# Belt Tensioner Actuators

### Operating Principle

The belt tensioner actuator operates based on torque detection during the homing process. To ensure proper functionality, the following parameters must be configured on the servo driver according to your requirements:

<figure><img src="/files/v6RFflOJ2XetmXI3JF8m" alt="" width="274"><figcaption></figcaption></figure>

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{% content-ref url="/pages/nFpab6Ep5tKndGgNEwU9" %}
[NEW! AASD Servo Torgue Mode for Belt Tensioner](/new-aasd-servo-torgue-mode-for-belt-tensioner.md)
{% endcontent-ref %}

#### Parameter Configuration for AASD Servo driver&#x20;

{% content-ref url="/pages/P2a7K5YmzAd6y7JRmf5S" %}
[Servo Driver Settings](/servo-driver-settings.md)
{% endcontent-ref %}

1. **PN98** = 1..20 →  Translates the signal.
2. **PN24** = 100% → Sets the maximum torque signal in percentage.
3. **PN61** = 6 -> for torgue recognition

### Functionality

The belt actuator follows these steps:

* During **homing**, the motor runs until it reaches the **maximum torque**, which marks the actuator's endpoint (maximum belt tension).
* Once the maximum torque is reached, the actuator **retracts** by the number of pulses set under **"Belt Retreat"**, thus reducing the tension and reaching the minimum tension point (parking position).
* The **Belt Retreat** value determines the number of pulses available for this actuator.

### Automatic Activation

* When the **RIG is switched "online"**, the belt **automatically homes**.
* When the **RIG is switched "offline"**, the belt **automatically retracts** by the number of pulses set in the park position, untensioning the belt accordingly.

### Control and Mode Selection

* The values sent to the belt range from **0 to 0xFFFFFF** (maximum tension).
* The belt operates in **direct mode** (see next chapter for details).
* If **position mode** is used, the belt can only be connected to **servo 7** and operates in **direct mode with 32-bit control**.
* refer to Direct mode and Position Mode for Details to use the Belt :thumbsup:

{% content-ref url="/pages/z8J3SGjzB89GhChAJk4K" %}
[Direct Motion Mode](/getting-started/publish-your-docs/direct-motion-mode.md)
{% endcontent-ref %}

{% content-ref url="/pages/RfK0YyJ8FVcxAywI6qWN" %}
[Position Motion Mode](/getting-started/publish-your-docs/position-motion-mode.md)
{% endcontent-ref %}

### Setup the Belt in Dashboard Actuator Tab

* check **Belt** Checkbox for the actuator to be used
* check the **Autohome Belt Checkbox** for this feature&#x20;
* set the **Belt retreat** value

> There is a feature to tune the basic tension for the belt,live  in the main screen. use a double click on the encoder button to enter the fast access sub menus. use the encoder to alter the values , single push to encoder will save and double click continue in the sub until you will get to main gain

<figure><img src="/files/vSvWulpGHmrMEuoTItFo" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/60olwBVARrk3FMMFfDJC" alt=""><figcaption></figcaption></figure>

#### Important Note

Ensure that direct mode is properly configured when using the belt tensioner actuator in position mode.

### **Belt Function (For Belt Tensioning Systems)**

* The actuator functions as a **belt tensioner**.
* The servo **moves a few pulses against resistance**, creating **pressure on the pilot’s harness**
* The **direction is set using the "Rotation" parameter**.

#### **Belt Homing and Settings**

* **During homing**, the servo **calibrates to maximum torque**.
* After calibration, the belt moves back by the number of pulses set in **"Belt Retreat"**, simulating a **relaxed belt**.
* **Adjust "Belt Retreat" manually** to fine-tune tension levels.
* The torque values are set via **PN8, PN9, and PN24 in AASD servo motors**.
* When the **rig switches to "Offline"**, the belt **relaxes further** by the pulses set in **"Park Position"**.
* If a **looser belt** is needed, **increase the "Park Position" value**.

#### **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**.


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