1. Introduction
The ROBSTRIDE03 is a high-performance integrated joint motor module designed for advanced robotics and automation applications. It combines a driver, motor, planetary reducer, and double magnetic encoders into a single, compact unit, offering a peak torque of 60 N.m and a reduction ratio of 9:1. This manual provides essential information for the proper setup, operation, and maintenance of your ROBSTRIDE03 module.
2. Key Features
- Integrated Design: Combines driver, motor, planetary reducer, and double magnetic encoders into one compact unit.
- High Torque Output: Achieves a peak torque of 60 N.m.
- Precision Control: Equipped with two magnetic encoders for accurate position and velocity feedback.
- Efficient Drive Method: Utilizes Field-Oriented Control (FOC) for smooth and efficient operation.
- Compact and Lightweight: Weighs approximately 880g, making it suitable for various robotic applications.
- Robust Construction: Features an IP52 protection level, with support for custom IP67.
3. Specifications
3.1 Mechanical Specifications
| Parameter | Value |
|---|---|
| Size | 106 x 106 x 56 mm |
| Flange Hole Location | 30.35 x 9 x 6 mm (M4) |
| Mechanical Installation Hole Location | 98 x 8 x 8 mm (M4) |
| Electrical Terminal Interface | XT30 + GH1.25 |
| Protection Level | IP52 (Supporting customize IP67) |
| Encoders | Magnetic Encoder x 2 |
| Weight | 880g ± 20g |
| Poles | 42 |
| Phases | 3 |
| Drive Method | FOC (Field-Oriented Control) |
| Reduction Ratio | 9:1 |
3.2 Electrical Specifications
| Parameter | Value |
|---|---|
| Magnetic Encoder | 2 pcs |
| Rated Voltage | 48V |
| Voltage Range | 15-60V |
| Rated Output Power | 380W ± 10% |
| Rated Torque | 20 N.m |
| Peak Torque | 60 N.m |
| Running Direction | CW/CCW |
| Operating Temperature Range | -20 ~ 50°C |
| Humidity Range | 5 ~ 85% |
| Storage Temperature Range | -30 ~ 70°C |
| Insulation Level | Class B |
| No-load Speed | 195 rpm ± 10% |
| No-load Current | 0.6 Arms ± 10% |
| Rated Load Speed | 180 rpm ± 10% |
| Rated Load Phase Current | 12 Apk ± 10% |
| Peak Phase Current | 43 Apk ± 10% |
| Insulation Resistance / Stator Winding | DC 500VAC, 100M Ohms |
| High Voltage Resistance / Stator and Casing | 600VAC, 1s, 2mA |
| Back-EMF | 17 Vrms/krpm ± 10% |
| Line Resistance | 0.39 Ω ± 10% |
| Torque Constant | 2.36 N.m/Arms |
| Inductance | 0.275 mH ± 10% |
3.3 Performance Characteristics
The performance graphs illustrate the module's capabilities:
- Torque-Speed Curve: Under 48V, the module maintains a peak torque of 60 N.m at lower speeds, gradually decreasing as speed increases towards 215 rpm.
- Operation Time vs. Load: The module can sustain operation for longer durations at lower loads (e.g., ~180 seconds at 20 N.m), with operation time significantly reducing as the load approaches the peak torque of 60 N.m.
4. Setup Instructions
4.1 Mechanical Installation
- Mounting Surface Preparation: Ensure the mounting surface is flat, clean, and capable of supporting the module's weight and operational forces.
- Positioning: Align the ROBSTRIDE03 module with the desired mechanical installation points. Refer to the Mechanical Installation Hole Location (98 x 8 x 8 mm, M4) and Flange Hole Location (30.35 x 9 x 6 mm, M4) in the specifications.
- Securing the Module: Use appropriate M4 screws to securely fasten the module to the mounting surface. Ensure even tightening to prevent strain or misalignment.
4.2 Electrical Connection
- Power Supply: Connect a stable DC power supply within the 15-60V range (Rated Voltage: 48V) to the XT30 connector. Ensure correct polarity.
- Control Interface: Connect your control system to the GH1.25 electrical terminal interface. This interface is used for communication with the integrated driver and encoders.
- Encoder Connections: The module includes two magnetic encoders. Ensure these are properly integrated with your control system for accurate feedback.
- Initial Power-Up: Before applying full power, perform a low-voltage test if possible to verify connections and prevent damage.
Warning: Incorrect wiring or voltage can damage the module. Always double-check connections before powering on.
5. Operation
The ROBSTRIDE03 module utilizes Field-Oriented Control (FOC) for precise and dynamic motor operation. It supports both Clockwise (CW) and Counter-Clockwise (CCW) running directions.
5.1 Basic Operation
- Control Signals: Send appropriate control signals via the GH1.25 interface to command the motor's speed, position, or torque.
- Monitoring: Utilize the feedback from the dual magnetic encoders to monitor the motor's actual speed and position, allowing for closed-loop control.
- Operating Limits: Adhere to the specified operating temperature range (-20 ~ 50°C) and humidity range (5 ~ 85%) to ensure optimal performance and longevity.
5.2 Performance Considerations
- Load Management: While the module has a peak torque of 60 N.m, continuous operation at high loads will reduce its operational lifespan and may lead to overheating. Refer to the Operation Time vs. Load graph (Figure 5) for guidance.
- Voltage Stability: Maintain a stable voltage within the 15-60V range. Fluctuations can affect motor performance and efficiency.
6. Maintenance
Regular maintenance helps ensure the longevity and reliable performance of your ROBSTRIDE03 module.
- Cleaning: Keep the exterior of the module clean and free from dust and debris. Use a soft, dry cloth. Avoid using harsh chemicals or solvents.
- Environmental Conditions: Operate and store the module within the specified temperature and humidity ranges. Avoid exposure to extreme conditions, moisture, or corrosive environments.
- Connection Integrity: Periodically check all electrical and mechanical connections for tightness and signs of wear or corrosion. Re-tighten screws as necessary.
- Inspection: Visually inspect the module for any signs of physical damage, unusual wear, or loose components.
- Protection Level: The IP52 protection level guards against limited dust ingress and water spray. If operating in harsher environments, consider custom IP67 protection.
7. Troubleshooting
This section addresses common issues you might encounter with your ROBSTRIDE03 module.
| Problem | Possible Cause | Solution |
|---|---|---|
| Motor not responding | No power; incorrect wiring; control signal issue. | Check power supply (15-60V); verify XT30 and GH1.25 connections; ensure control signals are correctly sent. |
| Motor runs erratically or vibrates | Encoder feedback issue; mechanical misalignment; unstable power. | Verify encoder connections and data; check mechanical mounting for looseness; ensure stable power supply. |
| Motor overheats | Excessive load; insufficient cooling; prolonged operation at high torque. | Reduce load; ensure adequate ventilation around the module; operate within specified temperature limits. Refer to performance graphs for load limits. |
| Reduced torque or speed | Under-voltage; excessive load; motor wear. | Check power supply voltage; reduce mechanical load; inspect for signs of wear if module has been in use for a long time. |
8. User Tips
- For applications requiring higher ingress protection, consider the custom IP67 option during purchase.
- When integrating into a complex system, ensure your control software is optimized for FOC drive methods to fully leverage the module's capabilities.
- Always test your setup with light loads before applying maximum operational parameters to prevent unexpected behavior or damage.
9. Warranty and Support
ROBSTRIDE products are manufactured to high-quality standards. For specific warranty terms and conditions, please refer to your purchase documentation or contact ROBSTRIDE customer support. Keep your proof of purchase for any warranty claims.
For technical assistance, troubleshooting beyond this manual, or inquiries about custom solutions, please contact ROBSTRIDE customer service through their official channels.
