Integration
All TK actuators support EtherCAT and CANopen on the same board. ROS 2 micro-ROS node is included in the firmware package. This guide covers connector pinouts, bus topology, power budget, and protocol configuration.
Protocol Guides
micro-ROS node setup, launch files, MoveIt 2 SRDF, joint state publisher configuration for all TK models.
View GuideESI file, bus scan, CoE object dictionary, SOEM library examples, IgH EtherCAT master configuration.
View GuideObject dictionary, NMT state machine, PDO mapping, node IDs, baud rates, CANopen over CAN bus configuration.
View GuideHardware Reference
| Pin | Signal | Description |
|---|---|---|
| 1 | TX+ | EtherCAT transmit positive |
| 2 | TX- | EtherCAT transmit negative |
| 3 | RX+ | EtherCAT receive positive |
| 4 | RX- | EtherCAT receive negative |
| 5 | PWR+ | 48 VDC supply |
| 6 | PWR- | Power ground |
| 7 | STO_A | Safe torque off channel A |
| 8 | STO_B | Safe torque off channel B |
| Model | Nominal | Peak | Standby |
|---|---|---|---|
| TK-120 | 55 W | 180 W | 3.2 W |
| TK-240 | 120 W | 380 W | 4.8 W |
| TK-480 | 240 W | 720 W | 7.1 W |
All models: 48 VDC nominal ± 10%. Supply must support inrush > 3× nominal for 50 ms.