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RM -GB Product User Manual

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PRODUCT USER MANUAL
RM-GB
SERVO GRIPPER
Please read this MANUAL carefully before using the product.
DOCCODE: GBPUM2503

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  • Page 1 PRODUCT USER MANUAL RM-GB SERVO GRIPPER Please read this MANUAL carefully before using the product. DOCCODE: GBPUM2503...

  • Page 2: Applicable Models

    APPLICABLE MODELS This manual is applicable to the entire range of RM-GB (Servo Gripper) series products, including the ITG integrated models (with built-in controllers), split-type models (with external controllers) , and SoftForce®...

  • Page 3: Table Of Contents

    3.3.4 Bus Control Wiring Instructions ........................16 3.3.4.1 Wiring Instructions for RM-CEP-X-ECAT Controller Model ..................16 3.3.4.2 Wiring Instructions for RM-CEP-X-TCP / RM-CEP-X-PN / RM-CEP-X-EIP Controller Models .........17 3.3.4.3 Wiring Instructions for RM-CEP-X-CAN Controller Model..................18 3.3.5 I/O Control Wiring Instructions .........................19 3.3.6 Pulse Control Wiring Instructions ........................21...
  • Page 4 CONTENTS 4.5.2 Rapid Flexible Pushing and Pressing ........................33 Offline Data Collection Interface .......................35 Status Monitor Interface ..........................37 4.7.1 Left Side Status Bar ............................37 4.7.2 Right Side Status Bar ............................37 Parameter Editor Interface .........................38 4.8.1 Change Station Number & Baudrate ........................38 4.8.2 Change IP Address ..............................39 4.8.3...

  • Page 5: Product Introduction

    The design of the RM-GB series grippers not only enables the grippers to adapt to objects of various shapes and sizes, but also eliminates the need for frequent replacement of end effectors. With simple gripping command actions, they can perform multifunctional gripping tasks, greatly enhancing their application efficiency in various industries, such as 3C electronics, automotive manufacturing, logistics, and food processing.

  • Page 6: Product Model And Specifications - Itg Integrated (Built-In Controller)

    PRODUCT INTRODUCTION Product Model and Specifications - ITG Integrated (Built-in Controller) RM-GB-11-20-2- RM-GB-11-40-2- RM-GB-17-30-2- RM-GB-17-60-2- RM-GB-17-80-2- Model RM-GB-17-120-2-ITG Size Code Stroke (mm) Type Code Max.gripping Force(N) Max.velocity (mm/s) Repeat Positioning Accuracy (mm) ±0.05 ±0.05 ±0.02 ±0.05 ±0.02 ±0.02 Max.opening/closing Time (s) 0.33/0.33...

  • Page 7: Debugging Preparations

    RM-CEP and RM-CEPFcontrollers. RM-CEP RM-CEPF This manual only uses the RM-CEP controller as an example for the instructions. For the use of the RM-CEPF controller, please refer to the RM-CEP. Further repetition will be avoided in the following text.

  • Page 8: Extra Items Prepared By User

    GB 123** Match MADE IN CHINA MADE IN CHINA Model Label on the RM-CEP Controller Model Label on the RM Actuator Extra Items Prepared by User 1. Output power supply: DC24V±10% . Please refer to the controller label for rated current.

  • Page 9: Wiring Of The Actuator

    4. During use, you can adjust the action of the gripper to ensure efficient clamping. Wiring Instructions for RM-GB-ITG (Built-in Controller) ITG (Integrated series) refers to an integrated drive and control unit built into the actuator, eliminating the need for an external controller connection.

  • Page 10: Wiring Instructions For The Actuator

    WIRING OF THE ACTUATOR 2. Bottom Wiring - Optional Wiring Methods A / H / V (Note: RM-GB-11-20-ITG models cannot be selected with bottom wiring.) A - Aviation Plug SW It can be rotated in four directions at 90 degrees along the fixed surface. H - Horizontal Wiring It can be rotated in...

  • Page 11: Wire Sequence Description For The Actuator

    WIRING OF THE ACTUATOR 2. Cable Tying Method with Fixed Connectors on the Body (Using the H-Type Horizontal Wiring as an Example) The red area must be fixed properly. The connector and actuator must be in a relatively stationary state to prevent Recommanded fixing position the internal cables from being pulled, which could cause a short circuit. Downward Rightward Upward Leftward Standard fixed port block.

  • Page 12: Integrated Connection Panel Wiring Instructions

    WIRING OF THE ACTUATOR 3.2.5 Integrated Connection Panel Wiring Instructions The "integrated connection panel" is intended for quick debugging by first-time users and is generally not required for regular use. 1. Upper Computer Software Debugging Wiring Method RM-GB-ITG Cable terminal 2. Bus Control Wiring Method RM-GB-ITG Cable terminal...

  • Page 13: Circuit Diagram Wiring Illustration

    WIRING OF THE ACTUATOR 3. I/O Control Wiring Method RM-GB-ITG Cable terminal 3.2.6 Circuit Diagram Wiring Illustration 1. The RM-GB-ITG natively supports NPN. When the PLC I/O type is NPN, the wiring method is as follows: RM-GB-ITG I/O INPUT NPN OUTPUT COM I/O OUTPUT NPN INPUT 2.

  • Page 14: Wiring Instructions For Rm-Gb (Split-Type Series)

    WIRING OF THE ACTUATOR Wiring Instructions for RM-GB (Split-Type Series) The split-type series refers to actuators that require an external drive and control integrated controller for support of a variety of bus communication methods. Below is an introduction to the wiring methods that match different controllers.

  • Page 15: Wiring Instructions For The Actuator

    WIRING OF THE ACTUATOR 3.3.2 Wiring Instructions for the Actuator 1. Cable Tying Method with Extension Cables on the Body (Using the A-Type Switched Wiring as an Example) The red area must be fixed properly. The connector and actuator must be in a relatively stationary state to prevent the internal cables from being pulled, which could cause a short circuit. It can be rotated in four directions at 90 degrees along the fixed surface.

  • Page 16: Wiring Instructions For The Actuator And Rm-Cep Controller

    WIRING OF THE ACTUATOR 3.3.3 Wiring Instructions for the Actuator and RM-CEP Controller 1. The RM-GB is typically matched with the RM-CEP series controller. The parameter description for the RM-CEP controller is shown in the following table. Model RM-CEP-A-TCP-S RM-CEP-A-CAN-S RM-CEP-A-PN-S RM-CEP-A-EIP-S RM-CEP-A-ECAT-S Drive Current (A) Rated Voltage (V) DC24±10% DC24±10% DC24±10% DC24±10% DC24±10% I/O Control Support Support Support Support Support...

  • Page 17: Bus Control Wiring Instructions

    WIRING OF THE ACTUATOR 3.3.4 Bus Control Wiring Instructions 3.3.4.1 Wiring Instructions for RM-CEP-X-ECAT Controller Model When using the RM-CEP-X-ECAT model controller, the port definitions are as follows: EtherCAT IN • CN8 and CN9 do not support for blind mating.

  • Page 18: Wiring Instructions For Rm-Cep-X-Tcp / Rm-Cep-X-Pn / Rm-Cep-X-Eip Controller Models

    WIRING OF THE ACTUATOR 3.3.4.2 Wiring Instructions for RM-CEP-X-TCP / RM-CEP-X-PN / RM-CEP-X-EIP Controller Models When using the RM-CEP-X-TCP , RM-CEP-X-PN , and RM-CEP-X-EIP controllers, the port definitions are as follows: Modbus RTU *Factory-supplied USB to RS485 debugging adapter • CN8 and CN9 support for port blind plugging, allowing insertion into any port of your choice.

  • Page 19: Wiring Instructions For Rm-Cep-X-Can Controller Model

    WIRING OF THE ACTUATOR 3.3.4.3 Wiring Instructions for RM-CEP-X-CAN Controller Model When using the RM-CEP-X-CAN controller, the port definitions are as follows: Bus Port *Factory-supplied USB to RS485 debugging adapter • CN8 and CN9 support for port blind plugging, allowing insertion into any port of your choice. • When debugging with RMS Software, please connect to the computer or industrial control machine using the factory-supplied USB to RS485 debugging adapter.

  • Page 20: I/O Control Wiring Instructions

    15 PUL-24V-P OUT-D1 16 PUL-5V-N OUT-S1 17 PUL-24V-N OUT-D2 18 Reserved OUT-S2 19 Reserved OUT-D3 20 Reserved OUT-S3 21 Reserved I/O-INCOM 22 Reserved 10 I/O-INO 23 DIR-5V-P 11 I/O-IN1 24 DIR-24V-P 12 lO-IN2 25 DIR-5V-N 13 I/O-IN3 26 DIR-24V-N RM-CEP...
  • Page 21 For the specific configuration process, you can refer to the section " Configuration] ". 4. The RM-CEP controller features four input and four output I/O signals, with the specifications for the I/O signals listed in the table below. Input Points...

  • Page 22: Pulse Control Wiring Instructions

    WIRING OF THE ACTUATOR 3.3.6 Pulse Control Wiring Instructions 1. When using pulse control, first set the 2nd and 3rd dip switches on port K1 of the controller to the ON position to enable the I/O and pulse control switches. 2.

  • Page 23: Power Supply Module Wiring Instructions

    WIRING OF THE ACTUATOR 4. Principle of Pulse Control 5V Pulse 24V Pulse Rated Load Voltage DC5V Rated Load Voltage DC24V Specifications Maximum Input Pulse Power 500KPPS Maximum Input Pulse Power 200KPPS Insulation Method Optocoupler Insulation Method Optocoupler Direction Signal Pulse Signal 3.3.7 Power Supply Module Wiring Instructions...

  • Page 24: Rms Software Debugging Platform Usage

    RMS SOFTWARE DEBUGGING PLATFORM USAGE RMS Software Debugging Platform Usage Please visit the official website of RobustMotion (www.rmaxis.com/en) and download the software from the Download page, or contact our after-sales engineer to obtain the RMS debugging software package. Through the RMS software debugging platform, users can set motion commands, modify parameters, and monitor control according to actual process requirements.

  • Page 25: Device Connection

    RMS SOFTWARE DEBUGGING PLATFORM USAGE Device Connection For electric actuator debugging, the Modbus RTU communication protocol is typically selected due to its straightforward mechanism for monitoring actuator movement and facilitating initial diagnostics. Ensure that the USB-to-485 adapter for debugging is properly connected to both the controller and the PC. For integrated models, consult the [3.2.5 Integrated Connection Panel Wiring Instructions];...

  • Page 26: Modbus Tcp Connection Type

    RMS SOFTWARE DEBUGGING PLATFORM USAGE 4.3.2 Modbus TCP Connection Type 1. [Connection Type], Select "Modbus TCP". 2. [Connection Config], IP address: 192.168.0.233 (factory default); port: 502 (factory default); station ID: 1 (factory default). 3. Click [Next].

  • Page 27: Overview Of Main Interface Functions

    RMS SOFTWARE DEBUGGING PLATFORM USAGE 4.3.3 Overview of Main Interface Functions The presence of the navigation bar on the left side of the interface, as depicted in the figure below, signifies that the software has established a successful connection with the actuator/controller. Upon each connection, the software automatically retrieves the current parameters from the controller.

  • Page 28: Command Editor

    RMS SOFTWARE DEBUGGING PLATFORM USAGE Command Editor Select 'Command Editor' from the navigation bar to access the interface below. This interface is the primary tool for actuator control, command configuration, and motion status display, and is one of the most frequently utilized features in the system.
  • Page 29 RMS SOFTWARE DEBUGGING PLATFORM USAGE Command Items Feature Introduction [Backward/ It is the JOG movement mode of the actuator, used when fine-tuning the position of the actuator is needed. [Backward] is for JOG-, [Forward] is for JOG+. Forward] [Stop] Used to stop the actuator's instructed movement. The Initialize action is a must-do operation after the actuator is powered on or restarted after power off.

  • Page 30: Detailed Explanation Of Command Types

    RMS SOFTWARE DEBUGGING PLATFORM USAGE 4.4.2 Detailed Explanation of Command Types 1. [Absolute Move] Command The Absolute Move Command is a motion command for the actuator to move to a set position using the origin as a reference point. Command Parameters Parameter Description The target position for "Absolute Move", set the value to be less than the "Maximum Stroke Value"...
  • Page 31 RMS SOFTWARE DEBUGGING PLATFORM USAGE 3. [Push] Command The Push Command refers to starting from the current position, setting a movement at a rated output (current percentage) for a certain distance until the force reaches the set value and then maintaining it. •...

  • Page 32: Command Editing Examples

    1. Example One: [Absolute Move] For instance, adjustments are needed for the RM-GB-11-20 gripper (opening and closing stroke: 20mm on both sides, 10mm on one side). Currently, the electric gripper is at the 0mm position (i.e., the gripper fingers are at the outermost position), as shown in Figure 1;...
  • Page 33 2. Example Two: [Relative Move] For instance, adjustments are needed for the RM-GB-11-20 gripper's pose. Currently, the electric gripper is at the 0mm position (i.e., the gripper fingers are at the outermost), as shown in Figure 5; execute the [Relative Move] Command to bring both sides of the fingers as close as possible, i.e., the gripper needs to move to the...

  • Page 34: Rapid Flexible Pushing And Pressing

    1. Example One: [Absolute Move] + [Push] For instance, use the RM-GB-11-20 (opening and closing stroke: 20mm on both sides, 10mm on one side) to grip and inwardly grasp a workpiece with an outer diameter of about 60mm. Currently, the gripper is at position 0mm, and the distance between one side of the gripper finger and the workpiece is about 5mm, as shown in Figure 9.
  • Page 35 2. Example Two: [Absolute Move] + Reverse [Push] For instance, using the RM-GB-11-20 gripper (opening and closing stroke: 20mm on both sides, 10mm on one side) to externally support and grasp a workpiece with an inner diameter of approximately 25mm. The current gripper is at the 20mm position, and the distance between one side of the gripper finger and the workpiece is about 7mm, as shown in Figure 12.

  • Page 36: Offline Data Collection Interface

    RMS SOFTWARE DEBUGGING PLATFORM USAGE Offline Data Collection Interface The offline data collection interface can collect real-time data such as current position, current output, homing position, and current force, and generate a line graph of data and time. It also allows for the export of data to Excel for analysis. 1. Data Collection Settings Use the [Normal Chat] for data collection settings.
  • Page 37 RMS SOFTWARE DEBUGGING PLATFORM USAGE 3. Curve Data Data collection commands allow for direct [Start current collect], [Start persistence collect], and also collection targeting a specific Command. By moving the mouse, you can view the Select the icon, and after clicking, you can choose a changes and values of the current position period on the curve for more specific data analysis.

  • Page 38: Status Monitor Interface

    RMS SOFTWARE DEBUGGING PLATFORM USAGE Status Monitor Interface You can observe the current motor actuator's action execution status (Boolean quantity) and the input/output status of external I/O in the [Status Monitor] interface. 4.7.1 Left Side Status Bar The left side Status Bar shows the current action execution status of the motor, with ① as the status parameter name, and ②...

  • Page 39: Parameter Editor Interface

    RMS SOFTWARE DEBUGGING PLATFORM USAGE Parameter Editor Interface 4.8.1 Change Station Number & Baudrate Firstly establish a connection with the controller via the Modbus RTU. Upon successful connection, access the [Parameter Editor] interface. Within the Parameter Editor, navigate to the "modbus.slave" setting to modify the controller's station address, ensuring it falls within the permissible range of 1 to 255.

  • Page 40: Change Ip Address

    RMS SOFTWARE DEBUGGING PLATFORM USAGE 4.8.2 Change IP Address If using Modbus TCP communication, it is necessary to change the controller's IP address. First, connect to the controller using Modbus RTU. After the connection is complete, click on [Parameter Editor] and search for "IP" to change the controller's IP address.

  • Page 41: External I/O Input And Output Configuration

    RMS SOFTWARE DEBUGGING PLATFORM USAGE 4.8.4 External I/O Input and Output Configuration When using I/O control, if you need to configure external I/O mapping within the controller, first connect the software using Modbus RTU or other methods. In [Command Editor], search for "I/O" to find [physical_io.input_map_0] and [physical_io.output_map_0]. [physical_ io.input_map_0] corresponds to IN0 in the actual I/O wiring of the actuator, and [physical_io.output_map_0] corresponds to OUT0 in the actual I/O wiring of the actuator.

  • Page 42: Power-Up Home Position Setting

    RMS SOFTWARE DEBUGGING PLATFORM USAGE 4.8.6 Power-Up Home Position Setting After the actuator performs the "Push" (fingers open), do not use the "Initialize" command to open it. Instead, set an "Absolute Move" to "0mm" to achieve "returning to the origin" or move to the desired position. The actuator is set to automatically return to the home position by default before leaving the factory, and manual operation is generally not required.

  • Page 43: I/O Mapping Interface

    RMS SOFTWARE DEBUGGING PLATFORM USAGE I/O Mapping Interface [I/O Mapping] is another convenient method for configuring I/O input and output. Click on [I/O Mapping] in the left navigation bar, and by connecting the input and output parameters on the left and right with the I/O interface in the center, you can associate the I/O interface with the required functions to achieve I/O customization.

  • Page 44: Modbus Rtu Communication Guide

    Modbus RTU COMMUNICATION GUIDE Modbus RTU Communication Guide When using Modbus RTU communication, the corresponding function codes and addresses are required to control the motion of the electric gripper and to modify the parameters of the electric gripper. Note: The Modbus addresses used in the examples are in decimal format. Function Code Address Explanation 5.1.1 02H Function Code...
  • Page 45 Modbus RTU COMMUNICATION GUIDE 1. To use the electric gripper to hold a workpiece, the torque mode switch must be turned on; only then can gripping be performed, otherwise the electric gripper will generate an error. The point mode and positioning mode are two distinct modes and do not interfere with each other.
  • Page 46 Modbus RTU COMMUNICATION GUIDE Command Type Sequence Number Explanation Command Type Number None Taking Command Sequence Number 0 as an example: the Modbus address Set Home for the Command type is 5000. Delay When 5000 equals 1, the Command Absolute Move type is for setting the home position.

  • Page 47: Function Code

    Modbus RTU COMMUNICATION GUIDE 5.1.3 04H Function Code The 04H function code is for reading input registers, used to read one or more 16-bit values from the input registers of the slave device. The 04H function code can be used to read the current position (address: 0), velocity (address: 2), and force sensor readings (address: 16), with each data point occupying two registers.

  • Page 48: Modbus Communication Message Example

    Modbus RTU COMMUNICATION GUIDE Modbus Communication Message Example Modbus RTU (Remote Port Unit) communication message format adheres to a strict binary format, suitable for serial communication and particularly common in device communication within industrial automation environments. Below are the general components of a Modbus RTU message: Name Function A byte, ranging from 0x00 to 0x7F (0 to 247 in decimal), with the 0x00 address typically used for broadcasting, and...

  • Page 49: Read Current Alarm Signal/Action Completion Signal

    Modbus RTU COMMUNICATION GUIDE 5.2.2 Read Current Alarm Signal/Action Completion Signal 01 02 00 00 00 01 B9 CA（Read Current Alarm Status） • 01 represents the slave device address, indicating that the message is sent to the device with station number 1. •...

  • Page 50: Trigger Error Reset/Servo Toggle/Command Stop/Force Reset(Precision Torque Control)/Initialize/Execute

    Modbus RTU COMMUNICATION GUIDE If you need to write the floating-point number 20 into the controller, first convert 20 into a hexadecimal number. The hexadecimal equivalent of the floating-point number 20 is 41 A0 00 00, and after endian conversion, it becomes 00 00 41 A0.

  • Page 51: Positioning Mode User Guide

    Modbus RTU COMMUNICATION GUIDE Positioning Mode User Guide 5.3.1 Introduction to Positioning Mode Positioning Mode, also known as Position Mode, requires the input of parameters such as distance, acceleration, and Velocity before the target position parameter is written. Once the target position parameter is written, the actuator will immediately execute the action without the need for a trigger signal;...

  • Page 52: Modbus Rtu Example (Using Positioning Mode To Perform Gripping/Opening Actions)

    Modbus RTU COMMUNICATION GUIDE 5.3.2 Modbus RTU Example (Using Positioning Mode to Perform Gripping/Opening Actions) 1. Modify Parameters and Perform "Absolute Move" (Suitable for Opening the Gripper or Rapid Approach Action) Determine if the Electric Actuator Has Reached the Target Position: Example: Modify the target position, Velocity, acceleration, and torque to drive the electric actuator in "Absolute Move". Target Action Parameters Target Position（mm） Velocity（mm/s）...
  • Page 53 Modbus RTU COMMUNICATION GUIDE 2. Modify Parameters and Perform Pressing Motion (Suitable for the Gripper Tightening Inward or Supporting the Workpiece) Determine if the Electric Actuator is Holding/Pressing the Workpiece: Example: Modify the target position, Velocity, acceleration/deceleration, and torque to drive the electric actuator in pressing motion. Target Action Parameters Target Position（mm） Velocity（mm/s） Acceleration（mm/s²） Torque 0.5（50%） • Set the Velocity to 20mm/s Send：01 10 08 EE 00 02 04 00 00 41 A0 2B 83 Return：01 10 08 EE 00 02 23 9D •...

  • Page 54: Positioning Mode Precautions（Q&A

    Modbus RTU COMMUNICATION GUIDE 5.3.3 Positioning Mode Precautions（Q&A） Q1: What should be considered when reading and writing data? A1: When reading and writing data, it is essential to ensure the use of the correct data types. Incorrect data types may lead to improper data parsing or abnormal actuator responses. Q2: How can you determine if the electric actuator has reached the target position in positioning mode? A2: To determine if the positioning mode has reached the target condition, the host computer needs to read and compare the deviation between the current position and the target position (±0.1mm), and when the...

  • Page 55: Maintenance

    Key Maintenance Areas Grease replenishment cycle Grease supply part RM-GB series of servo grippers 100W times per opening and closing or half a year Manual rails and filaments Dust Cover Replacement •...

  • Page 56: Regular External Cleaning And Lubrication

    MAINTENANCE Regular External Cleaning and Lubrication The guiding components such as the manual fingers in this type of product are typically exposed to the air, and during the regular maintenance cycle, these parts may accumulate dust or other dark-colored impurities. To maintain the performance of the product and extend its service life, it is recommended to regularly clean and lubricate the product itself as well as its surrounding environment.

  • Page 57: Regular Self-Inspection

    MAINTENANCE ③ Remove Excess Grease After applying the grease, the product will generally be in the condition shown in Figure 5. To maintain the overall aesthetic of the equipment, it is recommended to wipe off the excess grease with a clean cloth. Figure 5 ④...

  • Page 58: Product Disclaimer Statement

    PRODUCT DISCLAIMER STATEMENT Product Disclaimer Statement Dear Customer, First and foremost, we extend our heartfelt gratitude for choosing products from Foshan Augmented Intelligence Technology Co., Ltd. (hereinafter referred to as "we" or "our company"). This disclaimer aims to clarify the potential risks and responsibilities associated with the use of our products, ensuring that the rights and interests of both parties are effectively protected.
  • Page 59 Tel.：0086-0757-22205682 E-mail：Overseas@rmaxis.com ADD： 1st Floor, No. 20, Shunxiang Road, XinjiaoCommunity, Daliang Street, District, Foshan City, Guangdong Province, China Declaration: Users should thoroughly assess whether the product meets their specific requirements before use, and strictly follow operating procedures and safety manuallines during use; any indirect damages, special damages, incidental damages, or consequential damages caused by improper operation, misuse, unauthorized Find more at www.rmaxis.com/en modification, or use beyond the scope of the product shall be borne by the users themselves.

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