Actuators/Servos

The user can configure any actuator compatible with the communication interfaces.

CAN

Pegasus PA-R-135-4

Pegasus PA-R-135-4 micro-low-profile servo is currently the world's smallest professional servo-actuator of its class.

The setup to be performed by the user should be as follows:

Autopilot 1x Harness			Pegasus PA-R-135-4 Tyco MTA100 Connector
PIN	Signal	Color Code	PIN	Signal
25	CANA_P	White-Black	3	CANH
28	CANB_P	Yellow-Green
26	CANA_N	Brown-Black	1	CANL
29	CANB_N	Pink-Green
30	GND	Yellow-Pink	6	GND

Once the hardware integration of the device has been completed, it will be necessary to proceed with the software integration. To do this, follow the steps detailed in the Pegasus - Integration examples section of the 1x PDI Builder user manual.

Ultra Motion

Ultra Motion servo is a high-precision actuator designed for demanding applications, with BLDC electronic control and non-contact absolute position feedback.

This device can be integrated with Autopilot 1x via CAN 2.0B protocol to ensure robust and efficient communication in the system.

The setup to be performed by the user should be as follows:

Autopilot 1x Harness			Ultra Motion Signal Connector
PIN	Signal	Color Code	PIN	Signal	Color Code
25	CANA_P	White-Black	7	CAN_H	Red
28	CANB_P	Yellow-Green
26	CANA_N	Brown-Black	9	CAN_L	White
29	CANB_N	Pink-Green
30	GND	Yellow-Pink	8	GND	Black

Once the hardware installation has been completed, the user can find the explanataion for the software installation in the Ultra Motion - Integration examples section of the 1x PDI Builder user manual.

PWM

This section details the process of integrating a PWM servomotor with Autopilot 1x.

The connection diagram between the two devices should look like this:

The PWM servo must be connected to one of the available I/O pins of Autopilot 1x.

Autopilot 1x Harness
PIN	Signal	Color Code
1	I/O0	White
2	I/O1	Brown
3	I/O2	Green
4	I/O3	Yellow
5	I/O4	Gray
6	I/O5	Pink
7	I/O6	Blue
8	I/O7	Red
9	GND	Black
10	I/O8	Violet
11	I/O9	Gray-Pink
12	I/O10	Red-Blue
13	I/O11	White-Green
14	I/O12	Brown-Green
15	I/O13	White-Yellow
16	I/O14	Yellow-Brown
17	I/O15	White-Gray

Once the hardware connection is made, it is necessary to configure the I/O pin used. Since these I/O pins are preconfigured as GPIO, they must be set as PWM.

To do so, refer to and follow the steps described in the PWM - Integration examples section of the 1x PDI Builder user manual.

Serial

Pegasus PA-R-135-4

Pegasus PA-R-135-4 micro-low-profile servo is currently the world's smallest professional servo-actuator of its class.

The setup to be performed by the user should be as follows:

Autopilot 1x Harness			Pegasus PA-R-135-4 Tyco MTA100 Connector
PIN	Signal	Color Code	PIN	Signal
50	OUT_RS485_P	Pink-Brown	3	SINGAL A
53	IN_RS485_P	White-Red
51	OUT_RS485_N	White-Blue	1	SIGNAL B
52	IN_RS485_N	Brown-Blue
54	OUT_GND	Brown-Red	6	GND

Once the hardware integration of the device has been completed, it will be necessary to proceed with the software integration. To do this, follow the steps detailed in the Pegasus - Integration examples section of the 1x PDI Builder user manual.

Volz DA26 - RS485

The following wiring connection is recommended for a RS485 half-duplex connection between Volz DA26 servos and Veronte Autopilot 1x:

The above diagram is made for the case where 2 Volz DA26 servos are connected, however, the connection is the same in case the user wants to connect only one or as many servos as the bus allows.

Autopilot 1x Harness			Volz DA26 Connector
PIN	Signal	Color Code	PIN	Signal
50	OUT_RS485_P	Pink-Brown	1	RS 485 A (Non-inverting Input/Output)
53	IN_RS485_P	White-Red
51	OUT_RS485_N	White-Blue	2	RS 485 B (Inverting Input/Output)
52	IN_RS485_N	Brown-Blue
54	OUT_GND	Brown-Red	7	GND (1)
			8	GND (2)

Once the hardware integration of the device has been completed, it will be necessary to proceed with the software integration. To do this, follow the steps detailed in the Volz DA26-RS485 - Integration examples section of the 1x PDI Builder user manual.