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Summary of Contents for Kollmorgen RGM 14
- Page 1 ® 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.
- Page 2 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.
- Page 3 RGM User Manual | This page intentionally left blank. Kollmorgen | kdn.Kollmorgen.com | February 2019...
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Page 4: Table Of Contents
21 Brake Initialization 21.1 RGM Enable/ Brake Initialization Procedure 22 Regeneration Warning 23 End Effectors 24 Board Layout 24.1 CANopen 24.2 EtherCAT 25 Data Sheets 25.1 RGM14 25.2 RGM17 25.3 RGM20 25.4 RGM25 26 Index Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 5: Introduction To Rgm
RGM User Manual | 2 Introduction to RGM 2 Introduction to RGM 2.1 General 2.1.1 About this manual 2.2 Safety 2.2.1 You should pay attention to this 2.3 Package 2.3.1 Delivery Package 2.4 Important Brake Usage Guidelines Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 6: General
Please review the entire manual which includes information on: Power Speed and Torque Ratings Duty Cycle Rotation Limits Thermal Ratings and Monitoring Thermistor Brake Function Installation and Mounting Rear Cover Removal and Daisy Chaining Wiring RGM EWV CANopen End Effectors Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 7: Safety
The surface temperature can exceed 100°C. Measure the temperature, and wait until the motor has cooled down below 40°C before touching it. 2.3 Package 2.3.1 Delivery Package Joint from the RGM series Thermal precaution instructions Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 8: Important Brake Usage Guidelines
The user must determine whether the loss of functionality and lack of fault monitoring to protect the brake during development activities warrants the risk of increasing operational and safety concerns. For assistance in disabling fault events, please contact Kollmorgen Applications Engineering. Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 9: Power Supply Voltage & Current Ratings
RGM requires 48 VDC nominal supply voltage (44 VDC minimum, 52 VDC maximum). The RGM drive will experience an Overvoltage fault at 55VDC. Kollmorgen recommends that an electrolytic capacitor with at least 15,000 microfarads capacitance be installed between the DC power supply and the first joint. It is also recommended that the power supply be capable of handling a regenerative load (i.e., a regen resistor in the... -
Page 10: Maximum Speed
Maximum intermittent speed capability for each RGM size is listed in the table below. See Duty Cycle to determine RMS continuous speed and continuous torque capability based on the joint duty cycle percentage in the intended application. Max Speed RPM RGM14 RGM17 RGM20 RGM25 Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 11: Torque Ratings
RGM User Manual | 5 Torque Ratings 5 Torque Ratings Maximum instantaneous (acceleration) torque capability for each RGM size is listed in the table below. Max Intermittent Torque (Nm) RGM14 RGM17 RGM20 RGM25 Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 12: Duty Cycle
RGM20 - Continuous Torque Capability (Nm) 负 载 周 期 100% 60.7 56.4 60.3 52.2 49.4 42.8 RGM25 - Continuous Torque Capability (Nm) 负 载 周 期 100% 96.6 83.7 79.8 56.4 46.1 39.9 Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 13: Rotation Limits
+/- 360° mechanical. If this angular limit is exceeded, connecting wires may be damaged and the warranty will be voided. Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 14: Accuracy & Repeatability
RGM User Manual | 8 Accuracy & Repeatability 8 Accuracy & Repeatability Accuracy of RGM output plate absolute encoder is 0.1° mechanical. Repeatability is 0.001° mechanical. Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 15: Maximum Thermal Ratings
RGM is equipped with an internal linear thermistor on the gearing case to assist customers with proper thermal and duty cycle management, so that maximum performance and longest life of RGM can be achieved. Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 16: Monitoring Thermistor
Thermistor CID Sub Index Data Gear 2206h 0 C° 16-bit Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 17: Brake Function & Manually Releasing The Brake
Using a thin diameter tool, push downward on the brake release button to compress the spring below it (see "Push to release the RGM's brake." (➜ p. 18)). As long as the button is held downward to keep the spring compressed, the user may manually rotate the unit to desired position. Kollmorgen | kdn.Kollmorgen.com | February 2019... - Page 18 RGM User Manual | 11 Brake Function & Manually Releasing the Brake Figure 2: Push to release the RGM's brake. Kollmorgen | kdn.Kollmorgen.com | February 2019...
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Page 19: Bolting Joint-To-Joint, Mounting Screws
1.81 RGM17 M3 x 6mm long SHCS 1.81 RGM20 M3 x 8mm long SHCS 1.81 RGM25 M4 x 10mm long SHCS 4.29 The application of removable thread locking adhesive to all screws is recommended. Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 20: Environmental Requirements
(vehicles, etc.), corrosive substances, explosive materials or operation in a vacuum are required. See IP Rating for moisture resistance and IP rating details. Consult factory for non-standard applications. Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 21: Ip Rating
(see Environmental Requirements), which are available for purchase from Kollmorgen as an accesory (RGMXX Customer Parts Kit).. The customer has responsibility for assuring proper fit of the rings and bands when assembled into the application and for properly installing and confirming a seal at the rear cover if it has been removed. -
Page 22: Joint-To-Joint Plastic Rings & Rubber Bands
For applications where multiple RGM units will be assembled together in a direct joint-to-joint configuration and sealing (IP54 or lower) is desired, Kollmorgen offers an optional seal kit for the bolted joint (RGMXX Customer Parts Kit). This kit includes mounting screws, a plastic sealing ring (see Figure 4) and a flexible seal band (see Figure 5). - Page 23 Figure 6: Units are bolted together (left), and the plastic ring is set to cover the screws (right). 5. Then move the flexible seal band so it holds the plastic ring in position (Figure 7). Figure 7: Move the flexible seal band so it holds the plastic ring in place. Kollmorgen | kdn.Kollmorgen.com | February 2019...
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Page 24: Rear Cover Removal & Daisy Chain Connections
Figure 9: Routing wires between joints 3. As the two joints are gradually drawn together to reach their final bolting position, avoid slack and keep constant tension on the wires to avoid pinching or mashing them. See Figure 10. Kollmorgen | kdn.Kollmorgen.com | February 2019... - Page 25 If the wire needs to be removed from the poke-in connector, push downward on the white spring por- tion of the connector with a small screwdriver and lightly pull upward on the wire until it releases. Kollmorgen | kdn.Kollmorgen.com | February 2019...
- Page 26 - CAN high) and B (blue - CAN low). To remove, pull straight up on the body of the black plastic connector housing.. Be sure wires are arranged to avoid accidentally pinching them when the cover is re-installed. Kollmorgen | kdn.Kollmorgen.com | February 2019...
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Page 27: Daisy Chain Wire Sizes, Colors, And Functions
20 AWG 18 AWG White CANopen High 24AWG Blue CANopen Low 24AWG CANopen connector housing – TE part number 7-87499-2 CANopen connector contact – TE part number 102128-1 contacts and TE crimp tool 91517-1 Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 28: Rgm Workbench Software & Drive Commissioning
RGM User Manual | 18 RGM Workbench Software & Drive Commissioning RGM Workbench Software & Drive Commissioning Please refer to separate document "RGM Workbench User Manual" for software and interface instructions. Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 29: Serial Cable Part Number
RGM User Manual | 19 Serial Cable Part Number 19 Serial Cable Part Number A serial communication cable (part #969745) is available for purchase from Kollmorgen. Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 30: Canopen Termination
P2. Placing the jumper across both posts of connector P2 puts the termination resistor into the circuit. Removing the jumper or moving it to a position that only contacts one of the P2 posts will remove the termination resistor from the circuit. Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 31: Brake Initialization
2. Controller commands +/-.5-degree relative motions with motion time of .06 seconds 1. +.5 degrees 2. -.5 degrees 3. +.5 degrees 4. -.5 degree 3. Perform a longer move to insure brake is not stuck on the pin. Times shown are typical Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 32: Regeneration Warning
If this occurs the drives will shut down with an over voltage fault. If regeneration does shut down the drive, the user will either need to modify the application by slowing down the process, or use a power supply with regeneration capability. Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 33: End Effectors
RGM output plate can be found on the Kollmorgen website. If the end effector will rely upon the RGM daisy chain wiring for DC power, then motion of the output plate must be restricted to +/- 360°. If end effector power will be provided by another wiring path, and the RGM daisy chain will not be used for this purpose or connected to the end effector, then continuous rotation of the RGM output plate is possible. -
Page 34: Board Layout
RGM User Manual | 24 Board Layout 24 Board Layout 24.1 CANopen Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 35: Ethercat
RGM User Manual | 24 Board Layout 24.2 EtherCAT Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 36: Data Sheets
RGM User Manual | 25 Data Sheets 25 Data Sheets 25.1 RGM14 25.2 RGM17 25.3 RGM20 25.4 RGM25 Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 37: Rgm14
Mounting Fasteners M3 x 8mm long class 12.9 socket head cap screw * Requires optional Kollmorgen ring, band and gasket kit plus customer interface surface to complete seal RGM14 - 连 续 转 矩 能 力 (Nm) Duty Cycle 100% 13.5... -
Page 38: Rgm17
Mounting Fasteners M4 x 10mm long class 12.9 socket head cap screw * Requires optional Kollmorgen ring, band and gasket kit plus customer interface surface to complete seal RGM17 - 连 续 转 矩 能 力 (Nm) Duty Cycle 100% 45.5... -
Page 39: Rgm20
Mounting Fasteners M3 x 8mm long class 12.9 socket head cap screw * Requires optional Kollmorgen ring, band and gasket kit plus customer interface surface to complete seal RGM20 - 连 续 转 矩 能 力 (Nm) Duty Cycle 100% 60.7... -
Page 40: Rgm25
Mounting Fasteners M4 x 10mm long class 12.9 socket head cap screw * Requires optional Kollmorgen ring, band and gasket kit plus customer interface surface to complete seal RGM25 - 连 续 转 矩 能 力 (Nm) Duty Cycle 100% 96.6... -
Page 41: Index
Harmonic gearing IP54 21-22 Joint seal kit Output plate 19, 24, 33 Performance rating Rotation Screws, mounting Serial cable, about Speed Speed, max RPM Speed, RPM Temperature, max. Thermal rating Thermal sensitivity Thermistors 16, 20 Kollmorgen | kdn.Kollmorgen.com | February 2019... - Page 42 RGM User Manual | 26 Index Torque 11-12, 15 Torque, tightening Voltage Wiring Wiring, daisy chain 13, 24 Workbench Kollmorgen | kdn.Kollmorgen.com | February 2019...
- Page 43 About Kollmorgen Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease- of-use, giving machine builders an irrefutable marketplace advantage.
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