#CAN-FD (11)

CAN Bus Fundamentals: From Differential Levels and Frames to Arbitration and Error States

A robotics-oriented walkthrough of CAN: protocol contrast, 120Ω termination and differential levels, standard/extended frames, bit stuffing and bit timing, non-destructive arbitration, TEC/REC error states, plus when to reach for CAN FD or CANopen on joint and actuator buses.

BLOG

CANCAN-FDCANOpenFieldbusRobot Hardware

HCFA Hu-GRS150N Planetary Rotary Joint Actuator (40 N·m rated)

HCFA Hu-GRS series planetary rotary joint actuator, flagship GRS150N: 40 N·m rated / 150 N·m peak torque, 125/138 rpm rated/peak speed, 880 W power, 48VDC. Integrated frameless torque motor + hollow flat planetary reducer + driver + dual absolute 17-bit encoders, 12.25:1 ratio, 15 arcmin backlash, Φ11.5mm hollow shaft, Φ124×66mm envelope, 1.66kg, CAN-FD. For high-torque hip and knee joints of humanoid robots.

COMPONENT

Joint modulesIntegrated jointsHechuan TechnologyHCFAHumanoid robot joints

HCFA Hu-GRS090N Planetary Rotary Joint Actuator (25 N·m rated)

HCFA Hu-GRS series planetary rotary joint actuator GRS090N: 25 N·m rated / 90 N·m peak torque, 144/160 rpm rated/peak speed, 565 W power, 48VDC. Integrated frameless torque motor + hollow flat planetary reducer + driver + dual absolute 17-bit encoders, 13.19:1 ratio, 15 arcmin backlash, Φ6mm hollow shaft, Φ105×53mm envelope, 0.93kg, CAN-FD. For hip, knee and elbow joints of humanoid robots.

COMPONENT

Joint modulesIntegrated jointsHechuan TechnologyHCFAHumanoid robot joints

HCFA Hu-GRS06N Planetary Rotary Joint Actuator (20 N·m rated)

HCFA Hu-GRS series planetary rotary joint actuator GRS06N: 20 N·m rated / 60 N·m peak torque, 126/160 rpm rated/peak speed, 366 W power, 48VDC. Integrated frameless torque motor + hollow flat planetary reducer + driver + dual absolute 17-bit encoders, 18.8:1 ratio, 10 arcmin backlash, Φ7mm hollow shaft, Φ88×59.5mm envelope, 0.604kg, CAN-FD. For fast elbow and upper-limb joints of humanoid robots.

COMPONENT

Joint modulesIntegrated jointsHechuan TechnologyHCFAHumanoid robot joints

HCFA Hu-GRS036N Planetary Rotary Joint Actuator (9 N·m rated)

HCFA Hu-GRS planetary rotary joint actuator, entry model GRS036N: 9 N·m rated / 37.6 N·m peak torque, 77/100 rpm rated/peak speed, 138 W power, 48VDC. Integrated frameless torque motor + hollow flat planetary reducer + driver + single absolute 17-bit encoder, 36:1 ratio, 12 arcmin backlash, Φ56×59.5mm envelope, 0.385kg, CAN-FD. Suited for upper-limb and wrist joints of humanoid robots.

COMPONENT

Joint modulesIntegrated jointsHechuan TechnologyHCFAHumanoid robot joints

HCFA Hu-MRS220N Harmonic Rotary Joint Actuator (120 N·m rated)

HCFA Hu-MRS series harmonic rotary joint actuator, flagship MRS220N: 120 N·m rated / 220 N·m peak torque, 30/40 rpm rated/peak speed, 587 W power. Integrated frameless torque motor + harmonic reducer + driver + dual absolute 17-bit encoders, Φ10.8mm hollow shaft, Φ110×72.1mm envelope, ~2kg, peak torque density 110 N·m/kg, 48VDC, 10 arcsec backlash, 101:1 ratio, CAN-FD/EtherCAT. For the heaviest humanoid hip and knee joints.

COMPONENT

Joint modulesIntegrated jointsHechuan TechnologyHCFAHumanoid robot joints

HCFA Hu-MRS120N Harmonic Rotary Joint Actuator (60 N·m rated)

HCFA Hu-MRS series harmonic rotary joint actuator MRS120N: 60 N·m rated / 120 N·m peak torque, 30/40 rpm rated/peak speed, 301 W power. Integrated frameless torque motor + harmonic reducer + driver + dual absolute 17-bit encoders, Φ10.8mm hollow shaft, Φ90×71.63mm envelope, 1.41kg, 48VDC, 20 arcsec backlash, 101:1 ratio, CAN-FD/EtherCAT. For high-torque hip and shoulder joints of humanoid robots.

COMPONENT

Joint modulesIntegrated jointsHechuan TechnologyHCFAHumanoid robot joints

HCFA Hu-MRS070N Harmonic Rotary Joint Actuator (40 N·m rated)

HCFA Hu-MRS series harmonic rotary joint actuator MRS070N: 40 N·m rated / 70 N·m peak torque, 30/40 rpm rated/peak speed, 268 W power. Integrated frameless torque motor + harmonic reducer + driver + dual absolute 17-bit encoders, Φ10.8mm hollow shaft, Φ80×73mm envelope, 0.907kg, 48VDC, 10 arcsec backlash, 101:1 ratio, CAN-FD/EtherCAT. For high-torque hip and knee joints of humanoid robots.

COMPONENT

Joint modulesIntegrated jointsHechuan TechnologyHCFAHumanoid robot joints

HCFA Hu-MRS040N Harmonic Rotary Joint Actuator (15 N·m rated)

HCFA Hu-MRS series harmonic rotary joint actuator MRS040N: 15 N·m rated / 40 N·m peak torque, 30/40 rpm rated/peak speed, 70 W power. Integrated frameless torque motor + harmonic reducer + driver + dual absolute 17-bit encoders, Φ10.8mm hollow shaft, Φ70×64.3mm envelope, 0.7kg, 48VDC, 10 arcsec backlash, 101:1 ratio, CAN-FD/EtherCAT. For wrist, ankle and knee joints of humanoid robots.

COMPONENT

Joint modulesIntegrated jointsHechuan TechnologyHCFAHumanoid robot joints

HCFA Hu-MRS012N Harmonic Rotary Joint Actuator (8 N·m rated)

Zhejiang HCFA (A-share 688320) Hu-MRS harmonic rotary joint actuator, entry model MRS012N: 8 N·m rated / 12 N·m peak torque, 30/40 rpm rated/peak speed, 38 W rated power. Integrated frameless torque motor + harmonic reducer + driver + dual absolute 17-bit encoders, Φ6.5mm hollow shaft, Φ52×52.1mm envelope, only 0.275kg, 48VDC, 20 arcsec backlash, 101:1 ratio, CAN-FD/EtherCAT. Suited for small humanoid joints (wrist, ankle).

COMPONENT

Joint modulesIntegrated jointsHechuan TechnologyHCFAHumanoid robot joints

SRI Instruments C025XX–C060XX Humanoid Robot Six-Axis Force/Torque Sensor

SRI Instruments (Qinhuangdao SRI, Yuli) is a leading Chinese six-axis force/torque sensor maker serving robotics, automotive safety, medical and general testing. The patented C25XX–C60XX series is purpose-built for humanoid-robot wrist mounting with low zero drift, high precision, isolated power supply, superior shock resistance and single-side mounting: accuracy better than 0.5% F.S. across the series, zero drift better than 0.1%/10 C on selected models, up to 3x overload with 100-cycle 3x-overload survival per axis. Ranges span Fx/Fy/Fz 50–600 N (extra-thin Fz up to 1000 N) and Mx/My/Mz 5–40 N·m in OD 45–60 mm bodies as thin as 9.2 mm and as light as 0.03 kg, with EtherCAT (IN & OUT), Ethernet TCP/IP, CAN, CAN FD, RS485, RS232 and USB interfaces for humanoid wrist/ankle six-axis perception and joint force control.

COMPONENT

Six-axis force/torque sensorsHumanoidWrist JointEtherCATCAN-FD