Summary of Contents for MYACTUATOR X Series
- Page 1 Instruction Manual for the Product Applicable series: X series Version: V1.0 Date: 2025.01...
- Page 2 Preface Thanks for choosing MYACTUATOR. X series joint module is a highly integrated joint module provided by the company under the premise of years of experience accumulation for customer service, which has a large transmission speed ratio, strong bearing capacity, precise control, easy to carry, and saves a lot of time for developers.
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Page 3: Imprint Notice
The company reserves the right to modify and improve this manual at any time without prior notice. For the latest version of the manual, please visit the official website (www.myactuator.com) to download it by yourself, or contact the company to obtain it. -
Page 4: Table Of Contents
Catalog Preface ........................I Imprint Notice ......................II 1. Safety Precautions ....................1 2. Quality Assurance ....................5 2.1. After-sales Policy ..................5 2.2. Disclaimer ....................6 3. Basic Parameters of the Module ................7 3.1. Module Nameplate and Model ..............7 3.2. -
Page 5: Safety Precautions
1. Safety Precautions This product is a high-precision product. Only professionals with corresponding qualifications can perform tasks such as installation, debugging, and maintenance. Corresponding personnel must understand and comply with IEC60364/IEC60664 and national accident prevention regulations. Please read the manual carefully before installing, operating, or repairing this product. - Page 6 Please check whether the module and its accessories are complete Please refer to the list to check whether the module name is correct, whether the accessories are complete, whether there is any damage on the surface of the equipment and its accessories, etc. If there is any problem, please do not install it and contact our company in time.
- Page 7 corresponding wire diameter and shielding requirements, and the shielding layer of the shielded cable must be reliably grounded. Please use a multi-turn encoder power battery that meets the specifications In order to prevent the multi-turn value from being lost due to power outage, the multi-turn encoder is powered by a specific battery with the required specification of 2.7~3.6V.
- Page 8 Do not hit or squeeze the module and its components with gravity The module is a precision device. Do not use a hammer to hit the module hard. Please place it carefully to prevent the module from falling off the table and causing cracks and other damage. The use environment complies with regulations The working environment temperature of the module is 0~50℃.
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Page 9: Quality Assurance
Regular inspection and maintenance Please perform daily and regular inspection and maintenance on the module, and keep maintenance records. Others Do not remove the anti-tear warranty label Do not remove the anti-tear warranty label, otherwise you will lose your warranty rights. Please dispose of it as industrial waste Please dispose of the module and its accessories as industrial waste. -
Page 10: Disclaimer
In the process of using the product, users promise to be responsible for their own actions and all consequences arising therefrom. Myactuator will not be held legally responsible for any losses caused by improper use, 6 / 24... -
Page 11: Basic Parameters Of The Module
The X series module integrates a frameless torque motor, absolute encoder, servo driver and planetary reducer. It has a compact structure, strong integration, and is easy to install. X series modules are currently available in X2, X4, X6, X8, X12, X15, making robot development more convenient and flexible. -
Page 12: Module Appearance Size
Table 3-2 The specific models of Series X Abbreviation Full Name RMD-X2-P28-7-C X2-P28 RMD-X2-P28-7-E RMD-X4-P36-36-C X4-P36 RMD-X4-P36-36-E RMD-X6-P20-60-C X6-P20 RMD-X6-P20-60-E RMD-X8-P20-120-C X8-P20 RMD-X8-P20-120-E RMD-X8-P33-150-C X8-P33 RMD-X8-P33-150-E RMD-X12-P20-320-C X12-P20 RMD-X12-P20-320-E RMD-X15-P20-450-C X15-P20 RMD-X15-P20-450-E 3.2. Module Appearance Size Figure 3-1 X2-P28 appearance dimension drawing 8 / 24... - Page 13 Figure 3-2 X4-P36 appearance dimension drawing Figure 3-3 X6-P20 appearance dimension drawing Figure 3-4 X8-P20 appearance dimension drawing 9 / 24...
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Page 14: Module Parameters
Figure 3-5 X12-P20 appearance dimension drawing Figure 3-6 X15-P20 appearance dimension drawing 3.3. Module Parameters Table 3-3 Module parameter list Parameter X2-P28 X4-P36 X6-P20 X8-P20 X12-P20 X15-P20 Ratio 28.17 19.612 19.612 20.25 Input Voltage(V) Peak Speed (RPM) No-load Current (A) 10 / 24... - Page 15 Rated Speed (RPM) Rated Torque (N.m) 11.5 20.0 43.0 100.0 145.0 Rated Power (W) 1000 1124 Rated Current (Arms) 17.6 30.0 25.0 Peak Torque (N.m) Peak Current (Arms) 21.5 29.1 43.8 100.0 69.2 63.1 72.7 79.0 82.4 Efficiency (%) EMF Constant (Vdc/Krpm) 16.0 19.2 17.9...
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Page 16: Module Stall Characteristics
3.4. Module Stall Characteristics When the module transitions from a stationary state to start-up operation, the significant initial static friction force requires a higher torque to initiate movement. This can cause the speed to drop to 0 rpm, an increase in current, and a rapid rise in temperature. -
Page 17: Mechanical Installation Requirements
Table 3-7 Stall Data for X8-P20 Torque (Nm) Temperature Rise （℃） Stall Time（s） Phase Current（Arms） 64.5 23.3 31.1 107.5 38.9 43.8 Table 3-8 Stall Data for X15-P20 Torque (Nm) Temperature Rise （ ℃） Stall Time（s） Phase Current（Arms） 217.5 31.1 362.5 51.6 67.2 4. -
Page 18: Electrical Installation Requirements
Table 4-1 Screw tightening torque table Screw specifications Tightening torque Screw specifications Tightening torque (mm) (kgf.cm) (mm) (kgf.cm) M3 × 0.5 M14 × 2.0 1840 M4 × 0.7 M16 × 2.0 2870 M5 × 0.8 M18 × 2.5 3950 M6 × 1.0 M20 ×... -
Page 19: Interface Description
Figure 5-1 Protection circuits in the case of switching power supplies There is no need to consider the effect of back EMF when using battery power, because the back EMF of the module directly charges the battery. In order to make the system more safe and reliable, the over voltage/under voltage protection voltage of the module can be modified according to the actual test situation, and the modification method is as follows: debugging the host computer - advanced parameters - protection... - Page 20 Table 5-1 Interface description for X2-P28/X4-P36 Port Port description The positive pole of the power The negative pole of the power supply CAN_L CAN_L network signal interface CAN_H CAN_H network signal interface EtherCAT_IN EtherCAT input port EtherCAT_OUT EtherCAT output port Master sends control commands to the module Module sends status feedback to the master Master reflects the status data of the module...
- Page 21 Table 5-3 Interface description for X8-P20 Port Port description The positive pole of the power The negative pole of the power supply CAN_L CAN_L network signal interface CAN_H CAN_H network signal interface EtherCAT_IN EtherCAT input port EtherCAT_OUT EtherCAT output port Master reflects the status data of the module Module reflects the control commands of the master Master sends control commands to the module...
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Page 22: Indicator Description
5.3. Indicator Description Table 5-5 Explanation of the status of the indicator Expression Situation The green light is always on The motor is operating normally The green light flashes rapidly There is a level 1 error in the motor The green light flashes slowly There is a level 2 error in the motor If there is an error in the operation of the motor, please read the specific error information from the host computer or CAN command, and refer to the "Setup Software... -
Page 23: Can Communication Wiring Instructions
(b)Schematic diagram of the chain topology Figure 6-1 Schematic diagram of multi-module power supply 6.2. CAN Communication Wiring Instructions The CAN communication line is made of twisted pair cables, which are shielded separately, and it is important to ensure that the ID of each module is unique before establishing CAN communication. -
Page 24: Kinetic Energy Recovery
Figure 6-3 Schematic diagram of EtherCAT communication wiring 7. Kinetic Energy Recovery 7.1. Reasons for Kinetic Energy Recovery During normal operation of the module, the power supply outputs electrical energy to it. When the module is operating in deceleration, the circuit loop engages in the process of kinetic energy recovery. - Page 25 supply voltage from becoming too high due to kinetic energy recovery. As shown in Figure 7-2, the disconnection/connection of the resistor can be operated through a logic control circuit. (a) The resistor is disconnected when the voltage is normal (b) The resistor is connected when the voltage is too high Figure 7-2 Diagram of module operating state with bleeder resistor connected 2.
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Page 26: Encoder Description
(b) Capacitor kinetic energy recovery when the voltage is too high Figure 7-3 Diagram of module operating state with super capacitor added 3. Adding a storage battery During normal operation, both the switching power supply and the storage battery supply power to the module simultaneously. When the module is in a deceleration state, the storage battery recovers the kinetic energy, as shown in Figure 7-4. -
Page 27: Instructions For The Use Of The Mechanical Zero Calibration Function
specific values, refer to Section 3.3 Module Parameters. When the encoder resolution is 17 bits, the number of position counts output by the motor shaft for one complete rotation is 2 , with a single-turn position range of 0 to 131071, and the conversion single turn position = angle ÷... -
Page 28: Connect And Debug The Setup Software
2. CAN command setting, please refer to our company's "Servo Motor Control Protocol" for details. 9. Connect and Debug the Setup Software Please download the latest debugging software from the company's official website, and the installation and debugging method is detailed in the "Setup Software Instruction Manual".
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