Kollmorgen RGM 14 User manual

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.

Record of Document Revisions
Revision Remarks
A, 10/2017 Launch version
B, 6/2018 RGM-C
Trademarks
lEtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation
GmbH
lWindows is a registered trademark of Microsoft Corporation
Current patents
lUS Patent 8,154,228 (Dynamic Braking For Electric Motors)
lUS Patent 8,214,063 (Auto-tune of a Control System Based 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 any other method) or stored, processed, copied or
distributed by electronic means without the written permission of Kollmorgen.
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1 Table of Contents
1 Table of Contents 4
2 Introduction to RGM 5
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
3 Power Supply Voltage & Current Ratings 9
4 Maximum Speed 10
5 Torque Ratings 11
6 Duty Cycle 12
7 Rotation Limits 13
8 Accuracy & Repeatability 14
9 Maximum Thermal Ratings 15
10 Monitoring Thermistor 16
11 Brake Function & Manually Releasing the Brake 17
11.1 About the Brake Function 17
11.2 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 Initialization 31
21.1 RGM Enable/ Brake Initialization Procedure 31
22 Regeneration Warning 32
23 End Effectors 33
24 Board Layout 34
24.1 CANopen 34
24.2 EtherCAT 35
25 Data Sheets 36
25.1 RGM14 37
25.2 RGM17 38
25.3 RGM20 39
25.4 RGM25 40
26 Index 41
RGM User Manual | 1 Table of Contents
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RGM User Manual | 2 Introduction to RGM
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