rozum robotics RDrive 60 User manual

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 2 | 19
INTRODUCTION
Rozum Robotics has designed its RDrive servo motors to enable precision motion control in industrial
and commercial applications.
This manual is intended for technicians and engineers who design, build, and operate systems and
machinery that use RDrive servo motors for actuation. In this document, you will find the following
information:
components of RDrive 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 warning symbols used throughout the manual and their meaning.
The sign denotes important information that is not directly related to safety, but that the
user should be aware of.
The sign indicates important safety precautions the user should follow.

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 3 | 19
TABLE OF CONTENTS
INTRODUCTION..............................................................................................................................2
WARNING SIGNS AND THEIR MEANINGS..............................................................................2
1PRODUCT OVERVIEW..........................................................................................................5
1.1 Components .........................................................................................................................5
1.2 Supply package....................................................................................................................5
1.2.1 Options..........................................................................................................................6
1.2.2 USB-CAN dongle .........................................................................................................7
1.3 Intended use and operating conditions .............................................................................8
2WORKING PRINCIPLE..........................................................................................................8
2.1 Motion control system.........................................................................................................8
2.2 Motion and other feedback.................................................................................................8
3PRODUCT SPECIFICATIONS...............................................................................................9
3.1 Specifications of the RDrive 60 servo motor.....................................................................9
3.2 Allowable axial and radial loads......................................................................................10
4INTEGRATION 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 Electrical connection requirements ..................................................................13
4.2.4.2 Connection diagrams..........................................................................................14
4.2.5 Pre-commissioning checks.........................................................................................16
5ENABLING MOTION CONTROL.......................................................................................16
5.1 Enabling CANOpen-based communication....................................................................16
5.2 Enabling control via the API............................................................................................17
5.2.1 Hardware prerequisites.............................................................................................17
5.2.2 Software prerequisites...............................................................................................17

ROZUM 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
6MAINTENANCE.....................................................................................................................18
7TROUBLESHOOTING..........................................................................................................18
8TRANSPORTATION AND STORAGE ...............................................................................19

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 5 | 19
1PRODUCT OVERVIEW
1.1 Components
RDrive servo motors are intended for commercial and industrial use to ensure high-precision rotary
motion. Figure 1-1 is an exploded view of an RDrive servomotor in a housing.
Figure 1-1: The components of an RDrive servo motor
(1)
Two printed circuit boards (PCBs) connected with each other by means of the BiSS interface.
One of the PCBs incorporates a controller and the other—two encoders.
(2)
A frameless 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 located on its input flange. The
gland includes four wires:
two wires for connecting the servo to a power supply
two wires for enabling CAN communication
1.2 Supply package
The basic supply package for an RDrive servo motor comprises the following:
one or more RDrive servos
one CAN-USB dongle (see Section 1.2.2)

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 6 | 19
Each supply package includes one USB-CAN dongle only, irrespective of the total
quantity of servos in it. However, users can order more dongles for an extra charge.
1.2.1 Options
Apart from the basic supply package, Rozum Robotics offers the following options:
Servobox
Quick-start motor mounts
A servobox is a set of components intended to ensure safe and correct operation of RDrive
servomotors at design 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 long
(one cable of each type per servo motor)
For detailed information about the servobox solution, see the Servobox manual. The
document also contains instructions how to assemble a similar solution on your own.
Figure 1-2: A sample servobox with servo motors and motor mounts

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 7 | 19
A motor mount is an optional quick-start accessory. The mounts are available in a number of sizes
to match those of RDrive motors. STL models to print the mounts and assembly instructions are
available for downloading at the web page: https://rozum.com/servobox/.
1.2.2 USB-CAN dongle
A USB-CAN dongle is a special adapter coupled to a USB port of a personal computer (PC) to
provide CAN connectivity between an RDrive servo 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 Connector)
(2) for connecting a Micro USB-USB A cable
Figure 1-3: The CAN-USB dongle in the RDrive supply package
The CAN-USB dongle is supplied complete with the following:
a Micro USB-USB A cable
a Molex 0050375043 connector housing and Molex 08-70-1039 pins for providing CAN bus
connection

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 8 | 19
1.3 Intended use and operating conditions
RDrive motors are designed for industrial and commercial use. Inadmissible applications include
explosive or otherwise hazardous areas, as well as locations with highly corrosive atmospheres.
Table 1-1:Operating conditions of RDrive servos
Parameter
Value
Altitude
Not higher than 1,000 m above the sea
Operating temperature
0°C to +35°C
Operating humidity
80% max at 25°C (90% at 20°C)
IP protection
IP20
Avoid exposing servo motors to any operating conditions outside of the above
specifications. This can damage their components and/or reduce their service life.
2WORKING PRINCIPLE
2.1 Motion control system
The RDrive motion control system is of the closed-loop type. RDrive servo motors not only receive
motion control commands from a control device (e.g., a PC or a CAN master), but also provide
feedback on their execution.
The system consists of a self-designed 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 controller processes the feedback, compares the resulting values with the control
command, and sends a signal to adjust the motor position, if needed.
The controller transmits the command execution results to the control device. Communication
between the servo motor and the control device is either based on the CANOpen protocol
stack (see Section 5.1) or the Application Programming Interface (API) (see Section 5.2).
2.2 Motion and other feedback
RDrive servo motors comprise two integrated feedback devices—absolute magnetic encoders. The
two encoders are mounted on a separate PCB connected with the controller PCB by means of a flat
cable (a BiSS line). One of the encoders delivers information about the absolute position of the output
shaft and the other—about that of the rotor.

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 9 | 19
Table 3-1: Encoder data
Type
rotary magnetic single-turn
Output
absolute position
Resolution
19-bit
In addition, the controller receives and processes feedback signals from the NTC thermistor in the
motor winding. When the value based on the thermistor reading exceeds the maximum temperature
limit, the controller cuts the servo off.
3PRODUCT SPECIFICATIONS
3.1 Specifications of the RDrive 60 servo motor
Table 3-1 contains 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
Motor inertia
0.05
kg·cm²
Weight
0.89
kg
IP rating
IP21*
DIMENSIONS
Length (L):
90.5
mm
Diameter (D):
63
mm
Hollow shaft diameter (d):
11
mm
*Upon request, RDrive 60 servos can be supplied with a higher IP rating.
In Table 3-2, you will find basic specifications of the gearhead integrated into the RDrive servo.

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 10 | 19
Table 3-2:The RDrive gearhead data
GEARHEAD
DATA
Gearhead type
Strain-wave
Gearhead ratio
1:100
Gearhead backlash
0.3
arcmin
3.2 Allowable axial and radial loads
The gearhead in the RDrive servo motor incorporates a high-rigidity crossed roller bearing to support
output loads. The bearing can withstand high axial and radial forces, as well as high tilting moments.
It keeps the gearhead protected from external loads, which guarantees long life and consistent
performance of the gearhead.
Table 3-3 lists allowable axial and radial loads for RDrive 60 servo motors.
Table 3-3:RDrive 50 allowable axial and radial loads
Allowable axial load, Fa[N]1)2)
780
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 Mis the tilting moment.
4INTEGRATION INTO AN APPLICATION
4.1 Installation requirements
Magnetic-sensitive objects, such as banking cards, pacemakers, or other magnetic
information carriers, should be kept away at a distance of 1 m from the motor.
RDrive servo motors are intended for installation as part of a motion system or a machine. You can
mount the actuators in any required position —vertical, horizontal, or at an angle. The installation
site should meet the following requirements:
Well-ventilated and free from dust, moisture, and vibration
Ambient temperature, altitude, and other environmental conditions as specified in Table 1-1
Easy access for inspection and dismantling

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 11 | 19
4.2 Installation procedure
The procedure for installing an RDrive servo motor includes the following steps:
1. Preparing for installation (Section 4.2.1)
2. Mechanical integration (Section 4.2.2)
3. Connecting to a CAN bus (Section 4.2.3)
4. Electrical connection (Section 4.2.4)
5. Pre-commissioning checks (Section 4.2.5)
4.2.1 Preparing for servo installation
The preparation sequence is as follows:
1. Unpack the servo motor.
Never lift or pull servo motors by cables!
Make sure to avoid shocks as this can damage high-precision encoders inside servos.
2. Check the fitting surfaces of both the servo and the machine for 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-documentation/.
For mechanical integration, follow the instructions below:
1. Mount the servo into the equipment. To do this, insert twelve M3 screws into the holes on the
input flange and tighten them to the torque of 2.6 N·m max.
Allow for sufficient clearance around the servo for proper heat dissipation.
2. Screw a load down to the output flange using fourteen M2.5 holes and applying the torque of
1.4 N·m max.
Make sure not to apply excessive impact or force to the output flange.

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 12 | 19
4.2.3 CAN connection
4.2.3.1 General requirements
To provide a CAN connection, use the brown and blue wires on the input flange of the RDrive servo
motor. The brown is for CANHIGH, and the blue one—for CANLOW.
Two connection types are possible, depending on the preferred servo control method:
In case servo control is based on the CANOpen protocol stack, provide a CAN bus connection
of the configuration as shown in Figure 4-1.
In case servo control is via API, provide a CAN-to-PC connection as shown in Figure 4-2.
Irrespective of the connection type, make sure to comply with the following requirements:
Terminate CAN bus lines of less than 40 m long with 120 Ohm resistors at both ends. For bus
lines of over 40 m long, use 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, LΣshould meet the specific values as
indicated in Table 4-1.
Table 4-1: CAN line parameters
Baud Rate
50 kbit/s
100 kbit/s
250 kbit/s
500 kbit/s
1 Mbit/s
Total line length, LΣ, m
< 1000
< 500
< 200
< 100
< 40
Cross-section, mm2
0.75 to 0.8
0.5 to 0.6
0.34 to 0.6
0.34 to 0.6
0.25 to 0.34
4.2.3.2 Connection diagrams
Connection for control based on CANOpen
The connection is in accordance with the diagram as shown in Figure 4-1. Connect the CAN cables
on the RDrive input flange to the corresponding twisted pair wires: the brown one to CANHIGH, and
the blue one —to CANLOW.
Figure 4-1: CAN connection to control servos based on CANOpen

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 13 | 19
Connection for control via API
The connection is in accordance with the diagram as shown in Figure 4-2, taking into consideration
the arrangement of connectors on the USB-CAN dongle (see Figure 4-3). To provide the connection,
use the cable on the input flange of the servo motor: the brown one corresponds to CANHIGH, and the
blue one —to CANLOW.
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 power is supplied to the circuit you
are assembling.
4.2.4.1 Electrical connection requirements
To connect RDrive servomotors to a power supply unit, use the red and black wires on its input
flange:
red for +
black for –

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 14 | 19
For cable arrangement and protective earthing requirements, refer to the installation
drawing available at: https://rozum.com/servomotors-documentation/.
However, connecting a servo directly to a power supply is ONLY POSSIBLE FOR UNLOADED
OPERATION (such as fir a test run).
To ensure correct and safe operation of RDrive servo motors CONNECTED TO A LOAD, a power
supply circuit for an RDrive servo must include:
at least one energy eater to dissipate dynamic braking energy that can cause servos to
generate voltages in excess 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 Robotics as an option (see Section 1.2.1), customized
to your specific supply circuit requirements
or
to provide an energy eater(s) and a capacitor(s) on your own, following the instructions and
requirements in the Servobox manual.
4.2.4.2 Connection diagrams
The connection diagram with an eater and a capacitor included must have either of the following
configurations:
to connect a single servo

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 15 | 19
to connect multiple servos
Legend:
X1
Input connector (power source)
X2
Output connector (from the power consumer to the servo)
L1
Wiring segment from the power supply to the eater
L2
Wiring segment from the eater to the capacitor
L3
Wiring segment from the capacitor to any servo
Whichever of the configurations you 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.
oWhen the total connected motor power is less than 250 W, the cable cross-section
within the segment must be at least 1.00 mm2.
oWhen the total connected motor power is less than 500 W, the cable cross-section
within the segment must be at least 2.00 mm2.
The L2 length must not exceed the values from Table 4-2.
The L3 length must not exceed the values from Table 4-2.

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 16 | 19
Table 4-2: Lengths vs. cross-sections of wiring segments for RD 50
L2
L3
0.75
mm2
1.0
mm2
1.5
mm2
2.5
mm2
4.0
mm2
6.0
mm2
0.25
mm2
0.5
mm2
0.75
mm2
1.0
mm2
1.5
mm2
2.5
mm2
4.0
mm2
6.0
mm2
2 m
3 m
5 m
9 m
10 m
10 m
-
0.1 m
0.1 m
0.1 m
0.2 m
0.4 m
1.0 m
1.0 m
4.2.5 Pre-commissioning checks
Before commissioning a servo, it is advisable to check whether the following is up to requirements:
Operating conditions (refer to Table 1-1 and Section 1.3)
Mechanical integration (refer to Section 4.2.2)
Electrical integration (see Section 4.2.4):
-protective earthing
-tight connection and integrity of power supply cables
-at least one energy eater and one capacitor integrated into the supply circuit of the
servo (see Section 1.2.1 and the Servobox Manual)
CAN connection, tight connection and integrity of communication cables (see Section 4.2.3)
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.
5ENABLING MOTION CONTROL
You can implement motion control of RDrive servo motors in either of the two ways:
based on CANOpen communication
via the Application Programming Interface (API)
5.1 Enabling CANOpen-based communication
CANOpen communication implemented for RDrive servos relies on the Controller Area Network
(CAN) for its physical infrastructure. CAN is a two-wire bus line that transmits differential signals—
CANHIGH and CANLOW.
On a higher level, CANOpen communication for RDrive servos is implemented as a stack of
CANOpen protocols. The protocols monitor the network states and transmit and/or read CAN data
frames containing various types of data (e.g., commands, parameters, servo telemetry) in the binary
format.

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 17 | 19
To enable control based on CANOpen, connect RDrive servo motors in accordance with Figure 4-1.
For a detailed description of the CANOpen communication interface implemented for RDrive servos
and related application cases (including servo initialization), refer to “CANOpen Communication
Guide.”
5.2 Enabling control via the API
5.2.1 Hardware prerequisites
For enabling motion control of RDrive servos via API, you need the following hardware:
an electrical connection in accordance with Section 4.2.4.
a CAN-PC connection in accordance with Section 4.2.3.2
Since RDrive servos are supplied with default CAN IDs from 32 to 37, there’s a risk of
collision when you connect more than one 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 library
- make package
Additionally, for Windows 8 and earlier
versions, you need a driver to be able to work
with the USB-CAN dongle (download here).
Python
Linux OS
Windows OS
- Python (latest version, but not older than 3.4)
- PyCharm IDE
- gcc MinGW compiler
- make package
- Python (latest version, but not older than 3.4)
- PyCharm IDE
Additionally, for Windows 8 and earlier
versions, you need a driver to be able to work
with the USB-CAN dongle (download here).
Enabling access to servo motors via API is in accordance with the following GitHub repository
instructions.

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 18 | 19
5.2.3 Setting new CAN IDs when connecting multiple servos
Since all RDrive servos are supplied with default CAN IDs ranging from 32 to 37, there is a risk of
collision in case you connect more than one servo to the same CAN bus. To avoid collisions, you
need to set a unique CAN ID to replace the default one for each of the servos. To do this, follow the
instructions below:
1. Take servo 1 and connect it unloaded to the CAN bus and the power supply as described in
Section 4.2.3 and Section 4.2.4 accordingly.
2. Enable API control by completing all the steps from the instructions in the GitHub repository.
3. Run the special tutorials to change the CAN ID
-C —change_servo_id.c
-Python —change_servo_id.py
4. Remember or write down the new CAN ID and disconnect the servo.
5. Repeat steps 1-4 to change the IDs of the other servos.
6MAINTENANCE
RDrive servo motors contain no parts that users need to service. Therefore, the maintenance scope is
limited to the following:
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 is accessible for visual inspection).
7TROUBLESHOOTING
Table 7-1 describes the most common problems that can occur during operation of RDrive
servomotors, their possible causes, and recommended user actions.
Table 7-1: Possible servo problems, their causes, and recommended actions
Problem
Possible cause
Recommended action
The motor will not start.
Improper connection.
Check the motor connections.
Incorrect motor control settings.
Check the motor control settings or contact our
service department.
The motor is overheating.
Excessive accumulation of dirt.
Clean the outside of the motor.
Ambient temperature is too high.
Provide adequate cooling.
Air pressure is too low because of
the altitude.
Provide adequate cooling.
The motor is too hot.
Check the power supply is up to the
specifications (Table 3-1) or contact our service
department.

ROZUM ROBOTICS RDrive 60 servo motors
Rev. 5, valid from Q1 2019
Page 19 | 19
Increased noise during
operation.
Damaged bearing.
Contact our service department.
Sporadic failure.
Damaged cable.
Contact our service department.
Only qualified service personnel can perform repair works.
8TRANSPORTATION 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 storage humidity should be 80% max at 25°C (90% at 20°C).