Getting Started

This document guides you through the initial installation and commissioning of the Alius Robot Joint Module, helping you complete hardware connections, communication tests, and basic motion control verification in the shortest possible time.

Unboxing Inspection

Before beginning installation, please confirm that the package contains the following items:

  • Alius Joint Module × 1
  • Power cable harness (with connectors) × 1
  • CAN communication cable harness × 1
  • Mounting flange (optional, depending on model)
  • Quick Start Guide × 1
  • Product Certificate of Compliance × 1

Carefully inspect the module housing for any shipping damage and verify that the connector pins are intact. If any abnormalities are found, please contact the Alius technical support team promptly.

Safety Precautions

Before performing any installation and commissioning operations, be sure to read the following safety precautions:

  1. Electrical Safety: The module operates at 24–48 VDC. Always ensure that the power supply is disconnected before connecting or disconnecting connectors to avoid live plugging.
  2. Mechanical Safety: The joint module may produce high-speed rotation or high torque output after power-on. Ensure that the module is mounted on a stable test platform, and limit the output torque during the first power-on.
  3. Thermal Safety: The module housing temperature may rise after prolonged high-load operation. Do not touch the module housing during operation.
  4. Emergency Stop: Ensure that you can cut off the module’s power supply at any time during the commissioning process.

Hardware Connections

Power Connection

The joint module is powered by a standard DC power supply with a voltage range of 24–48 VDC. A regulated DC power supply is recommended, and the power supply capacity should meet the module’s peak current requirements.

  1. Connect the power end of the power cable harness to the DC power supply output.
  2. Verify that the power polarity is correct (red wire = positive, black wire = negative).
  3. Do not turn on the power supply yet.

CAN Communication Connection

The joint module communicates with the controller via the CAN / CAN-FD bus. The connection method is as follows:

  1. Insert the connector of the CAN cable harness into the communication interface of the module.
  2. Connect the other end of the harness to the CAN adapter or robot controller.
  3. Verify that a 120Ω terminating resistor is installed on the bus (if neither end of the bus has a terminating resistor, add one at either the module end or the controller end).

Mechanical Installation

  1. Use the supplied mounting flange or a custom bracket to fix the module on the test platform or robot joint position.
  2. Ensure that the mounting surface is flat and that the bolt tightening torque meets the specification requirements.
  3. Verify that the connection between the output shaft and the load is reliable, avoiding eccentric loading.

First Power-On

After completing the hardware connections, follow these steps for the first power-on:

  1. Verify that all connections are correct and that no personnel are within the motion range.
  2. Turn on the DC power supply; the module power indicator should light up.
  3. Use a CAN debugging tool (such as a USB-CAN adapter) to connect to the module and verify normal communication.
  4. Read the module status frame and confirm that there are no error flags.

Basic Communication Test

Use the CAN debugging tool to send the following test commands to verify normal module communication:

  1. Send the “Read Device Information” command and confirm that the module returns the correct device ID and firmware version number.
  2. Send the “Read Encoder Value” command, manually rotate the output shaft, and confirm that the encoder reading changes normally.
  3. Send the “Set Zero Position” command to complete the encoder zero-point calibration.

Next Steps

After completing the getting started procedure, we recommend that you:

  • Read the Specifications document to gain an in-depth understanding of the module’s detailed parameters.
  • Read the Communication Protocol document to understand the complete command set and data frame format.
  • Read the Integration Guide document for detailed guidance on mechanical design, electrical design, and software integration.