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rozum robotics RDrive 60 User Manual

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Summary of Contents for rozum robotics RDrive 60

  • Page 2: Introduction

    ROZUM ROBOTICS RDrive 60 servo motors 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.

  • Page 3: Table Of Contents

    Motion control system ......................8 Motion and other feedback....................8 PRODUCT SPECIFICATIONS ....................9 Specifications of the RDrive 60 servo motor ..............9 Allowable axial and radial loads ..................10 INTEGRATION INTO AN APPLICATION ................ 10 Installation requirements ....................10 Installation procedure .......................
  • Page 4 ROZUM ROBOTICS RDrive 60 servo motors 5.2.3 Setting new CAN IDs when connecting multiple servos......... 18 MAINTENANCE ........................18 TROUBLESHOOTING ......................18 TRANSPORTATION AND STORAGE ................19 Rev. 5, valid from Q1 2019 Page 4 | 19...

  • Page 5: Product Overview

    ROZUM ROBOTICS RDrive 60 servo motors 1 PRODUCT 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 Two printed circuit boards (PCBs) connected with each other by means of the BiSS interface.

  • Page 6: Options

    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.

  • Page 7: Usb-Can Dongle

    ROZUM ROBOTICS RDrive 60 servo motors 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/.

  • Page 8: Intended Use And Operating Conditions

    ROZUM ROBOTICS RDrive 60 servo motors 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...

  • Page 9: Product Specifications

    Diameter (D): Hollow shaft diameter (d): 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. Rev. 5, valid from Q1 2019...

  • Page 10: Allowable Axial And Radial Loads

    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...

  • Page 11: Installation Procedure

    ROZUM ROBOTICS RDrive 60 servo motors 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.

  • Page 12: Can Connection

    ROZUM ROBOTICS RDrive 60 servo motors 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 CAN , and the blue one—for CAN...

  • Page 13: Connection For Control Via Api

    ROZUM ROBOTICS RDrive 60 servo motors 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,...

  • Page 14: Connection Diagrams

    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  to provide an energy eater(s) and a capacitor(s) on your own, following the instructions and...
  • Page 15 ROZUM ROBOTICS RDrive 60 servo motors  to connect multiple servos Legend: Input connector (power source) Output connector (from the power consumer to the servo) Wiring segment from the power supply to the eater Wiring segment from the eater to the capacitor...

  • Page 16: Pre-Commissioning Checks

    ROZUM ROBOTICS RDrive 60 servo motors Table 4-2: Lengths vs. cross-sections of wiring segments for RD 50 0.75 0.25 0.75 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: ...

  • Page 17: Enabling Control Via The Api

    ROZUM ROBOTICS RDrive 60 servo motors 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 “CANOpen Communication and related application cases (including servo initialization), refer to Guide.”...

  • Page 18: Setting New Can Ids When Connecting Multiple Servos

    ROZUM ROBOTICS RDrive 60 servo motors 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.

  • Page 19: Transportation And Storage

    ROZUM ROBOTICS RDrive 60 servo motors Increased noise during Damaged bearing. Contact our service department. operation. Sporadic failure. Damaged cable. Contact our service department. Only qualified service personnel can perform repair works. 8 TRANSPORTATION AND STORAGE For transporting the RDrive servo motor, always use the original packaging. In case you have no...

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