Actuator Settings

Actuators Menu

This menu allows configuring the parameters of the actuators used in the system.

• After making changes, save the settings and restart the controller to apply the new values correctly.

• The following values apply globally to all actuators—modifications will overwrite individual actuator settings.

General Actuator Settings

RIG Type

Defines the actuator type used for inverse kinematics calculations and resolution adjustments. Available options:

• 6DOF Rotating Actuator

• 6DOF Linear Actuator

• SFX 100

• SFX 150

• PT100 4 Act

• PT150 4 Act TL TL SR

• SFX 150 3 Act (2 Front, 1 Back)

• Custom

Encoder PPR

• Defines the encoder pulse per revolution (PPR) based on the servo motor used.

• Example: AASD15 Servo Motor = 10,000 PPR

Electronics Gear

• Used for actuator resolution calculations.

• Set based on the PN(98) value from the servo driver.

Gearbox Ratio

• Gear reduction ratio of the actuator.

• Only reductions are supported (no overdrive).

Leadscrew Pitch (Linear Actuators Only)

• Defines the thread pitch of the leadscrew (e.g., 5, 10, 25 mm per revolution).

Actuator Length (Linear Actuators Only)

• Specifies the total length of the actuator in millimeters.

Rotation Range (Rotary Actuators Only)

• Defines the rotation range in degrees.

• Example: 180° = Half Rotation

• used for resolution calculation

Linear Actuator Safety Margin

• Defines the safety margin in mm to prevent overextension.

• This value is subtracted on both sides from the actuator length.

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Actuator (Submenu 1-8)

Each actuator can be configured individually by selecting it from the sub-menu and pressing the encoder button.

Individual Actuator Settings

• Rotation Direction: Clockwise (CW) or Counterclockwise (CCW).

• Home Direction: w.i.p

• Park Enable: If enabled, the actuator will not park.

• Homing Offset: Defines the zero-point of the actuator after calibration (also applies to parking position for rotary actuators).

• Electronics Gear: Same as above. Used for actuator resolution calculations.Set based on the PN(98) value from the servo driver.

• Mechanical Gear: Gear ratio (only reduction).

• Encoder Position: Same as above, defines resolution.

• Park Position: Defines offset from the zero point used as a park position.

• Leadscrew Length (LS Length): Defines linear actuator length (for linear actuators).

• Leadscrew Pitch (LS Pitch): Defines the thread pitch of the leadscrew (1–1000 mm per revolution).

• Linear Actuator Safety Margin (LS Safety): Safety buffer (typically 2–5 mm).

• Rotation Range: Defines rotation range in degrees (180° = Half Rotation).

• Limitless Mode:

  • Special feature for 360° actuators (e.g., endless yaw).

  • Allows rotation beyond the mechanical end without reversing direction.

  • Watch the demonstration on YouTube.

• Belt Function: On OFF to setup the actuator as Belt

  • The actuator functions as a belt tensioner.

  • The direction is set using the "Rotation" parameter

Belt Tensioner Actuators

• Belt Auto-Homing:

  • When the rig is switched to "Online", the belt performs an automatic homing sequence.

  • The servo motors temporarily use "Homing Speed" during this process.--

• Belt Retreat

  • Defines the number of pulses used to relax the belt after homing.

• Input

  • this number assigns the the channel from the Motion Data input String to the actuator

  • only used in Direct Mode

• back: this option lets you return from the actuators submenu

Actuator (Submenu 1-8) end

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Global Motion Parameters

Homing Speed

• Defines the pulse speed (Hz) for calibration movements.

Park Speed

• Defines the slow movement speed (Hz) for transitioning to/from park/standby position.

Online Speed

• Defines the operating speed (Hz).

• For PN98 = 2, the minimum required speed is 253 kHz.

Pulse Frequency

Number of Actuators

• Defines the number of connected actuators.

• If "Actuator Check" is enabled, the system verifies the configured number of actuators.

• its needed all should be connected and online otherwise actuator check will give error

Multiplier (Multi)

• Used to scale numerical changes for large values.

• Prevents excessive encoder rotations when adjusting high values.

• Example:

  • Multiplier = 1 → Each encoder step adds/subtracts 1.

  • Multiplier = 500 → Each encoder step adds/subtracts 500.

• Used for offsets, speeds, park positions, etc.