Actuators/Servos¶

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

CAN¶

Ultramotion¶

Ultramotion 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:

../../_images/ultramotion_servo_connection.png — **Ultramotion - Autopilot 1x wiring diagram**¶

../../_images/ultramotion_servo_pinout.png — **Ultramotion - Pinouts for Signal connector on AM series actuators**¶

../../_images/pinout_harness.png — **Autopilot 1x harness pinout**¶

Autopilot 1x harness			Ultramotion signal connector
PIN	Signal	Color code	PIN	Signal	Color code
25	CANA_P	White-Black	7	CAN_H	Red
28	CANB_P	Yellow-Green	7	CAN_H	Red
26	CANA_N	Brown-Black	9	CAN_L	White
29	CANB_N	Pink-Green	9	CAN_L	White
30	GND	Yellow-Pink	8	GND	Black

Note

CAN A and CAN B buses are equivalent and can be used interchangeably for the integration of this device.

For more information on CAN connection, please visit CAN - Wiring connection section of this manual.

Warning

Remember!! In Autopilot 1x, all GND pins are common. Note that pin 54 is not a common GND pin.

Once the hardware installation has been completed, the user can find the explanataion for the software installation in the Ultramotion - 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:

../../_images/pwm_servo.png — **PWM - Autopilot 1x wiring diagram**¶

Important

Note that this servo must be connected to an external power supply, sharing signal ground with Autopilot 1x.

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

Warning

Remember!! In Autopilot 1x, all GND pins are common. Note that pin 54 is not a common GND pin.

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¶

Volz DA26 - RS485¶

../../_images/servo_volz.png — **Volz DA26**¶

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

../../_images/servo_volz_wiring_diagram.png — **Volz DA26 - Autopilot 1x wiring connection**¶

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.

Important

Note that this servo must be connected to an external power supply, sharing signal ground with Autopilot 1x.

../../_images/db9_connector.png — **Volz DA26 connector pinout**¶

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	1	RS 485 A Non-inverting Input/Output
51	OUT_RS485_N	White-Blue	2	RS 485 B Inverting Input/Output
52	IN_RS485_N	Brown-Blue	2	RS 485 B Inverting Input/Output
54	OUT_GND	Brown-Red	7	GND (1)
54	OUT_GND	Brown-Red	8	GND (2)

Warning

Note that this pin 54 is not a common GND pin.

Note

If users encounter any problems during wiring, please check the Half-duplex servo does not respond - Troubleshooting section of this manual.

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.