Nodes and messages#
Model A has seven actuator controllers, including its gripper. The host uses node 0; actuator IDs occupy 1–126; 127 is broadcast. Message encoding is defined in the ActuatorFD wire reference.
Wiring definition#
The modeled harness carries 24 V and CAN-FD through the arm. Its design places 120 Ω termination at the host and seventh actuator, with controller-local termination disabled elsewhere. This is an integration definition, not a qualified cable assembly or power-on instruction.
Timing#
The provisional bus screen uses 1 Mbit/s arbitration, a 5 Mbit/s data phase, and a 200 Hz cyclic profile. Measured timing, errors, propagation, and EMC remain unqualified. See communication troubleshooting.
Actuator references#
58-10 and 58-40 use the same wire contract. Product-specific physical limits must be validated independently.