RobStride 04 Instruction Manual

120N.M Quasi-Direct Drive Integrated Motor Module User Manual

ROBSTRIDE 04 Motor

ROBSTRIDE04 Motor: 120Nm quasi-direct drive integrated module.Heavy-duty torque for industrial robots,exoskeletons & automation systems.High-precision control.

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Precautions

1. Please use according to the working parameters specified in this article, otherwise it may cause serious damage to the product!
2. Do not switch the control mode when the joint is running. If you need to switch, send the command to stop the operation before switching.
3. Check whether the parts are in good condition before use. If the parts are missing or damaged, contact technical support in time.
4. Do not disassemble the motor at will, so as to avoid unrecoverable failure.
5. Ensure that there is no short circuit when the motor is connected, and the interface is correctly connected as required.

1. Motor specification

1.1 Outline and mounting dimensions

When fixing, the screw depth should not exceed the depth of the casing thread.

1.2 Standard service condition

1. Rated voltage: 48 VDC
2. Operating voltage range: 24V-60 VDC
3. Rated load (CW) : 40N.m (Heat sink dimensions: 345mm × 345mm) 35N.m (Heat sink dimensions: 220mm×200mm)
4. Operation direction: CW/CCW from the direction of the exit shaft
5. Use posture: the direction of the exit axis is horizontal or vertical
6. Standard operating temperature: 25±5℃
7. Operating temperature range: -20 ~ 50℃
8. Standard operating humidity: 65%
9. Humidity range: 5 ~ 85%, no condensation
10. Storage temperature range: -30 ~ 70℃
11. Insulation Class: Class B

1.3 Electrical characteristic

1. No load speed: 200 rpm±10%
2. No-load current: 2 Arms
3. Rated load: 40 N.m
4. Rated load speed: 100rpm±10%
5. Rated load phase current (peak) : 27Apk±10%
6. Peak load: 120 N.m
7. Maximum load phase current (peak) : 90Apk±10%
8. Insulation resistance/stator winding: DC 500VAC, 100M Ohms
9. High voltage/stator and housing: 600 VAC, 1s, 2mA
10. Motor back potential: 16.9Vrms/krpm±10%
11. Torque constant(Valid value): 2.1N.m/Arms
12. T-N curve

13. Maximum overload curve

Test conditions: Ambient temperature: 25℃ Winding limit temperature: 130℃ (this is the constraint temperature, the actual is 180 degrees) Speed: 24rpm



Test data


14. Thermal testing Test Conditions:

Heat sink size: 345mm x 345mm Ambient temperature: 25℃ Winding protection temperature: 145℃

Test condition 1: Motor rotates at 100rpm, monitor the motor thermistor temperature, and record the time it takes for the motor thermistor temperature to rise from 25℃ to 145℃.



Motor locked-rotor condition 2: According to the current formula, the average phase current during locked-rotor is approximately 1.414 times that of rotation. This is used to obtain the overload time table for the locked-rotor condition.

1.4 Mechanical characteristic

1. Weight: 1420g±20g
2. Number of poles: 42
3. Phase number: 3 phases
4. Drive mode: FOC
5. Deceleration ratio: 9:1

2. Driver Product Information

2.1 Driver product Specifications

2.2 Driver interface definition

2.3 Driver harness definition

2.4 Driver interface recommended brand and model

2.5 Driver function pin and device description

1. Power supply and CAN communication

Pin	description
1	The positive electrode of the power supply (+)
2	Negative electrode of the power supply (-)
3	CAN CAN_L
4	CAN the high side of the communication CAN_H

2. Download port

Pin	description
1	SWDIO (data)
2	SWCLK (clock)
3	3V3 (positive 3.3V)
4	GND

3. Indicator light

Driver function pin and device description

3. Upper computer instructions

Please go to www.robstride.com website download center

3.1 Hardware disposition

The articulated motor uses the CAN communication mode and has two communication cables. It is connected to the debugger through the can to USB tool. The debugger needs to be installed with the ch340 driver in advance and works in AT mode by default.

It should be noted that we are based on the specific can to USB tool development of the debugger, so we need to use our recommended serial port tool to debug the debugger, if you want to transplant to other debugger platform can refer to the third chapter of the instructions for development.

The CAN to USB tool is recommended to use the official USB-to-CAN module of RobStride. The frame header of the corresponding serial port protocol is 4154, and the frame tail is 0D 0A.

When using the CAN-to-USB module, pay attention to the settings of the DIP switches on the module: When DIP switch 1 is in the ON position, the module enters Boot mode and cannot establish a connection with the host computer. When DIP switch 2 is in the ON position, a 120Ω terminal resistor is connected to the module port, allowing normal communication with the host computer.

3.2 Upper computer interface and description

Mainly includes:

1. Motor Connection Module
• Refreshing the Serial Port
• Opening the Serial Port
• Testing the Device
2. Motor Configuration Module
• Starting the Upgrade
• Opening a File
• Starting the Upgrade
• Modifying the Motor CAN ID
• Setting the Motor's Mechanical Zero Position
3. Motor Upgrade Module
• Magnetic Encoder Calibration
• Motor Active Reporting Switch
• Setting the Motor Active Reporting Time
• Modifying the Motor CAN ID
• Setting the Motor's Mechanical Zero Position
4. Motor Main Interface
• Parameter Settings
• Motor Oscilloscope
5. Run and Debug Area
• Parameter Debugging Buttons
• Motor Mode Configuration and Parameter Modification
• Sine Signal Testing

3.3 Motor settings

3.3.1 Motor connection settings

Connect the CAN to USB tool (install the ch340 driver, which works in AT mode by default), click Refresh Serial Port, open the serial port, and click Detect Device to detect the corresponding motor. The green text below is the motor type.

3.3.2 Motor configuration module

1. Recalibrate the motor magnetic encoder. Reinstalling the motor board and motor, or reconnecting the motor's three-phase wiring requires recalibrating the magnetic encoder.
2. Enable active motor reporting. Click Start Reporting to enable active motor reporting in communication type 2. You can set the interval below, with a minimum of 10ms.
3. Set ID: Set the motor's CAN ID.
4. Set Zero Position: Set the current position to 0.

3.3.3 Motor upgrade module

1. Click to open the file and select the firmware to upgrade. The rs-0x in the firmware name is the selected motor type.

2. Click Start Upgrade, and the motor will enter the upgrade preparation stage.

3. When the green text "Device has entered upgrade mode" pops up, click to start the upgrade

4. When the green text "Upgrade Successfully" pops up, the upgrade is complete.

If the green progress bar gets stuck halfway through the upgrade, you can click to stop the upgrade, or re-power on and re-enter the upgrade process. The internal program of the motor will not be lost after the upgrade fails. Please check whether the communication environment is good before upgrading again.

3.3.4 Parameter settings

After successfully connecting to the motor,

1. Click Refresh Parameter Table. "Updated Parameter Table Successfully" will appear at the top, indicating that the motor parameters have been successfully read (Note: The parameter table must be configured while the motor is in standby mode. If the motor is running, the parameter table refresh cannot be performed). The interface will display the motor's parameters. Parameters in blue are stored internally in the motor and can be modified in the Current Value field following the corresponding parameter.
2. Click Read Parameters to upload the motor parameters to the debugger. Parameters in light blue are observed parameters, which are collected and can be observed in real time.
3. Click Write Parameters to download the debugger parameters to the motor.
4. Click Restore Factory to restore the motor's default parameters for the latest firmware.
5. Click Export to export the current motor parameters in the parameter table.
6. Click Open Multi-Device Connection to connect the host computer to multiple motors. Note that because the parameter interfaces for different motor types vary, multi-device connection is only used for upgrades. After upgrading and debugging the motor, close multi-device connection and search for the motor again.

Note: Please do not change the torque limit, protection temperature and over temperature time of the motor. Our company will not bear any legal responsibility for any damage to human body or irreversible damage to joints caused by illegal operation of this product.

3.3.5 Oscilloscope

The interface supports viewing and observing the graph generated by realtime data, including motor Id/Iq current, temperature, real-time speed at the output end, rotor (encoder) position, output end position, etc.

Click on the oscilloscope module in the analysis module, select the appropriate parameters in the channel (parameter meaning can be referred to the parameter table), set the output frequency, click on the start plot to observe the data graph, stop the plot to stop the observation graph.

The command sent is in the communication command box below

Communication box instruction example:

41 54 90 07 e8 0c 08 05 70 00 00 01 00 00 00 0d 0a

The meaning is as follows

The translation of extended frame canid into real canid requires the following transformations:

90 07 e8 0c converts to binary as 1001 0000 0000 0111 1110 1000 0000 1100, shift three positions to the right and it becomes 1 0010 0000 0000 1111 11010000 0001, convert it to hexadecimal, It is 12 00 FD 01. According to the communication protocol, the meaning is as follows:

3.3.6 can communication failure protection

When the value of CAN_TIMEOUT is 0, this function is disabled When the CAN_TIMEOUT value is non-0, when the motor does not receive the can command within a certain period of time, the motor enters the reset mode, and 20000 is 1s

3.3.7 Motor fault instructions

Function code 0x3022 indicates the fault code, where Bit 16: Motor current fault: A-phase current sampling overcurrent Bit 14: Motor stall overload algorithm protection Bit 9: Position initialization fault Bit 8: Hardware identification fault Bit 7: Encoder uncalibrated: Motor encoder not calibrated Bit 5: Motor current fault: C-phase current sampling overcurrent Bit 4: Motor current fault: B-phase current sampling overcurrent Bit 3: Overvoltage fault: the motor voltage exceeds the protection voltage by 60V Bit 2: Undervoltage fault: the motor voltage is lower than the protection voltage of 12V Bit 1: Driver chip failure: Motor driver chip failure reported Bit 0: Motor overtemperature fault: motor thermistor temperature exceeds 145 degrees Function code 0x3024 is driver chip fault code 1. The specific faults are as follows

Function code 0x3025 is driver chip fault code 2. The specific faults are as follows

3.4 Control Demo

Jog Run

Click JOG +/- to run the motor forward and reverse at a speed of 1 rad/s. Control Mode Switching

Select the desired control mode in the command box to the right of the run mode.

3.4.1 Operation and control mode

1. Switch the control mode to operation mode.
2. The motor starts running and enters motor_mode.
3. Set five parameter values and click Start or Send continuously. The motor will return feedback frames and run according to the target command.
4. Click Stop to stop the motor and terminate the continuous sending of commands.

3.4.2 Current Mode

1. Switch the control mode to current mode.
2. The motor starts running and enters motor_mode.
3. Set the current command value for Iq Command 1 (A). Click the >>button on the right. The motor will follow the current command.
4. Click Stop to stop the motor.

Motor Current Sine Test

1. Switch the control mode to current mode.
2. The motor starts running and enters motor_mode.
3. Set the amplitude and frequency, click OK, and then click Start. The corresponding mode target command will be planned according to the sine law.
4. Click Stop to stop the motor.

3.4.3 Speed Mode

1. Switch the control mode to speed mode.
2. The motor starts running and enters motor_mode.
3. First, set the current limit (maximum phase current) and speed step value(motor acceleration). If no settings are made, the motor will operate at the default values. Finally, set the speed command (target speed). The motor will follow the command.
4. Click Stop to stop the motor.

Motor Speed Sine Test

1. Switch the control mode to speed mode.
2. The motor starts running and enters motor_mode.
3. Set the amplitude and frequency, click OK, and then click Start. The corresponding mode target command will be planned according to the sine law.
4. Click Stop to stop the motor.

3.4.4 Position Mode (PP)

1. Switch the control mode to interpolation position mode.
2. Start the motor and enter motor_mode.
3. First, set the speed and acceleration. If not set, the motor will operate at the default values. Finally, set the position command (target position). The motor will follow the command.
4. Set the speed to 0 to stop the motor at the current position. To continue operation, re-issue the speed and position.
5. Click Stop to stop the motor.

Motor Position Sine Test

1. Switch the control mode to interpolation position mode.
2. Start the motor and enter motor_mode.
3. Set the amplitude and frequency, click OK, and then click Start. The corresponding mode target command will be planned according to the sine law.
4. Click Stop to stop the motor.

3.4.5 Location Mode (CSP)

1. Switch the control mode to position mode.
2. The motor starts running and enters motor_mode.
3. Set the speed first. If no speed setting is made, the motor will run at the default value. Finally, set the position command (target position). The motor will follow the command.
4. Click Stop to stop the motor.

Motor position sinusoidal test

1. Switch the control mode to position mode.
2. The motor starts running and enters motor_mode.
3. Set the amplitude and frequency, click OK, and then click Start. The corresponding mode target command is then sinusoidally planned.
4. Click Stop to stop the motor.

4. Driver protocol and instructions

The motor communication is the CAN 2.0 communication interface, the baud rate is 1Mbps, and the extended frame format is adopted as follows:

The control modes supported by the motor include:

• Operation control mode: set 5 parameters of motor operation control;
• Current mode: the specified Iq current of the given motor;
• Velocity mode: the specified running speed of the given motor;
• Position mode: Given the specified position of the motor, the motor will run to the specified position;

4.1 Description of the communication protocol type

4.1.1 Communication type 0: Get device ID

Gets the device's ID and 64-bit MCU unique identifier

Response frame:

4.1.2 Communication Type 1: operation control mode motor control instruction

Response frame: Response motor feedback frame (see communication type2)

Communication Type 2: motor feedback data

4.1.3 Communication Type 3: Motor enabled to run

Response frame: Response motor feedback frame (see communication type 2)

4.1.4 Communication Type 4: Motor stops running

Response frame: Response motor feedback frame (see communication type2)

4.1.5 Communication type 6: Set motor mechanical zero

Response frame: Response motor feedback frame (see communication type2)

Communication type 7: Set motor CAN_ID

Change the current motor CAN_ID, effective immediately.

Response frame: Answer motor broadcast frame (see communication type 0)

4.1.6 Communication type 17: Single parameter read

Response frame:

4.1.7 Communication type 18: Single parameter write (lost in power failure)

With type 22, the parameter starting with function code 0x20 of the parameter table in the upper computer module can be saved

Response frame: Response motor feedback frame (see communication type2)

4.1.8 Communication type 21: Fault feedback frame

4.1.9 Communication type 22: Motor data save frame

Response frame: Response motor feedback frame (see communication type2)

4.1.10 Communication type 23: Motor baud rate modification frame (re-power-on effect)

Response frame: Response motor feedback frame (see communication type0)

4.1.11 Communication type 24: The motor actively reports frames

Response frame:

4.1.12 Communication type 25: Motor protocol modification frame (re-power-on effect)

Response frame: Response motor feedback frame (see communication type0)

4.1.13 Communication type 26：Version number read frame

Response frame:

4.1.14 Read and write a single parameter list

4.1.15 Read example

Take reading loc_kp as an example:

The feedback instruction is

4.2 Motor Function Description

(If the following features are unavailable, please upgrade to the latest version via the official Git repository.)

4.2.1 Active Reporting

• Disabled by default. Enable via Type 24.
• Report type: Type 2 (default interval: 10ms). Adjust interval by modifying EPScan_time via Type 18.

4.2.2 Zero-Point Flag (zero_sta)

• Modify via:
• Host computer (software)
• Type 18 (requires saving via Type 22 for communication)
• Default flag: 0 → Power-on position range: 0–2π.
• If set to 1: Power-on position range: π–π.

4.2.3 Type 2 Update

• Updated to periodic looping within -4π–4π (enables cycle counting).
• Note: Position interface parameters must be adjusted:
• P_MIN: -12.57f
• P_MAX: 12.57f

4.2.4 Protocol Switching (Requires CAN adapter)

• Methods:
• Modify protocol_1 via host computer.
• Send Type 25 command.
• Reboot required after switching.
• Post-switch CAN commands:
• CANopen: Send extended frame (protocol switch frame).
• MIT Protocol: Send standard frame (Command 8).

4.2.5 Post-Power-Off Anti-Backdrive Protection

• Default: Motor imposes damping if rotated rapidly while poweredoff (prevents surge).
• Disable: Set damper = 1.

4.2.6 Zero Calibration Rules

• Supported modes: CSP and Motion Control.
• PP Mode: Zero calibration is blocked.
• Old vs. New Versions:
• Old: Zero calibration causes large deviation → motor immediately moves to target
• New (CSP/Motion Control): Target updates to 0 instantly →motor remains stationary.

4.2.7 Position Offset (add_offset)

• Example: If offset = 1, the current zero shifts to (current position +1rad).
• Use case: Bypass mechanical limits (e.g., set zero at 1 rad →power-on treats 1 rad as new zero).

4.2.8 CANopen ID

• Old version: Fixed to 1.
• New version: Matches the private protocol CAN ID.

4.2.9 Notes for Implementation

• Always save settings (e.g., Type 22 for zero_sta).
• Verify CAN adapter compatibility for protocol switching.
• For zero offsets, ensure mechanical safety limits are respected.

4.3 Control mode instructions

4.3.1 Operation control mode

The motor is in operation control mode by default after power-on.

Send motor Enable Run frame (communication type 3) --> Send operation mode motor control command (communication type 1) --> Receive motor feedback frame (communication type 2)

Operation control mode description: The control logic of the operation and control mode is t_ref=Kd * (v_vset-v_actual)+Kp * (p_set-p_actual)+t_ff. Tref is converted to the expected iq current through an internal formula and output through the current loop Simple control demonstration: Set t_ff to 0, v_vset to1, Kd to 1, p_set to 0, Kp to 0. If there is no external load on the motor, it will run at a speed of 1rad/s. If there is an external load, kd needs to be increased to resist the external load Set t_ff to 0, v_vset to 0, Kd to 1, p_set to 0, Kp to 0, the motor is in damping mode. When the motor is externally rotated, a damping is applied, which increases with the increase of kd. It should be noted that the motor generates electricity under this condition and requires power supply to prevent overvoltage Set t_ff to 0, v_vset to 0, Kd to 1, p_set to5, Kp to 1. If there is no external load on the motor, it will run to the target position of 5. Increasing kp will increase the force required to maintain the target position, and kd is damping. Without kd, the motor will sway to the target position

4.3.2 Current mode

Send motor mode parameter write command (communication type 18) Set the runmode parameter to 3 --> Send motor Enable run frame (communication type 3) --> Send motor mode parameter write command (communication type 18) set the iq_ref parameter to the default current instruction

4.3.3 Velocity mode

Send motor mode parameter write command (communication type 18) Set the runmode parameter to 2 --> Send motor Enable run frame (communication type 3) --> Send motor mode parameter write command (communication type 18) set limit_cur parameter as default maximum current instruction-->Send motor mode parameter write command (communication type 18) Set acc_rad parameter as default acceleration instruction --> Send motor mode parameter write command (communication type 18) Set spd_ref parameter as default speed instruction

4.3.4 Location Mode (CSP)

Send motor mode parameter write command (communication type 18) Set the runmode parameter to 5 --> Send motor Enable run frame (communication type 3) --> Send motor mode parameter write command (communication type 18) set limit_spd parameter as default maximum speed instruction -->Send motor mode parameter write command (communication type 18) Sets loc_ref parameter as default position instruction

4.3.5 Location Mode (PP)

Send motor mode parameter write command (communication type 18) Set the runmode parameter to 1 --> Send motor Enable run frame (communication type 3) --> Send motor mode parameter write command (communication type 18) set The vel_max parameter is the default maximum speed instruction--> Send motor mode parameter write command (communication type 18) Set the acc_set parameter to the default acceleration instruction -->Send motor mode parameter write command (communication type 18) Set the loc_ref parameter to the default position instruction

Note: This mode does not support changing the speed and acceleration during operation. If you want to make an emergency stop, you can change vel_max to 0 during the process, and it will stop at the current speed and acceleration plan

4.3.6 Stop running

Sending motor stop frame (communication type 4)

4.4 Program sample

Examples of various mode control motors are provided below (take gd32f303as an example)

The following are library, function, and macro definitions for the various instances

The following lists the common types of communication sent:

4.4.1 Motor Enabled Run frame (communication type 3)

void motor_enable(uint8_t id, uint16_t master_id) {
  txCanIdEx.mode = 3;
  txCanIdEx.id = id;
  txCanIdEx.res = 0;
  txCanIdEx.data = master_id;
  txMsg.tx_dlen = 8;
  txCanIdEx.data = 0;
  can_txd();
}

4.4.2 Operation control mode Motor control instruction (communication type 1)

4.4.3 Motor stop frame (communication type 4)

void motor_reset(uint8_t id, uint16_t master_id) {
  txCanIdEx.mode = 4;
  txCanIdEx.id = id;
  txCanIdEx.res = 0;
  txCanIdEx.data = master_id;
  txMsg.tx_dlen = 8;
  for(uint8_t i=0; i<8; i++) {
    txMsg.tx_data[i]=0;
  }
  can_txd();
}

4.4.4 Motor mode parameter write command (communication type 18, running mode switch)

uint8_t runmode;
uint16_t index;
void motor_modechange(uint8_t id, uint16_t master_id) {
  txCanIdEx.mode = 0x12;
  txCanIdEx.id = id;
  txCanIdEx.res = 0;
  txCanIdEx.data = master_id;
  txMsg.tx_dlen = 8;
  for(uint8_t i=0; i<8; i++) {
    txMsg.tx_data[i] = 0;
  }
  memcpy(&txMsg.tx_data[0], &index, 2);
  memcpy(&txMsg.tx_data[4], &runmode, 1);
  can_txd();
}

4.4.5 Motor mode parameter write command (communication type 18, control parameter write)

uint16_t index;
float ref;
void motor_write(uint8_t id, uint16_t master_id) {
  txCanIdEx.mode = 0x12;
  txCanIdEx.id = id;
  txCanIdEx.res = 0;
  txCanIdEx.data = master_id;
  txMsg.tx_dlen = 8;
  for(uint8_t i=0;i<8;i++) {
    txMsg.tx_data[i]=0;
  }
  memcpy(&txMsg.tx_data[0],&index,2);
  memcpy(&txMsg.tx_data[4],&ref,4);
  can_txd();
}

5. Explanation of Canopen Communication Protocol Types

5.1 Introduction to CANopen Communication

CANopen is a "higher-level protocol" based on the CAN bus. This means that theCAN bus (ISO 11898) acts like a container truck, serving as the "transportation vehicle" for CANopen information. CAN simply implements the transmission of frames with an 11-bit CAN ID, a Remote Transmission (RTR) bit, and 64 data bits(related to higher-level protocols). The CAN bus plays the same role in CANopen as it does in the J1939 protocol. CANopen implements Layer 7 of the OSI model and is compatible with other data link layer protocols besides CAN.Please download the necessary EDS files for CANopen from the official website download center at www.robstride.com.

5.2 Canopen Protocol Message Classification

5.3 State Machine Description

Motor Enable:

When initially powered on, the motor defaults to the SWITCH_ON_DISABLED state. To transition to OPERATION_ENABLE, modify the Controlword(6040H) to 6, 7, or 15 (step-by-step transition), or directly set it to 15 for immediate enablement.

Stopping the Motor:

If the motor is in OPERATION_ENABLE state and needs to stop normally, modify the Controlword (6040H) to 1. The motor will return to the disabled state (SWITCH_ON_DISABLED).

Emergency Stop (Use with Caution—Risk of Voltage Surge):

During operation, an emergency stop can be triggered by setting the Controlword (6040H) to 11.

Fault Clearance:

If the motor enters a FAULT state due to protection mechanisms, modifying the Controlword (6040H) can clear standard errors.

Important Note:

Mode changes for this motor must be performed in the disabled state (SWITCH_ON_DISABLED). Ensure the desired mode is configured before enabling OPERATION_ENABLE to avoid unexpected behavior.

5.4 Status Feedback Parameters

5.5 Homing Mode (Zero Position Setting)

Homing method:

• Set Modes of operation to 6 while the motor is in the disabled state (SWITCH_ON_DISABLED). The motor will then define the current position as the zero point.
• To hold the zero position, modify the Controlword to 15, and the motor will maintain its position at the home location.

5.6 Position Mode (PP - Profile Position)

Steps to Configure Position Mode (PP):

1. While the motor is in the disabled state (SWITCH_ON_DISABLED), set Modes of operation to 1.
1. Mandatory parameters:
1. Target_torque (absolute max torque in position mode)
2. Profile_velocity (absolute speed in position mode)
3. Profile_acceleration (absolute acceleration in position mode)
2. Optional parameters:
1. Position_window (if not set, window check is disabled)
2. Position_window_time (if not set, window check is disabled)
2. Set Controlword (6040) to 15 to enable operation.
3. Set Target_position (absolute position) to move the motor to the desired position.

5.7 Position Mode (CSP - Cyclic Synchronous Position)

Steps to Configure Position Mode (CSP):

1. While the motor is in the disabled state (SWITCH_ON_DISABLED), set Modes of operation to 5.
1. Mandatory parameters:
1. Target_torque (absolute max torque in position mode)
2. Profile_velocity (absolute speed in position mode)
2. Optional parameters:
1. Position_window (0 = disabled)
2. Position_window_time (0 = disabled)
2. Set Controlword (6040) to 15 to enable operation.
3. Set Target_position (absolute position) to move the motor to the desired position.

5.8 Velocity Mode

Steps to Configure Velocity Mode:

1. While the motor is in the disabled state (SWITCH_ON_DISABLED), set Modes of operation to 3.
1. Mandatory parameter:
1. Target_torque (absolute max torque in velocity mode)
2. Set Controlword (6040) to 15 to enable operation.
3. Set Target_velocity to reach the desired speed.

5.9 Torque Mode

Steps to Configure Torque Mode:

1. While the motor is in the disabled state (SWITCH_ON_DISABLED), set Modes of operation to 4.
2. Set Controlword (6040) to 15 to enable operation.
3. Set Target_torque to output the desired torque.

5.10 Protocol Switching (Extended Frame): SwitchMotor Protocol (Takes Effect After Power Cycle)

• F_CMD (Byte 6) defines the motor protocol:
• 0: Private protocol (default)
• 1: CANopen protocol
• 2: MIT protocol

Response Frame:

6. MIT Communication Protocol Description

The motor communication adopts the CAN 2.0 interface with a default baud rate of 1 Mbps. The baud rate can be modified by switching to the private protocol. The standard frame format is as follows:

Supported Control Modes:

• MIT Mode: Provides five motion control parameters to the motor.
• Velocity Mode: Specifies the target speed for the motor.
• Position Mode: Specifies the target position and speed, allowing the motor to run to the designated position at the configured speed.

6.1 Response Command 1: Data Feedback(Motor Status)

6.2 Response Command 2: MCU Identification

6.3 Command 1: Enable Motor Operation

Response: Response Command 1

6.4 Command 2: Stop Motor Operation

Response: Response Command 1

6.5 Command 3: MIT Dynamic Parameters

Response: Response Command 1

6.6 Command 4: Set Zero Position (Non-Position Mode)

Response: Response Command 1

6.7 Command 5: Clear Errors &Read Fault Status

Response (Fault Clear): Response Command 1

Fault Status Response:

6.8 Command 6: Set Operation Mode

Response: Response Command 1

6.9 Command 7: Modify Motor CAN ID

Response: Response Command 2

6.10 Command 8: Change Communication Protocol (Takes Effect After Power Cycle)

Response: Response Command 2

6.11 Command 9: Modify Host CAN ID

Response: Response Command 2

6.12 Command 10: Position Mode Control Command

Response: Response Command 1

6.13 Command 11: Velocity Mode Control Command

Response: Response Command 1

6.14 Motion Control Mode

The motor defaults to Motion Control Mode upon power-up.

1. Send the Motor Enable Command (Command 1).
2. Send the Motion Control Command (Command 3) to activate dynamic parameter control.
3. Send the Motor Stop Command (Command 2) to halt operation when needed.

6.15 Velocity Mode

1. Configure the motor's operation mode by sending Set Operation Mode Command (Command 6) with Mode = 2 (Velocity Mode).
2. Send the Motor Enable Command (Command 1) to activate the motor.
3. Send the Velocity Mode Control Command (Command 11) to set the maximum current (absolute value) and target speed.
4. To stop, send the Motor Stop Command (Command 2).

6.16 Position Mode (CSP - Cyclic Synchronous Position)

1. Configure the motor's operation mode by sending Set Operation Mode Command (Command 6) with Mode = 1 (Position Mode).
2. Send the Motor Enable Command (Command 1) to activate the motor.
3. Send the Position Mode Control Command (Command 10) to set the maximum speed (absolute value) and target position.
4. To stop, send the Motor Stop Command (Command 2).

ROBSTRIDE 04 Motor

ROBSTRIDE04 Motor: 120Nm quasi-direct drive integrated module.Heavy-duty torque for industrial robots,exoskeletons & automation systems.High-precision control.

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On this page

• RobStride 04 Instruction Manual
• Precautions
• 1. Motor specification
• 1.1 Outline and mounting dimensions
• 1.2 Standard service condition
• 1.3 Electrical characteristic
• 1.4 Mechanical characteristic
• 2. Driver Product Information
• 2.1 Driver product Specifications
• 2.2 Driver interface definition
• 2.3 Driver harness definition
• 2.4 Driver interface recommended brand and model
• 2.5 Driver function pin and device description
• 3. Upper computer instructions
• 3.1 Hardware disposition
• 3.2 Upper computer interface and description
• 3.3 Motor settings
• 3.3.1 Motor connection settings
• 3.3.2 Motor configuration module
• 3.3.3 Motor upgrade module
• 3.3.4 Parameter settings
• 3.3.5 Oscilloscope
• 3.3.6 can communication failure protection
• 3.3.7 Motor fault instructions
• 3.4 Control Demo
• 3.4.1 Operation and control mode
• 3.4.2 Current Mode
• 3.4.3 Speed Mode
• 3.4.4 Position Mode (PP)
• 3.4.5 Location Mode (CSP)
• 4. Driver protocol and instructions
• 4.1 Description of the communication protocol type
• 4.1.1 Communication type 0: Get device ID
• 4.1.2 Communication Type 1: operation control mode motor control instruction
• Communication Type 2: motor feedback data
• 4.1.3 Communication Type 3: Motor enabled to run
• 4.1.4 Communication Type 4: Motor stops running
• 4.1.5 Communication type 6: Set motor mechanical zero
• Communication type 7: Set motor CAN_ID
• 4.1.6 Communication type 17: Single parameter read
• 4.1.7 Communication type 18: Single parameter write (lost in power failure)
• 4.1.8 Communication type 21: Fault feedback frame
• 4.1.9 Communication type 22: Motor data save frame
• 4.1.10 Communication type 23: Motor baud rate modification frame (re-power-on effect)
• 4.1.11 Communication type 24: The motor actively reports frames
• 4.1.12 Communication type 25: Motor protocol modification frame (re-power-on effect)
• 4.1.13 Communication type 26：Version number read frame
• 4.1.14 Read and write a single parameter list
• 4.1.15 Read example
• 4.2 Motor Function Description
• 4.2.1 Active Reporting
• 4.2.2 Zero-Point Flag (zero_sta)
• 4.2.3 Type 2 Update
• 4.2.4 Protocol Switching (Requires CAN adapter)
• 4.2.5 Post-Power-Off Anti-Backdrive Protection
• 4.2.6 Zero Calibration Rules
• 4.2.7 Position Offset (add_offset)
• 4.2.8 CANopen ID
• 4.2.9 Notes for Implementation
• 4.3 Control mode instructions
• 4.3.1 Operation control mode
• 4.3.2 Current mode
• 4.3.3 Velocity mode
• 4.3.4 Location Mode (CSP)
• 4.3.5 Location Mode (PP)
• 4.3.6 Stop running
• 4.4 Program sample
• 4.4.1 Motor Enabled Run frame (communication type 3)
• 4.4.2 Operation control mode Motor control instruction (communication type 1)
• 4.4.3 Motor stop frame (communication type 4)
• 4.4.4 Motor mode parameter write command (communication type 18, running mode switch)
• 4.4.5 Motor mode parameter write command (communication type 18, control parameter write)
• 5. Explanation of Canopen Communication Protocol Types
• 5.1 Introduction to CANopen Communication
• 5.2 Canopen Protocol Message Classification
• 5.3 State Machine Description
• 5.4 Status Feedback Parameters
• 5.5 Homing Mode (Zero Position Setting)
• 5.6 Position Mode (PP - Profile Position)
• 5.7 Position Mode (CSP - Cyclic Synchronous Position)
• 5.8 Velocity Mode
• 5.9 Torque Mode
• 5.10 Protocol Switching (Extended Frame): SwitchMotor Protocol (Takes Effect After Power Cycle)
• 6. MIT Communication Protocol Description
• 6.1 Response Command 1: Data Feedback(Motor Status)
• 6.2 Response Command 2: MCU Identification
• 6.3 Command 1: Enable Motor Operation
• 6.4 Command 2: Stop Motor Operation
• 6.5 Command 3: MIT Dynamic Parameters
• 6.6 Command 4: Set Zero Position (Non-Position Mode)
• 6.7 Command 5: Clear Errors &Read Fault Status
• 6.8 Command 6: Set Operation Mode
• 6.9 Command 7: Modify Motor CAN ID
• 6.10 Command 8: Change Communication Protocol (Takes Effect After Power Cycle)
• 6.11 Command 9: Modify Host CAN ID
• 6.12 Command 10: Position Mode Control Command
• 6.13 Command 11: Velocity Mode Control Command
• 6.14 Motion Control Mode
• 6.15 Velocity Mode
• 6.16 Position Mode (CSP - Cyclic Synchronous Position)