Robstride 00 Actuator

The Robstride 00 is a compact QDD actuator designed for robotic joints. It integrates a BLDC motor, 6:1 planetary gearbox, magnetic absolute encoder, and CAN-based motor controller into a single housing.

Electrical Specifications

Parameter	Value
Supply voltage	24 V DC (18–30 V)
Peak current	12 A
Continuous current	6 A
Stall torque (output)	~12 Nm
Continuous torque	~3 Nm
No-load speed	~250 RPM (output)
Gear ratio	6:1 planetary
Encoder resolution	14-bit absolute (0.022°)
Communication	CAN 2.0B @ 1 Mbit/s
CAN ID range	0x001 – 0x07F (configurable)

Connector Pinout

The Robstride 00 exposes a single 4-pin JST-GH connector for power and CAN:


Pin  Signal   Color (typical)
1    VBus     Red
2    GND      Black
3    CAN-H    Yellow
4    CAN-L    Green

Always connect GND before VBus. Do not hot-plug the power rail — inrush current can trip overcurrent protection on the motor controller.

LED Status Codes

The status LED on the motor housing communicates faults:

Pattern	Meaning
Solid green	Enabled, running normally
Slow green blink	Disabled (no enable command received)
Fast red blink	Overcurrent fault
Slow red blink	Encoder fault
Alternating red/green	CAN timeout (no command for >500 ms)

Mechanical Mounting

The output shaft is a 10 mm keyed shaft with M5 tapped holes on the face. The body is mounted via 4× M4 bolts on a 50 mm bolt circle.


         ┌──────────────┐
  CAN ──►│  Controller  │
 Power──►│  + Driver    │◄── 4× M4 mount
         │  + Encoder   │
         └──────┬───────┘
                │ 10 mm keyed output shaft
                ▼

CAN ID Configuration

The CAN ID is set via a DIP switch or over-the-wire command (depending on firmware version). Default factory ID is 0x01.

To change the ID over CAN send the set-ID command frame:


ID:  0x7FF  (broadcast)
DLC: 8
Data: 0x7F 0x7F 0x7F 0x7F 0x7F 0x7F 0x7F <new_id>

After the frame is received the motor reboots into the new ID. Power-cycle to confirm.

Daisy-Chaining Multiple Motors

Multiple Robstride 00 units share the same 4-wire bus. Each unit must have a unique CAN ID. Terminate the bus at the far end with a 120 Ω resistor across CAN-H and CAN-L.


Host ─── Motor 0x01 ─── Motor 0x02 ─── Motor 0x03 ─[120Ω]─ GND

Keep stub lengths under 30 cm. For runs over 1 m, reduce bus speed to 500 kbit/s.