Technical Resources

Datasheets, CAD, firmware, and application notes.

All technical assets for TK-120, TK-240, and TK-480. Datasheets include torque curves, thermal derating charts, and dimensional drawings. Firmware package includes ROS 2 node, URDF models, and ESI/EDS files.

3 datasheets
One per model
STEP + URDF
CAD and ROS models
Firmware v2.x
Latest release

Downloads

Datasheets & CAD Files

PDF datasheets contain mechanical drawings, electrical specifications, torque-speed curves at 24 V and 48 V, and thermal derating charts. STEP files are compatible with SolidWorks, CATIA, Fusion 360, and FreeCAD.

TK-120 Datasheet
Full specification sheet: 18 Nm continuous, 46 Nm peak, 0.43 kg, 120mm OD. Includes torque curves and dimensional drawing.
Download PDF
TK-240 Datasheet
Full specification sheet: 42 Nm continuous, 105 Nm peak, 42 Nm/kg peak torque density. Includes dyno characterization data and thermal derating.
Download PDF
TK-480 Datasheet
Full specification sheet: 95 Nm continuous, 220 Nm peak, IP67, EtherCAT-native. Includes connector pinout, M12 wiring diagram, and planetary gearbox option specs.
Download PDF
TK-120 STEP / IGES
3D CAD model for assembly integration. Includes output flange, mounting pattern, and encoder connector housing geometry. SolidWorks native also available on request.
Download CAD
TK-240 STEP / IGES
3D CAD model for the TK-240. 240mm OD with full harmonic drive housing geometry and mounting flange pattern accurate to ±0.02 mm.
Download CAD
TK-480 STEP / IGES
3D CAD model for the TK-480 industrial model including IP67 sealing features, M12 connector positions, and planetary gearbox optional attachment points.
Download CAD

Software

Firmware & Integration Files

The firmware package ships with all integration files. ROS 2 package builds on Humble, Iron, and Jazzy. URDF models are parameterized for all three actuator variants.

Firmware Package v2.x
TKND_FW_v2.x.tar.gz — includes micro-ROS node, ROS 2 package, URDF models, EtherCAT ESI file, CANopen EDS file, flash utility, and example launch files.
Download firmware
ROS 2 / micro-ROS Guide
Setup documentation for micro-ROS agent, ROS 2 topic layout, launch files for single and multi-joint configurations, and MoveIt 2 SRDF templates.
View guide
EtherCAT ESI File
Tendonkindle_TK_Series.xml covers all three TK models. Compatible with IgH EtherCAT master and TwinCAT. Included in the firmware package; also downloadable standalone.
View EtherCAT guide
CANopen EDS File
Electronic Data Sheet for CiA 402 integration. Covers RPDO/TPDO mapping, node ID defaults, and Tendonkindle custom objects (0x2000–0x2040). Included in the firmware package.
View CANopen guide
Firmware Changelog
Release notes for all firmware versions: new features, bug fixes, API changes, and migration guides for breaking changes between major releases.
View changelog
Firmware API Reference
Complete command set documentation: position / velocity / torque / impedance control modes, ROS 2 topic layout, register map, and error code table.
View API docs

Need something not listed?

Application notes, custom URDF configurations, dyno characterization reports, and integration support available by request. Email [email protected].

Contact Engineering