Gyems RMD-L Series User Manual

RMD-L servo motor manual V1.2
Disclaimer
Thank you for purchasing GYEMS RMD-L series servo motor system. Please read this statement carefully before use.
Once used, it is considered as acceptance and acceptance of the entire contents of this statement. Please strictly follow
the manual, product description and related laws, regulations, policies and guidelines to install and use the product. In
the process of using the product, the user is committed to being responsible for his or her actions and all consequences
arising therefrom. GYEMS will not be liable for any loss caused by improper use, installation or modification by the user.
GYEMS is a trademark of Guangyu Electromechanical (Shanghai) Co., Ltd. and its affiliates. Product names, brands, etc.
appearing in this document are trademarks or registered trademarks of their respective companies. This product and
manual are copyrighted by GYEMS. Reproduction may not be allowed in any form without permission. The final
interpretation of the disclaimer is owned by GYEMS .
Introduction
The RMD-L servo motor system used a 32-bit high-performance MCU、High bandwidth op amp 、Low internal
resistance flat MOSFET and combined with an optimized version of the FOC control technology, equipped with a high-
performance brushless motor of the DM series, designed for high-precision, high-response, high-torque applications.
The integrated design of the motor and the driver facilitates ,easily apply for system integration. The driver integrates
a high-precision absolute encoder with an easy-to-use closed-loop control algorithm that greatly improves the accuracy
of position ,speed feedback and torque output.
1. Electrical driver parameter
Input voltage DRC06-S6 7.4V~24V
DRC10-S6 7.4V~36V
Normal current DRC06-S6 6A
DRC10-S6 10A
Maxium current DRC06-S6
8A （10s）
DRC10-S6
15A （10s）
PWM Frequency 24KHz
Torque loop control
frequency
24KHz
Torque loop control
bandwidth
0.4KHz~2.8KHz（Depending on differ motor and torque）
Speed loop control
frequency
8KHz
Position loop control
frequency
8KHz
Encoder 14bit
Bus type
RS485（Non-isolation）
2. Motor electrical parameters
Check RMD motor data sheet to get detail motor information
3. Driver interface

Gyems RMD-L Series Specifications

General

Brand	Gyems
Model	RMD-L Series
Category	Engine
Language	English

Summary

Electrical Driver Parameters

Motor Electrical Parameters

Driver Interface

Bus Feature

Setting

PC Connection

Connect the motor drive and host computer via USB to RS485 module for configuration and settings.

Encoder Settings

Configure motor and encoder parameters like poles, ratio, direction, and alignment for optimal performance.

Product Information

Read hardware and software versions of the motor drive and product through the software interface.

Control Commands

Motor Off Command

Turns off the motor and clears its running status and previously received control commands.

Motor Stop Command

Stops the motor but retains its running status and previously received control commands.

Motor Running Command

Resumes motor operation from a stopped state, maintaining the previous control mode.

Zero Position Command

Sets the current motor position as the zero reference point; validity after power cycle.

Read Encoder Command

Retrieves encoder data without changing the motor's current operational state.

Torque Closed-Loop Control Command

Command for torque control, including parameters for motor output torque ratio.

Speed Closed-Loop Control

Command for speed control, defining the motor's target angular velocity and speed parameters.

Position Closed Loop Control 1

Command for position control, defining target position (multi-turn angle) and max speed.

Position Closed-Loop Control 2

Command for position control, defining target position and maximum speed for arrival.

Position Closed-Loop Control 3

Command for position control, defining rotation direction and target single-turn angle.

Position Closed-Loop Control 4

Command for position control, defining direction, target angle, and max speed.

Products Application