Technical Documentation

Complete documentation for TK actuators.

Quickstart guides, firmware API reference, integration tutorials, datasheets, and application notes for all three TK actuator models. Documentation maintained in lockstep with firmware releases.

3 models
TK-120 / TK-240 / TK-480
3 protocols
ROS 2 / EtherCAT / CANopen
Firmware v2.x
Current release documentation

Getting Started

Start here if you just received a TK actuator

Quickstart Guide
First-power-on sequence, driver installation, and first torque command. From box-open to working joint in under 30 minutes.
Read guide
Firmware API Reference
Complete command set for position, velocity, and torque control. Register map, impedance control parameters, diagnostic registers, and error codes.
View reference
Datasheets & CAD
PDF datasheets with torque curves, thermal derating charts, and dimensional drawings. STEP files for CAD integration into your assembly.
Download

Integration Guides

Protocol-specific setup documentation

All TK actuators support ROS 2, EtherCAT, and CANopen. Each protocol has its own integration guide with working code examples.

ROS 2 / micro-ROS
micro-ROS agent setup, topic layout, launch files for single and multi-joint configurations, MoveIt 2 SRDF, and joint state publisher configuration.
Setup guide
EtherCAT / CoE
ESI file installation, IgH and SOEM master configuration, CoE object dictionary, PDO mapping, and cyclic sync mode examples in C++.
Setup guide
CANopen / CiA 402
Node ID and baud rate configuration, NMT state machine transitions, RPDO/TPDO mapping, key object dictionary entries, and SocketCAN examples.
Setup guide

Resources & Downloads

Technical resources by model

Document TK-120 TK-240 TK-480
Full datasheet (PDF) Available Available Available
STEP / IGES CAD file Available Available Available
URDF model Included in firmware pkg Included in firmware pkg Included in firmware pkg
EtherCAT ESI file Available Available Available
CANopen EDS file Available Available Available
Dyno characterization report Available Available On request
All Downloads & Resources

Need something not here?

Application notes, custom firmware configurations, and integration support are available directly from our engineering team. Email [email protected] with your specific requirement.

Contact Engineering