Product Features and Advantages 

• Adopts torque loop control. Mechanical arm joints incorporate high-precision torque sensors and compliant control methods, achieving  exceptional agility and safety. 

• The self-developed low-level control is accessible to upper layers, featuring  fully autonomous servo drive units capable of complex stiffness adjustment,  path planning, and compliant control. 

• Arm motion planning and control software is developed in-house and  customized for specific environmental requirements. 

• Mechanical arm joint control drive circuits include: 

    o Main controller 

    o Three-phase drive bridge 

    o Phase current sampling circuit 

    o Hall sensor signal acquisition circuit 

    o Communication interface circuit 

    o Bus voltage detection circuit 

    o Strong-weak electrical isolation circuit 

    o Encoder signal acquisition circuit

    o Bypass capacitors 

    o Filtering circuits

Specifications 

• Input voltage: 24 V DC 

• Rated input current: 10.1 A 

• Peak input current: 30 A 

• Peak output drive torque: 70 Nm

• Rated output speed: 24.5 rpm

• Uses vector control, with feedback from 16-bit (or higher) absolute encoders,  achieving servo positioning accuracy of 0.005° 

• Communication via CAN bus with differential signaling, ensuring stable  communication, convenient wiring, and a baud rate of up to 1 Mbit/s for  precise control.