified below

Data description Data length
Frame
command
Head byte 1 Frame header recognition，0x3E
Command byte 1 CMD
ID byte 1 1~32
Data length byte 1 Description of Data length 0~60
Frame header
check byte
1 Header check sum
Frame
data
data 0~60 data stream attached to the
command
Data check byte 0 or 1 Data check sum
Control commands supported by the RMD-L drive motor as follows:
Motor off command 0x80
Motor stop command 0x81
Motor running command 0x88
Zero position command 0x19
Read encoder data command 0x90
Torque loop control command 0xA1
Speed loop control command 0xA2
Position loop control command1 0xA3
Position loop control command2 0xA4
Position loop control command3 0xA5
Position loop control command4 0xA6
 Motor off command, Turn off the motor and clear the motor running status and the previously received control
commands. The total length of the command: 5byte
Instruction Memo
1 Head byte 0x3E
2 Command byte 0x80 CMD
3 ID byte 0x01~0x20 #1~#32
4 Data length 0x00
5 Head check byte 1~4byte check sum
Eg, the host sends motor off command to 1# driver as follows (HEX)
3E 80 01 00 BF
 Motor stop command, stop the motor but does not clear the motor running status and the previously received
control command. The total length of the command: 5byte
Instruction Memo
1 Head byte 0x3E
2 Command byte 0x81 CMD
3 ID byte 0x01~0x20 #1~#32
4 Data length 0x00
5 Head check byte 1~4 byte check sum
Eg, the host sends motor stop command to 1# driver as follows (HEX)
3E 81 01 00 C0
 Motor running command, recover motor running from motor stop command (control mode same as before

recovery ), total command length: 5byte
Instruction Memo
1 Head byte 0x3E
2 Command byte 0x88 CMD
3 ID byte 0x01~0x20 #1~#32
4 Data length 0x00
5 Head check byte 1~4 byte check sum
Eg, the host sends motor running command to 1# driver as follows (HEX)
3E 88 01 00 C7
 Zero Position command, set current motor position as zero position, total length of command is 5byte
Notice：
1． The command will be valid after power on again.
2． The command will write the zero point to the drive FLASH memory. Multiple writes will affect the chip
life. It is not recommended to use it frequently.
Instruction memo
1 Head byte 0x3E
2 Command byte 0x19 CMD
3 ID byte 0x01~0x20 #1~#32
4 Data length byte 0x00
5 Head check byte 1~4byte check sum
Eg, the host sends motor zero position command to 1# driver as follows (HEX)
3E 19 01 00 58
 Read the encoder command, this command will not change the current state of the motor, the total length of the
command: 5byte
Instruction Memo
1 Head byte 0x3E
2 Command byte 0x88 CMD
3 ID byte 0x01~0x20 #1~#32
4 Data length 0x00
5 Head check byte 1~4 byte check sum
Eg: the host sends a command to read the encoder to 1# driver as follows (HEX)
3E 90 01 00 CF
Driver reply, data length: 8byte
Instruction memo
1 Head byte 0x3E
2 Command byte 0x90 CMD
3 ID byte 0x01~0x20 #1~#32
4 Data length byte 0x02
5 Head check byte 1~4byte check sum
6 Encoder data low
byte
=*(int8_t *)(&encoder) The encoder data is 16bit shaped data, and the
data range is related to the encoder accuracy,
which is generally 0~16383(14bit).
7
Encoder data high
byte
=*((int8_t *)(&encoder)+1)

8 Data check byte 6~7 byte check sum
Eg: the data that the 1# driver replies after receiving the command to read the encoder ,as follows (HEX)
3E 90 01 02 D1 CF 0F DE
 Torque closed-loop control command, which contains a control parameter (motor torque parameter), total
command length: 8byte
Instruction memo
1 Head byte 0x3E
2 Command byte 0xA1 CMD
3 ID byte 0x01~0x20 #1~#32
4 Data length byte 0x02
5 Head check byte 1~4byte check sum
6 Motor torque
parameter low byte
=*(int8_t *)(&power) This parameter represents the
motor output torque ratio (actual
torque output varies from motor
to motor) which is 16-bit shaped
data . Range: -5000 ~ +5000. The
direction of motor rotation
(torque output direction) is
determined by the sign of this
parameter
7 Motor torque
parameter high byte
=*((int8_t *)(&power)+1)
8 Data check byte 6~7byte check sum
Eg: the host sends torque command to the 1# driver with the POWER value of 256 ;as follows (HEX)
3E A1 01 02 E2 00 01 01
the host sends torque command to the 1# driver with the POWER value of 512 ;as follows (HEX)
3E A1 01 02 E2 00 02 02
Driver reply, data length: 8byte
Instruction memo
1 Head byte 0x3E
2 Command byte 0xA0 CMD
3 ID byte 0x01~0x20 #1~#32
4 Data length byte 0x02
5 Head check byte 1~4 byte check sum
6 Encoder data low
byte
=*(int8_t *)(&encoder) The encoder data is 16bit shaped
data, and the data range is
related to the encoder accuracy,
which is generally 0~16383
(14bit).
7
Encoder data high
byte
=*((int8_t *)(&encoder)+1)
8 Data check byte 6~7byte check sum
Eg: The command that the driver replies after receiving torque control data , as follows (HEX)
3E A1 01 02 E1 E8 03 EB
 Speed closed-loop control, the command contains a control parameter, this parameter defines the running speed
of the motor, the total length of the command: 10byte
Instruction Memo
1 Head byte 0x3E

2 Command byte 0xA2 CMD
3 ID byte 0x01~0x20 #1~#32
4 Data length byte 0x04
5 Head check byte 1~4byte check sum
6 Motor speed low
byte
=*(int8_t *)(&speed) The motor speed represents the
angular velocity of the motor,
which is 32bit shaped data. The
actual speed ratio is 0.01
dps/LSB, 36000 represents 360
dps. The direction of motor
rotation is determined by the
sign of the speed value
7 Motor speed =*((int8_t *)(&speed)+1)
8 Motor speed =*((int8_t *)(&speed)+2)
9 Motor speed high
byte
=*((int8_t *)(&speed)+3)
10 Data check byte 6~9byte check sum
Eg: the host sends a command with an angular velocity of 720 dps to the 1# drive as follows (HEX)
3E A2 01 04 E5 40 19 01 00 5A
the host sends a command with an angular velocity of 360 dps to the 1# drive as follows (HEX)
3E A2 01 04 E5 A0 8C 00 00 2C
the host sends a command with an angular velocity of 180 dps to the 1# drive as follows (HEX)
3E A2 01 04 E5 50 46 00 00 96
the host sends a command with an angular velocity of 90 dps to the 1# drive as follows (HEX)
3E A2 01 04 E5 28 23 00 00 4B
the host sends a command with an angular velocity of 0 dps to the 1# drive as follows (HEX)
3E A2 01 04 E5 00 00 00 00 00
the host sends a command with an angular velocity of -90 dps to the 1# drive as follows (HEX)
3E A2 01 04 E5 D8 DC FF FF B2
Driver reply, data length: 8byte
Instruction Memo
1 Head byte 0x3E
2 Command byte 0xA2 CMD
3 ID byte 0x01~0x20 #1~#32
4 Data length byte 0x02
5 Head check byte 1~4byte check sum
6 Encoder data low
byte
=*(int8_t *)(&encoder) The encoder data is 16bit
shaped data, and the data range
is related to the encoder
accuracy, which is generally
0~16383 (14bit).
7
Encoder data high
byte
=*((int8_t *)(&encoder)+1)
8 Data check byte 6~7byte check sum
Eg: the command to reply after receiving the speed closed loop control data , as follows (HEX):
3E A2 01 02 E3 E8 03 EB
 Position closed loop control 1, the command contains a control parameter, this parameter defines the target
position of the motor (multi-turn angle cumulative value), the maximum speed of motor rotation in this mode is
determined by the Max Speed in the set value, the total command Length: 14byte
Instrcution Memo
1 Head byte 0x3E

2 Command byte 0xA3 CMD
3 ID byte 0x01~0x20 #1~#32
4 Data length byte 0x08
5 Head check byte 1~4byte check sum
6
Motor position low
byte
=*(int8_t *)(&angle) The motor angle represents the
angle of rotation of the motor,
which is 64bit shaped data. The
actual angle ratio is
0.01degree/LSB,36000
represents 360°. The direction of
motor rotation is determined by
the difference between the
target position and the current
position. Note that the maximum
motor control angle limited by
MAX_ANGLE in the setting tab.
7 Motor position =*((int8_t *)(&angle)+1)
8 Motor position =*((int8_t *)(&angle)+2)
9 Motor position =*((int8_t *)(&angle)+3)
10 Motor position =*((int8_t *)(&angle)+4)
11 Motor position =*((int8_t *)(&angle)+5)
12 Motor position =*((int8_t *)(&angle)+6)
13
Motor position high
byte
=*((int8_t *)(&angle)+7)
14 Data check byte 6~13byte check sum
Eg:The host sends angle of 360°to 1# drive as follows (HEX)
3E A3 01 08 EA A0 8C 00 00 00 00 00 00 2C
The host sends angle of 180°to 1# drive as follows (HEX)
3E A3 01 08 EA 50 46 00 00 00 00 00 00 96
The host sends angle of -180°to 1# drive as follows (HEX)
3E A3 01 08 EA B0 B9 FF FF FF FF FF FF 63
The host sends angle of 90°to 1# drive as follows (HEX)
3E A3 01 08 EA 28 23 00 00 00 00 00 00 4B
The host sends angle of 0°to 1# drive as follows (HEX)
3E A3 01 08 EA 00 00 00 00 00 00 00 00 00
Driver reply, data length: 8byte
instruction memo
1 Head byte 0x3E
2 Command byte 0xA3 CMD
3 ID byte 0x01~0x20 #1~#32
4 Data length byte 0x02
5 Head check byte 1~4 byte check sum
6 Encoder data low
byte
=*(int8_t *)(&encoder) The encoder data is 16bit shaped
data, and the data range is
related to the encoder accuracy,
which is generally 0~16383
(14bit).
7
Encoder data high
byte
=*((int8_t *)(&encoder)+1)
8 Data check byte 6~7byte check sum
Eg: Drive reply after receiving the position closed loop control data, as follows (HEX):
3E A3 01 02 E4 E8 03 EB
 Position closed-loop control 2, the command contains two control parameters, parameters respectively define
the motor's target position (multi-turn angle cumulative value) and the maximum speed of motor rotation during
the arrival of this target position, the total command length: 18byte
Instruction Memo