1. Product Overview
The Myactuator X4-36 V4 is a high-precision planetary actuator designed for robotic applications, featuring dual encoder feedback and versatile communication options (EtherCAT and CANBUS).
Figure 1: Myactuator X4-36 V4 Planetary Actuator Overview
Description: This image displays the X4-36 V4 actuator with key specifications: 34N.m Peak Torque, 36:1 Gear ratio, 0.36kg Weight, Size Ø55mm*61mm. It highlights communication via EtherCAT/CANBUS and Dual Encoder, along with features like High Speed MCU and CAN Chips, and Crossed Roller Bearings.
Key Features:
- Communication: EtherCAT / CANBUS
- Encoder: Dual Encoder (ABS-17BIT Input / 18BIT Output)
- Peak Torque: 34 N.m
- Gear Ratio: 36:1
- Weight: 0.36 kg
- Dimensions: Ø55mm x 61mm
- Internal Components: High Speed MCU and CAN Chips, Crossed Roller Bearings
Video 1: Myactuator Production and Packaging Overview
Description: This video provides a brief look into the manufacturing, packaging, and dispatch process of Myactuator products, showcasing the care taken in preparing units for shipment.
2. Setup and Installation
2.1 Package Contents
Before installation, verify that all components are present in the package:
- Myactuator X4-36 V4 Robot Joint
- A. Power Supply + CAN BUS Communication Cable *1
- B. 1200 Terminal Resistance *1
- C. EtherCAT Communication Cable *2
- D. CAN BUS Communication Module *1 (Each order includes one USB-CAN adapter. For additional adapters, please contact sales.)
- E. RJ45 Adapter Plate V1.0 (for EtherCAT version - Each order includes one RJ45 adapter. For additional adapters, please contact sales.)
Figure 2: Myactuator X4-36 V4 Package Contents
Description: This image shows the X4-36 V4 actuator in its protective packaging alongside the included accessories: Power Supply + CAN BUS Communication Cable, 1200 Terminal Resistance, EtherCAT Communication Cable, CAN BUS Communication Module, and RJ45 Adapter Plate.
Figure 3: RJ45 Adapter Plate V1.0
Description: A close-up view of the RJ45 Adapter Plate V1.0, used for EtherCAT communication connections.
2.2 Mechanical Installation
Mount the actuator securely using the provided mounting points. Refer to the installation drawing for precise dimensions and hole patterns.
Figure 4: Myactuator X4-36 V4 Installation Drawing and Interface Description
Description: This image provides a detailed mechanical installation drawing with dimensions (P.C.D. 48, P.C.D. 26, 6 x M3 ▽ 6, Ø55 ±0.1, 61 ±0.5, Ø35 -0.03, 3). It also includes the Interface Description and Accessories Marking Instructions, crucial for wiring.
2.3 Electrical Connections
Carefully connect the power and communication cables according to the interface description and accessory marking instructions. Ensure correct polarity and secure connections.
Interface Description:
| Port | Definition | Description |
|---|---|---|
| VCC | Positive Power Supply | Main power input |
| GND | Negative Power Supply | Ground connection |
| CAN_H | CAN_H Network Terminal | CAN Bus High Line |
| CAN_L | CAN_L Network Terminal | CAN Bus Low Line |
| EtherCAT_IN | EtherCAT Input | EtherCAT data input |
| EtherCAT_OUT | EtherCAT Output | EtherCAT data output |
| T+ | Master station sends control commands to the module | |
| T- | Module sends status feedback to the master station | |
| R+ | Module reflects control commands of the master station | |
| R- | Module reflects control commands of the master station |
Accessories Marking Instructions:
- A. Power Supply + CAN BUS Communication Cable (XT30(2+2) Connector)
- ① White Line: CAN_L Network Signal Terminal (26AWG 20cm)
- ② Yellow Line: CAN_H Network Signal Terminal (26AWG 20cm)
- ③ Red Line: VCC Positive Power Supply (18AWG 20cm)
- ④ Black Line: GND Negative Power Supply (18AWG 20cm)
- B. 1200 Terminal Resistance (Connect as needed for CAN bus termination)
- C. EtherCAT Communication Cable (SH1.0mm(4pin) Connector)
- ① T+: EtherCAT Communication Signal Transmission Line (380mm)
- ② R+: EtherCAT Communication Signal Receiving Line (380mm)
- D. CAN BUS Communication Module
- ① CAN-L: CAN_L Network Information Terminal
- ② CAN-H: CAN_H Network Information Terminal
- ③ ON: GND Ground
- ④ OFF: 1200 Terminal Resistance
- ⑤ G: 1200 Terminal Resistance
- E. RJ45 Adapter Plate V1.0
- RJ45 Connector: Wired Network Interface
- T+: Master station sends control commands to the module
- T-: Module sends status feedback to the master station
- R+: Module reflects the control commands of the master station
- R-: Module reflects the control commands of the master station
3. Operating Instructions
The Myactuator X4-36 V4 can be controlled via EtherCAT or CAN BUS. Specific programming and control strategies will depend on your master controller and application.
3.1 Power On
- Ensure all mechanical and electrical connections are secure.
- Apply 24V DC power to the VCC and GND terminals.
- Observe the LED indicator on the actuator for power status.
3.2 Communication Setup
3.2.1 CAN BUS Communication
- Connect the CAN_H and CAN_L lines to your CAN master controller.
- Ensure proper CAN bus termination (120Ω) at both ends of the bus, using the provided 1200 Terminal Resistance if needed.
- Configure your CAN master controller with the appropriate baud rate and CAN IDs for the actuator.
3.2.2 EtherCAT Communication
- Connect the EtherCAT_IN and EtherCAT_OUT ports to your EtherCAT master controller or to other EtherCAT slave devices in a daisy-chain configuration.
- Use the RJ45 Adapter Plate V1.0 for standard Ethernet cable connections.
- Configure your EtherCAT master controller to recognize and communicate with the X4-36 V4 actuator. This typically involves importing an ESI (EtherCAT Slave Information) file provided by Myactuator (refer to Myactuator documentation for specific ESI files and configuration guides).
3.3 Control and Programming
Detailed control and programming instructions are typically provided in the Myactuator SDK or specific communication protocol guides. Users should refer to these resources for:
- Register maps and command structures.
- Motor control modes (e.g., position, velocity, torque).
- Encoder data reading and interpretation.
- Error handling and status monitoring.
4. Maintenance
The Myactuator X4-36 V4 is designed for durability and requires minimal maintenance. However, regular checks can prolong its lifespan and ensure optimal performance.
- Visual Inspection: Periodically inspect the actuator for any signs of physical damage, loose connections, or wear on cables.
- Cleaning: Keep the actuator clean and free from dust, debris, and moisture. Use a soft, dry cloth for cleaning. Avoid using solvents or abrasive materials.
- Connection Integrity: Ensure all electrical connectors are firmly seated and free from corrosion.
- Operating Environment: Operate the actuator within its specified environmental conditions (temperature, humidity) to prevent damage.
- Lubrication: The internal bearings are pre-lubricated and generally do not require user maintenance. Avoid disassembling the unit unless specifically instructed by Myactuator support.
5. Troubleshooting
If you encounter issues with your Myactuator X4-36 V4, refer to the following common troubleshooting steps:
5.1 No Power/No Response
- Check Power Supply: Verify that the 24V DC power supply is connected correctly and providing the specified voltage.
- Cable Connections: Ensure all power cables are securely connected and not damaged.
- LED Indicator: Check if the actuator's LED indicator is lit. If not, re-check power.
5.2 Communication Errors
- Cable Integrity: Inspect communication cables (CAN, EtherCAT) for damage or loose connections.
- Termination (CAN): Ensure proper 120Ω termination resistors are used on the CAN bus.
- Configuration: Verify that the master controller's communication settings (baud rate, CAN IDs, EtherCAT ESI file) match the actuator's requirements.
- Network Topology (EtherCAT): Check the EtherCAT network wiring and ensure correct daisy-chaining if multiple devices are used.
5.3 Unexpected Movement or Performance
- Control Parameters: Review your control code and parameters (e.g., PID gains, target positions/velocities) for correctness.
- Overload: Ensure the actuator is not operating beyond its rated torque or speed limits.
- Mechanical Interference: Check for any mechanical obstructions or binding in the system connected to the actuator.
- Encoder Feedback: Verify that the encoder feedback is being read correctly by the master controller.
5.4 Overheating
- Load: Reduce the load on the actuator if it's consistently operating near its peak torque.
- Duty Cycle: Ensure the operating duty cycle is within acceptable limits for continuous operation.
- Environment: Verify that the ambient temperature is within the specified operating range.
If problems persist after troubleshooting, contact Myactuator technical support for assistance.
6. Specifications
Detailed technical specifications for the Myactuator X4-36 V4 robot joint.
Figure 5: Myactuator X4-36 V4 Product Information and Parameters
Description: This image provides comprehensive tables for Product Information, Product Parameters, and Stall Torque Data, along with an installation drawing.
6.1 General Specifications
| Attribute | Value |
|---|---|
| Brand Name | Myactuator |
| Model Number | RMD-X4-P36-36-E / RMD-X4-P36-36-C |
| Material | Aluminum, others |
| Certification | CE, RoHS |
| Origin | Mainland China |
| High-concerned chemical | None |
6.2 Product Parameters (X4-36)
| Parameter | Unit | Value |
|---|---|---|
| Gear Ratio | - | 36 |
| Input Voltage | V | 24 |
| No Load Speed | RPM | 111 |
| No-Load Input Current | A | 0.9 |
| Rated Speed | RPM | 83 |
| Rated Torque | N.m | 10.5 |
| Rated Output Power | W | 100 |
| Rated Phase Current | A(rms) | 6.1 |
| Peak Torque | N.m | 34 |
| Peak Phase Current | A(rms) | 21.5 |
| Efficiency | % | 63.1 |
| Motor Back-EMF Constant | Vdc/Krpm | 6 |
| Module Torque Constant | N.m/A | 0 |
| Motor Phase Resistance | Ω | 0.35 |
| Motor Phase Inductance | mH | 0.17 |
| Pole Pair | - | 13 |
| 3 Phase Connection | - | Y |
| Back-Drive Torque | N.m | 1.14 |
| Backlash | Arcmin | 10 |
| Output Bearing Type | - | Crossed Roller Bearings |
| Axial Load (Tensile) | KN | 1.5 |
| Axial Load (Compressive) | KN | 1.5 |
| Inertia | Kg.cm² | 0.3 |
| Encoder Type & Interface | - | Dual Encoder ABS-17BIT (input) / 18BIT (Output) |
| Control Accuracy | Degree | 0.01 |
| Communication | - | CAN BUS / EtherCAT |
| Weight | Kg | 0.36 |
| Insulation Grade | - | F |
6.3 Stall Torque Data (X4-36)
| Torque (N.m) | Temperature Rise (°C) | Stall Time (s) | Phase current (Arms) |
|---|---|---|---|
| 17.25 | 30 | 15 | 9.2 |
| 23 | 58 | 10 | 12.7 |
| 28.75 | 41 | 5 | 16.3 |
| 34.5 | 50 | 3 | 21.2 |
7. User Tips
- Start Simple: When first integrating, begin with basic commands (e.g., reading encoder values, simple position moves) to verify communication and functionality before implementing complex sequences.
- Documentation is Key: Always refer to the latest Myactuator SDK and communication protocol documentation for the most up-to-date programming guides and examples.
- Safety First: When working with robotic actuators, always ensure proper safety precautions are in place, including emergency stops and clear work areas.
- Thermal Management: Monitor the actuator's temperature during operation, especially under heavy loads, to prevent overheating and ensure longevity.
- Secure Wiring: Double-check all wiring connections before powering on to prevent short circuits or incorrect operation.
8. Warranty and Support
For warranty information, technical support, or service inquiries, please contact Myactuator directly or the authorized reseller from whom you purchased the product. Keep your purchase records handy for faster service.
Myactuator Store: Myactuator Store