Related Manuals for MYACTUATOR RH Series
Summary of Contents for MYACTUATOR RH Series
- Page 1 Instruction Manual for the Product Applicable series: RH series Version: V1.4 Date: 2025.01...
- Page 2 Preface Thanks for choosing MYACTUATOR. RH 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 / 31... -
Page 11: Basic Parameters Of The Module
The RH series module integrates a frameless torque motor, absolute encoder, servo driver, harmonic reducer, and brake. It has a compact structure, strong integration, and is easy to install. RH series modules are currently available in RH-14, RH-17, RH-20, RH-25, RH-32, making robot development more convenient and flexible. -
Page 12: Module Appearance Size
3.2. Module Appearance Size Figure 3-1 RH-14-N appearance dimension drawing Figure 3-2 RH-17-N appearance dimension drawing Figure 3-3 RH-17-B appearance dimension drawing 8 / 31... - Page 13 Figure 3-4 RH-20-N appearance dimension drawing Figure 3-5 RH-20-B appearance dimension drawing Figure 3-6 RH-25-N appearance dimension drawing 9 / 31...
- Page 14 Figure 3-7 RH-25-B appearance dimension drawing Figure 3-8 RH-32-N appearance dimension drawing Figure 3-9 RH-32-B appearance dimension drawing 10 / 31...
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Page 15: Module Parameters
3.3. Module Parameters Table 3-2 Module parameter list 1 Parameter RH-14 RH-17 RH-20 Ratio Input Voltage(V) Peak Speed (RPM) No-load Current (A) Rated Speed (RPM) Rated Torque (N.m) 17.5 Rated Power (W) Rated Current (Arms) Peak Torque (N.m) Peak Current (Arms) 10.6 EMF Constant (Vdc/Krpm) 19.2... - Page 16 Repeatability(Degree) < 0.01 < 0.01 < 0.01 Communication Method EtherCAT/CAN EtherCAT/CAN EtherCAT/CAN 81.7 90.2 82.9 Length (mm) 97.4 Outer Diameter (mm) Wire Hole Diameter (mm) 0.78 1.11 1.45 Weight (Kg) 1.28 1.75 Insulation level Table 3-3 Module parameter list 2 Parameter RH-25 RH-32...
- Page 17 Wiring Method Backlash（ Arcsec） < 40 < 40 Static Load 35.8 65.4 Radial Load (KN) Dynamic Load 21.8 38.2 Static Load 198.2 342.6 Axial Load (KN) Dynamic Load 49.1 81.8 0.51 1.94 0.82 6.86 Moment of Inertia(Kg.m ²) 0.59 2.32 2.05 8.32 Encoder type and interface...
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Page 18: Motor Current-Output Torque-Speed Curve
3.4. Motor Current-Output Torque-Speed Curve Below are the test data and curves of motor current-output torque-speed for some model modules. Table 3-4 RH-14-100Ratio - Joint Module Motor Current-Output Torque-Speed Data Torque 2N.m 5N.m 11Nm Speed Motor Current 1RPM 0.3A 0.7A 1.3A 2.3A 15RPM... - Page 19 Table 3-5 RH-17-100Ratio - Joint Module Motor Current-Output Torque-Speed Data Torque 5N.m 20N.m 35Nm Speed Motor Current 1RPM 0.5A 1.1A 3.2A 6.2A 15RPM 0.9A 1.5A 3.7A 6.7A 25RPM 1.7A 3.9A 7.1A 30RPM 1.1A 1.9A 4.1A 7.3A Figure 3-11 RH-17-100 Ratio - Module Motor Current-Output Torque-Speed Curve 15 / 31...
- Page 20 Table 3-6 RH-20-100Ratio - Joint Module Motor Current-Output Torque-Speed Data Torque 15N.m 35N.m 50Nm Speed Motor Current 1RPM 0.4A 2.5A 5.3A 7.5A 15RPM 3.6A 6.3A 8.5A 25RPM 1.3A 6.8A 8.9A 30RPM 1.5A 4.4A 7.1A 9.1A Figure 3-12 RH-20-100 Ratio - Module Motor Current-Output Torque-Speed Curve 16 / 31...
- Page 21 Table 3-7 RH-25-100Ratio - Joint Module Motor Current-Output Torque-Speed Data Torque 50N.m 80N.m 108Nm Speed Motor Current 1RPM 0.8A 9.2A 15RPM 1.8A 7.5A 10.1A 14.5A 25RPM 2.1A 7.9A 30RPM 2.5A 8.1A 11.5A 14.7A Figure 3-13 RH-25-100 Ratio - Module Motor Current-Output Torque-Speed Curve 17 / 31...
- Page 22 Table 3-8 RH-32-100Ratio - Joint Module Motor Current-Output Torque-Speed Data Torque 50N.m 100N.m 150Nm Speed Motor Current 1RPM 10.1A 17.5A 25.6A 10RPM 5.2A 13.5A 19.6A 27.6A 15RPM 6.1A 14.2A 20.8A 28.2A 18RPM 6.7A 21.9A 29.1A Figure 3-14 RH-32-100 Ratio - Module Motor Current-Output Torque-Speed Curve 18 / 31...
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Page 23: Mechanical Installation Requirements
4. Mechanical Installation Requirements Please carry out structural design and assembly based on the drawings of each model module provided by our company. Please refer to this chapter for details of the screw types and techniques required for assembly. During the assembly process, all fixed screws must be threaded with thread glue, and the position of thread glue must be consistent, and the amount of thread glue must be consistent. - Page 24 of the module power interface is DC55V, and the input voltage exceeds 55V, which can easily lead to driver failure. When a switch is used to control the joint for power, there may be an over voltage at the moment of power-up shock, this power supply mode needs to connect an electrolytic capacitor in parallel after the switch and before the joint power input (Reference specification:1000uF, 100V), as shown in Figure 5-1, to suppress overshoot of the input voltage at the moment of power-up phenomenon.
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Page 25: Interface Description
5.2. Interface Description The interface is described as follows. Table 5-1 Interface description Number Port Port description The negative pole of the power ① supply The positive pole of the power ② supply CAN_L CAN_L network signal interface ③ CAN_H CAN_H network signal interface ④... -
Page 26: Cable Connection Between Multi-Joint Modules
Instruction Manual" and "Servo Motor Control Protocol" for the specific error reason. 6. Cable Connection between Multi-joint Modules 6.1. Description of the Power Supply Wiring There are two power wiring modes for this series of joint modules: single-axis direct connection and chain topology connection, as shown in Figure 6-1. When it is applied to the collaborative work of multiple modules, the performance of the two wiring methods is different, the wiring resistance of single-axis direct connection is small, and the line loss voltage drop is small;... -
Page 27: Ethercat Communication Wiring Instructions
module use the ground connection method for power supply, as shown in Figure 6-2. In order to eliminate signal reflections in the communication cables, a 120Ω termination resistor is required in parallel at the CAN communication interface of both the controller and the end module. -
Page 28: Brake Life
brake to not work properly, and magnetic shielding measures should be taken for the module. Table 7-1 shows the static torque of the brakes for each type of module. Table 7-1 Static torque values of brakes RH-14 RH-17 RH-20 RH-25 RH-32 Module model Static torque (N.m) -
Page 29: Handling Methods
8.2. Handling Methods 1. Adding a bleeder resistor By paralleling a resistor, when the module is in a deceleration operating state, the recovered kinetic energy is consumed through the resistor, thereby preventing the power supply voltage from becoming too high due to kinetic energy recovery. As shown in Figure 8-2, the disconnection/connection of the resistor can be operated through a logic control circuit. - Page 30 (a) Charging the capacitor when the voltage is normal (b) Capacitor kinetic energy recovery when the voltage is too high Figure 8-3 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.
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Page 31: Encoder Description
9. Encoder Description 9.1. Resolution and Position Feedback The module is controlled by double absolute encoders and achieve full closed-loop control. The resolution of the encoder is 17bit, that is, the number of positions output by the rotation of the motor shaft is 2 , the single turn position change range is 0~131071, single turn position = angle ÷... -
Page 32: Instructions For Use Of Multiturn Powered Batteries
mechanical zero point value according to the use of the module, and there are two ways to set it: 1. Connect and debug the setup software, and set the zero point in the basic parameter interface, see the "Setup Software Instruction Manual" of the company for details;... -
Page 33: Connect And Debug The Setup Software
"Setup Software Instruction Manual". 11.Communication Instruction Description The RH series module adopts our company's customized communication instructions, and the communication control instructions are detailed in the "Servo Motor Control Protocol". -
Page 34: Stiffness
The allowable torque of each type of module is shown in Table 12-1. Table 12-1 Allowable torque of the module Model RH14 RH17 RH20 RH25 RH32 R(m) 0.0141 0.016 0.0175 0.0187 0.0234 Mc(Nm) 12.2. Stiffness The wave generator is fixed, and the torque is applied to the flexible wheel, and the angle of torsion of the output shaft is almost proportional to the torque, and this process is described in a curve, as shown in Figure 12-2. - Page 35 Table 12-2 The stiffness value of the module Model RH14 RH17 RH20 RH25 RH32 ��/���） Stiffness value（X10 0.43 0.93 1.62 3.33 7.47 Table 12-3 shows the hysteresis loss of each module. Table 12-3 The hysteresis loss of the module Model RH14 RH17 RH20...
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