Document Navigation and Reading Suggestions

Purpose and Intended Audience

This technical document is intended to provide engineers, technicians, and maintenance personnel using the TA Series actuators with comprehensive and systematic product information, including mechanical structure, technical specifications, installation guidance, commissioning methods, and maintenance requirements.

Through this document, users will be able to:

• Select and integrate the harmonic drive motor module correctly to meet different application requirements
• Install and wire the device properly, ensuring safe and reliable operation
• Use the actuator efficiently, making full use of the accompanying technical resources, SDK, and sample code to accelerate development and commissioning
• Master troubleshooting and maintenance methods to promptly locate and resolve issues, thereby extending the service life of the device

Intended Audience:

• Mechanical engineers
• Electrical and control engineers
• Automation equipment commissioning and maintenance personnel
• System integrators and equipment manufacturers

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Document Structure

This user manual is divided into nine major sections. Each section’s contents and key reading points are as follows:

1. Document Navigation and Reading Guide
   • Explains the target audience, suggested reading order, and provides quick indexing methods.
2. Getting Started
   • Designed for beginners; introduces product specifications, hardware wiring, software installation, and first-run procedures.
   • Recommended as the starting point for new users.
3. Control Modes Explained
   • Provides detailed descriptions of the actuator’s communication protocol and various control modes (current, velocity profile, position profile, position, and MIT).
   • Suitable for developers who need to deeply understand communication and control logic.
4. Parameter Settings and Protection Functions
   • Explains PID tuning, limit settings, temperature protection, current protection, and other safety mechanisms.
5. Development and Programming
   • Provides usage instructions and sample code for Python / C / C++ SDKs.
   • Intended for engineers performing secondary development or integrating with upper-level controllers or control systems.
6. PC Software User Guide
   • Introduces the usage of the accompanying PC tool, including single-motor and multi-motor control as well as data playback functions.
   • Suitable for experimental validation and routine debugging.
7. Controller Integration Tutorials
   • Provides examples of integration with microcontrollers, PLCs, Raspberry Pi, and other platforms.
   • Helps developers achieve quick control implementation in various hardware environments.
8. Troubleshooting and Maintenance
   • Documents common troubleshooting methods and daily maintenance recommendations.
   • Recommended as a reference when encountering abnormal conditions.
9. Appendix
   • Contains the complete communication protocol, error code table, default parameters, hardware dimensions, and other reference materials.
   • Designed for use as a quick reference manual.

Fast Indexing

category	Keywords / Function	Corresponding chapter
Communications-related	Control Command Table	CAN2.0B communication protocol
	Feedback status package	CAN2.0B communication protocol
	Error Code Description	CAN2.0B communication protocol
Control Mode	Profile position mode (large angle control)	Profile Position Mode (Large-Angle Control)
	Position mode (high frequency control)	Position Mode (High-Frequency Control)
	Profile velocity mode	Profile Velocity Mode
	MIT control (hybrid control)	MIT mode
Parameters and protection	PID parameter adjustment	PID parameter setting
	Mechanical/software limit	position limit setting
	Temperature protection	Temperature protection
	Current/voltage protection	Current and voltage protection
Development and Programming	Python SDK Examples	Python SDK
	C/C++ SDK Examples	C/C++ SDK
Debugging software	Parameter settings (including preset parameters, motor parameters, protection parameters)	Parameter settings
	Single Actuator Control (Control Mode Introduction)	Single Actuator control
	Firmware upgrade, factory reset, parameter identification	Other funtions
Other control platforms	STM32 control	Microcontroller control
	PLC control (Modbus to CAN)	PLC control (Leadshine)
	Raspberry Pi (SocketCAN)	RaspberryPi control
Failure and maintenance	Common Problems Troubleshooting	Common Problems Troubleshooting
	Maintenance and care	Maintenance and care
appendix	Complete Agreement Table	appendix
	Error code comparison table	appendix
	Default parameter table	appendix
	Hardware dimension drawings	appendix