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Suzhou Micro Actuator Technology Co., Ltd
Product Manual
RMD-X4-P36-24
Disclaimer
Thanks for choosing RMD series motor.Please read this statement
carefully before using.Once used, this statement is deemed to be
approved and accepted.Please install and use this product strictly in
accordance with the manual, product description and relevant laws,
regulations, policies and guidelines. In the process of using the
product, the user undertakes to be responsible for his own behavior
and all consequences arising therefrom.
MYACTUATOR will not be liable for any loss caused by improper
use,
installation and modification of the user.
MYACTUATOR is the trademark of Suzhou Micro Actuator
Technology Co., Ltd. and its affiliates. Product names, brands, etc.
appearing in this document are trademarks or registered trademarks
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This product and manual are copyrighted by MYACTUATOR.
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Related Manuals for MYACTUATOR RMD Series
Summary of Contents for MYACTUATOR RMD Series
- Page 1 In the process of using the product, the user undertakes to be responsible for his own behavior and all consequences arising therefrom. MYACTUATOR will not be liable for any loss caused by improper use, installation and modification of the user.
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Page 2: Table Of Contents
Suzhou Micro Actuator Technology Co., Ltd Contents Introduction ............................1 1. Product Features ..........................1 2. Product Interface, Coordinate System Definition, and Parts Description ......2 3. Product Installation Dimensions ....................2 4. Product Parameters, Measured Data, and Characteristic Curves ........... 2 5. -
Page 3: Introduction
Suzhou Micro Actuator Technology Co., Ltd Introduction EC-A4310-P2-36 is a joint module product that integrates reducer, motor, and motor drivers. The reduction method is a planetary reducer, and all gears have been tempered to ensure the reducer’s high strength and long service life. The motor adopts a centralized winding brushless DC motor scheme with high power density and efficiency. -
Page 4: Product Interface, Coordinate System Definition, And Parts Description
Suzhou Micro Actuator Technology Co., Ltd No other modules are required for use, and it can be directly connected to a PC for debugging and control 2. Product Interface, Coordinate System Definition, and Parts Description While facing the output shaft of the module, speed is positive for counterclockwise rotation, and the angle increases as rotation continues;... -
Page 5: Product Instructions And Functionalities Descriptions
Suzhou Micro Actuator Technology Co., Ltd Nominal Power 146.4 Nominal Speed Nominal Torque Peak Speed Peak Current Peak Torque Efficiency Torque Constant Nm/A Motor Weight Backlash Arcmin Motor Size (OD × Thickness) 56 × 60.5 Communication Method Communication Baud Rate The speed shown in this manual refers to the motor speed at the output end unless otherwise specified. -
Page 6: Instructions For Using Voltage And Power Supply
Suzhou Micro Actuator Technology Co., Ltd use 1-pole magnet feedback, and the common magnetic resistance encoders are all in this level of accuracy. The motor can provide real-time feedback on the position of the output end, which is indeed 0~360°. To facilitate a unified coordinate system, it is divided into - 180°~ 180°. -
Page 7: Communication Instructions
Suzhou Micro Actuator Technology Co., Ltd Power Supply and Current The product power supply port is an XT30 (2+2) connector produced by AMASS, with a rated current of 15A and a peak value of 30A. The power supply current is the bus current to the driver. When the motor is in actual control, the power supply current is phase current because the phase current is linearly related to the motor torque. -
Page 8: Description Of Servo Position Control Mode
Suzhou Micro Actuator Technology Co., Ltd 5.5 Description of Servo Position Control Mode If the given position is greater than ±180 degrees, the motor will be able to turn multiple rounds, but rebooting will cause the number of turns to reset. The servo control mode is a three-loop control. -
Page 9: Indicator Light Description
Suzhou Micro Actuator Technology Co., Ltd consumption braking mode and the regenerative braking mode are recommended to be used under no-load or light load conditions. The variable damping braking mode achieves its purpose by calling the command to set the motor duty cycle to 0, similar to the effect of three-phase short circuiting. - Page 10 Suzhou Micro Actuator Technology Co., Ltd arrows) to avoid accidentally replacing the parameters in the motor. Please refer to the following figure for details. Attention! If the configuration is downloaded without uploading parameters, it will overwrite the parameters in the driver, causing the motor to fail to run smoothly or even damage it.
- Page 11 Suzhou Micro Actuator Technology Co., Ltd ④ Enter numerical values in the input box at the bottom right corner and click the small button on the right side of the input box to control the motor. D is duty cycle control;...
- Page 12 Suzhou Micro Actuator Technology Co., Ltd Motor Setting column. The corresponding relationship is: Wheel Diameter parameter * 100 = desired electrical angular velocity. ⑤ Click PID controllers in the Motor setting directory on the left to modify parameters such as flux observation gain, disturbance compensation coefficient, feedback gain, etc.
- Page 13 Suzhou Micro Actuator Technology Co., Ltd Attention! The flux observation gain, disturbance compensation coefficient, feedback compensation coefficient, and damping coefficient set on the VESC tool will be written into the driver FLASH as default parameters. In contrast, these three parameters modified in real-time through CAN commands will not be written into FLASH.
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Page 14: Typical Applications
Suzhou Micro Actuator Technology Co., Ltd 7. Typical Applications (Biped robot) (Quadruped robot) (Biped wheeled robot) (Wire drive robotic arm) (Exoskeleton robot) (Pan tilt camera) 8.Precautions This product should be used away from strong magnetic environments; otherwise, it may affect the motor encoder data and cause abnormal motor rotation! ... - Page 15 Suzhou Micro Actuator Technology Co., Ltd Appendix 1: 1 CAN Communication Parameters Baud rate: 1M Identifier: Standard identifier (0x01~0x7FF), 0x7FF is the special identifier for motor setting commands and motor query commands, and the rest are motor IDs. Data length: 4-8 bytes ...
- Page 16 Suzhou Micro Actuator Technology Co., Ltd Both modes are valid and still valid after switching communication modes. Attention! The number of rounds the motor turned is also reset to 0! Setting failed in the following situations: 1. The motor is in operation, and the speed is not 0 (in reality, this situation can also be caused by the motor speed being less than a certain speed).
- Page 17 Suzhou Micro Actuator Technology Co., Ltd Master control sends data length: 4 bytes Motor feedback data length: 4 bytes CAN Command Data Domain - Query Motor Communication Mode Byte 0 Byte 1 Byte 2 Byte 3 0x00 (represents the instruction sent by Motor ID high Motor ID low 0x81...
- Page 18 Suzhou Micro Actuator Technology Co., Ltd Data received by the driver is not subjected to amplitude limiting processing, and the relevant control is automatically limited by the system parameters. For example, in the current control mode, the current value given by CAN is 5000, indicating the actual control current of 50A.
- Page 19 Suzhou Micro Actuator Technology Co., Ltd . Feedback motor temperature value: motor temperature value = actual temperature * 2+50. This communication protocol can control up to 4 motors in one data frame but only controls the current. The speed, position, and other parameters of the motors need to be calculated and controlled by the user on the main control.
- Page 20 Suzhou Micro Actuator Technology Co., Ltd Motor mode: 0x01, indicating that this control command is a servo position control command. Explanation of the expected position value at the output end: The value is the actual angle, in degrees. For example, 120.5 represents 120.5 °. ...
- Page 21 Suzhou Micro Actuator Technology Co., Ltd 0: Normal current control 1: Torque control mode 2: Variable damping braking control mode, currently automatically ignoring the actual current data 3: Energy consumption braking control mode, currently automatically ignoring the expected current data 4: Regenerative braking control mode, currently the expected current value is the set braking current threshold 5: Reserved (currently invalid)
- Page 22 Suzhou Micro Actuator Technology Co., Ltd modify parameters during motor operation or when the motor carries no load, and do not modify them frequently. 4.3.1 Motor Acceleration Configuration Command Identifier: Motor ID Data Length: 4 bytes(32 bits in total) Motor mode Reserved control Configuration code Acceleration value...
- Page 23 Suzhou Micro Actuator Technology Co., Ltd 3: Failure to return and driver not responding, setting failed Configuration code: 0x02: Indicates that the instruction is to configure the flux observation gain and disturbance compensation coefficient. Flux observation gain: 0-10000 corresponds to 0- 1 in the VESC tool. The default value is 1000, corresponding to 0.1.
- Page 24 Suzhou Micro Actuator Technology Co., Ltd 7: Query the current disturbance compensation coefficient 8: Query feedback compensation coefficient 9: Query damping coefficient 5 Q&A Mode Feedback Message The return message includes the electronic control instruction, return message, configuration command range message, and the query instruction range message. The rules for storing data in the CAN data domain follow the storage method of high bit first and low bit last.
- Page 25 Suzhou Micro Actuator Technology Co., Ltd MOS temperature: The feedback numerical data type is unsigned 8-bit, and the value is equal to the actual temperature * 2+50. 5.2 Q&A Communication Mode Return Message Type 2 Identifier: Motor ID Data length: 8 bytes (64 bits total) Message class Error message Motor position...
- Page 26 Suzhou Micro Actuator Technology Co., Ltd 5.5 Q&A Communication Mode Return Message Type 5 Identifier: Motor ID Data length: 4-6 bytes Query code Message type Error message Query returned data uint3 uint5 uint8 Current position, float type (this message has a total of 6 bytes) Current speed, float type (this message has a total of 6 bytes)
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