Shenzhen Elephant Robotics Technology Co.,Ltd.

Elephant Robotics User Manual
Elephant Robotics®Module MS Series

Version 1.0
Language: English

Shenzhen Elephant Robotics Technology Co.,

Copyright Declaration
No unit or individual may extract, compose, translate or reproduce any of the contents ofthis manual without the written permission of Shenzhen Elephant Robotics Technology Co., Ltd.
(the rest of the article is referred to as “Elephant Robotics”), and shall not in any form (including
but not limited to information and publications).
In addition, the product information and related resources mentioned in this manual are forreference only and the contents are subject to change without notice.
Except as expressly stated in this manual, nothing in this manual should be construed as any
warranty or guarantee by the Elephant Robotics of personal loss, damage to property, or fitness
for a particular purpose.
All rights reserved !

© Copyright 2017-2019 Shenzhen Elephant Robotics Technology Co., Ltd.
All rights reserved.

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Shenzhen Elephant Robotics Technology Co.,

Catalog
About the Manual ....................................................................................................................... 5
Reading Objects of the Manual ................................................................................................... 5
How to use .................................................................................................................................. 5
Main Contents of the Manual ..................................................................................................... 6
Before the Official Reading of the Manual .................................................................................. 6
Safety ........................................................................................................................................... 7
Introduction ...................................................................................................................... 7
Safety Alert Symbol Description ........................................................................................ 8
Product Warranty ........................................................................................................................ 9
Warranty ........................................................................................................................... 9
Disclaimer .......................................................................................................................... 9Inspection of Package ................................................................................................................ 10
List of Items in the Box .................................................................................................... 10
Product Photo Show ........................................................................................................ 10
Description ................................................................................................................................ 11
Harmonic Reducer ........................................................................................................... 11
FramelessTorque Motor .................................................................................................. 11
Servo Driver ..................................................................................................................... 12Interface Description of Drives ........................................................................................ 12
Encoder ........................................................................................................................... 16
Brake ............................................................................................................................... 16
Specification & Operation Requirements .................................................................................. 17
Module Parameter .......................................................................................................... 17
Module Configuration Recommendation ........................................................................ 18
Module Power and Current ............................................................................................. 18
Module Power and Communication Line ........................................................................ 20
Environment Requirement .............................................................................................. 21
Regeneration Warning .................................................................................................... 21
Installation Requirement ................................................................................................. 22
Installation Procedure ..................................................................................................... 263

Shenzhen Elephant Robotics Technology Co.,

Rotation Limitation .......................................................................................................... 26
CAN Terminal ................................................................................................................... 26
Software Debug ......................................................................................................................... 27
FAQ ........................................................................................................................................... 27
Dimension .................................................................................................................................. 28

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Shenzhen Elephant Robotics Technology Co.,

About the manual
Welcome to use Elephant Robotics®Module MS Series and thanks for your purchase.
This manual describes how to properly install and use Elephant Robotics® Module MS Series,
as well as matters needing attention.
Please read this manual and other related manuals carefully before installing Elephant
Robotics®Module MS Series. After reading, please keep it in a safe place so that you can accessit at any time.

Reading objects of the manualThis manual is targeted to:lInstaller.

l

Debugger.

l

Maintenance staff.
Those who perform installation/debug/repair work on Elephant Robotics®Module
MS Series must have knowledge of the definition of electrical wiring, mechanicalcharacteristics and debugging methods .

How to use
This manual should be used when doing the followings:lInstallation work: Connect the module in accordance with the wiring requirements, andpower it up to 48V.

l

Debugging work: Use the cable to debug the module to work.

l

Maintenance work: Regularly maintain the module system to ensure that it functions as
usual. Please contact technicians for maintenance when the module malfunctions due
to environmental influences or improper operation of the user, or a certain componentof the module system exceeds the normal service life, etc..

5Shenzhen Elephant Robotics Technology Co.,

Main contents of the manuallPrecautions for safe use of the module.

lMechanical, electrical installation and commissioning of the module.

lMaintenance and repair of the module.

Before the official reading of the manual
Before you officially read the manual, you need to know:
1. About Elephant Robotics®Module MS Series
Elephant Robotics®Module MS Series do apply to collaborative robots. It can be assembled
into a multi-axis manipulator with multiple joints and work safely with workers to complete theprocesses of loading and unloading, testing and packaging in industrial manufacturing.
2. About help
For any questions or suggestions on the contents of the user manual, you can query on theofficial website of the Elephant Robotics to submit the relevant information:www.elephantrobotics.com.
3. Contact Information
1) Full name of company: Shenzhen Elephant Robotics Technology Co., Ltd.
2) Address: R208, B7, Yungu Innovative Industrial Park 2, Nanshan, Shenzhen, China 518057
3) Mail:Business Cooperation : sales@elephantrobotics.com
Promotional Cooperation : marketing@elephantrobotics.com
Customer Service : service@elephantrobotics.com
Technical Support : @elephantrobotics.com
4) Tel: +86 755 8696 8565

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Shenzhen Elephant Robotics Technology Co.,

1. Safety
1.1 Introduction
This chapter details general safety information for those who perform installation,
maintenance, and repair work on Elephant Robotics®Module MS Series. Please read andunderstand the contents and precautions of this chapter before handling, installation and use.
According to GB 11291.1-2011, both robot manufacturers, system integrators, and individual
users must perform hazard identification and risk assessment before using the robot. Conducting
a hazard analysis can predict any hazards that may arise; and for hazards predicted in hazard
identification, a risk assessment should be conducted to maximize personal safety and property
safety.
This chapter provides a basic guide to safe use by introducing different safety alert symbols
and precautions.

1.2 Safety Alert Symbol Description
As shown in Table 1-1, this section describes the safety alert symbols used in this manual. You
can find the corresponding symbols described in this chapter in other chapters. Please note thesesymbols and their meanings.
Table1- 1 Safety Warning Symbol Table

Danger: Refers to a situation that is about to cause danger. Failure to
avoid this can result in death or serious injury.

Warning: Refers to situations that may cause danger. Failure to do so
can result in personal injury or serious damage to the equipment.

7Shenzhen Elephant Robotics Technology Co.,

Caution Electricity: Refers to the use of electricity that may cause
danger. If this situation is not avoided, it may result in personal injury or
serious damage to the equipment.

Prohibited: Refers to things that are not allowed to do.

Attention: Refers to important matters that need attention.

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Shenzhen Elephant Robotics Technology Co.,

2. Product Warranty
2.1 Warranty
12-month limited warranty on Elephant Robotics®Module MS Series.
If the module is defective in manufacturing or material during the warranty period of thedelivered product, Elephant Robotics provide necessary spare parts to replace or repair the
relevant parts. But if the defects is caused by improper handling or failure to follow instructions of
the user manual, the product warranty shall be invalid.
Under the principle of not violating the product warranty, if the product has exceeded thewarranty period, Elephant Robotics reserves the right to charge the customer for replacement ormaintenance.
Ownership of the equipment or components to be replaced or returned is vested in Elephant
Robotics.
Elephant Robotics shall not be liable for any damage or loss caused by defective equipment
beyond the warranty period, including but not limited to production loss or damage to otherproduction equipment.

2.2 Disclaimer
Elephant Robotics shall reserve the right to upgrade the product without prior notice tocontinuously improve its reliability and performance. We strive to ensure the accuracy andreliability of the contents of this manual, but not responsible for any errors or omissions.
Faults caused by the following are not covered by this warranty :1. Installation, wiring and connection of other control equipment failure to follow instructionsof the user manual ;2. Exceed the specifications or standards shown in the user manual when using ;3. Damage caused by improper transportation ;4. Damage caused by accident or collision ;5. Damage caused by natural disasters such as earthquakes, floods,fire .
6. Faults other than those mentioned above which are not caused by Elephant Robotics ;9

Shenzhen Elephant Robotics Technology Co.,

3. Inspection of Package
3.1 List of Items in the Box
No.

1Shipping List

Elephant Robotics®Module MS Series（Packed with cardboard box and sponge）

Quantity

12

Instruction

1

3

Testing Report1

4

Certification

1

5

Warranty

1

3.2 Product Photo Show10

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4. Description
Elephant Robotics®Module MS Series integrates harmonic reducer, frameless torque motor,
electromagnetic friction disc brake, incremental encoder, absolute encoder, servo driver together.
Its structure is compact and easy to install.
Its accuracy of the absolute encoder on output is 0.1︒ (mechanical) and the repetitive
positioning accuracy is 0.001︒ (mechanical).

4.1 Harmonic Reducer
Parameter Type

Name

Reducer Parameter

Unit

MS14

MS17

MS20

MS25

MS32

Reduction Ratio

---

101

101

101

101

161

Reducer Back Lasharcsec

10

10

10

10

10

Rotation Accuracy

arcmin

1

1

1

1

1

PS: Reduction Ratio is optional, this is the default configuration.

4.2 Frameless Torque Motor
Parameter TypeElectricalParameters of
Motor

Name

Unit

MS14

MS17

MS20

MS25

MS32

Motor pole logarithm

---

8

8

8

14

14

Motor Rated Power

W

32

73

160

323

589

Motor Rated Voltage

V

48

48

48

48

48

Motor Rated Current

A

1.15

2.6

5.7

12

21

Motor Rated Rotating Speed

rpm

2800

2800

2800

2500

3200

Motor Rated Torque

Nm

0.197

0.4

0.83

1.86

2.7

Motor Torque Constant

Nm/A

0.176

0.153

0.144

0.16

0.13

Back-Emf Coefficient

V/krpm

0.0198 0.0173 0.0158

0.02

0.01

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Shenzhen Elephant Robotics Technology Co.,

4.3 Servo Driver1). As shown in the following picture, the driver of Robotic Module is a low voltage dc alldigital servo driver with high performance, high precision and multi-function developed by theadvanced FPGA technology.
2). Integrated into Robotic Module, has 48V dc power supply and CAN/EtherCAT bus control.
3). Equipped with comprehensive safety protection design of overcurrent, overtemperature,
overvoltage and undervoltage, overspeed, blocking, position out of tolerance, short circuit, I2t,
control error, etc..
4). Use feedback input of double encoder to realize full closed-loop control, including theposition, velocity and current of Robotic Module.
5). Stable operation and good compatibility, has high dynamic speed response.
6). Through the driver debugging software, customers can easily set the driver and motor
parameters, adjust the position, speed and current loop parameters of the PID to play out thegood performance of Robotic Module.

4.4 Interface Description of Drives
Analog Interface

Hall Input

RS232 Interface

EtherCAT Output
EtherCAT Input

Power Input

UVW Input
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1. Power Interface
PIN

Name

Description

V+

Power Supply 48V+

Positive Power Input

V-

Power Supply 48V-

Negative Power Input

PIN

Name

Description

U

Motor U Phase

Motor U Phase

V

Motor V Phase

Motor V Phase

W

Motor W Phase

Motor W Phase

2. Motor Interface

4. Brake Interface

PS: There is a Brake mark in the interface, don’t connect the resistance to avoid the drive
burning.
PIN

Name

Description

1+

Connect Electromagnetic Friction Disc Brake+

2-

Connect Electromagnetic Friction Disc Brake-

4. Incremental Encoder Interface
PIN

Name

Description

1

GND

Ground2

5V

Internal Supply of Logic Power 5V

3Z-

Differential Encoder Z-

4Z+

Single-ended Encoder Z, Differential Encoder Z+

5

B-

Differential Encoder B-

6B+

Single-ended Encoder B, Differential Encoder B+

7

A-

Differential Encoder A-

8A+

Single-ended Encoder A, Differential Encoder A+

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5. Absolute Value Encoder Interface
PIN

Name

Description

1

5V

Internal Supply of Logic Power 5V2

GND

Ground3SL+

Absolute Value Encoder Data Signal

4SL-

Absolute Value Encoder Data Signal

5MA+

Absolute Value Encoder Clock Signal

6MA-

Absolute Value Encoder Clock Signal

PIN

Name

Description

1

GND

Ground2

5V

Internal Supply of Logic Power 5V

3

HW

Digital Hall Signal - Hall 3

4

HV

Digital Hall Signal - Hall 2

5

HU

Digital Hall Signal - Hall 1

6. Hall Signal Interface

7. EtherCAT Communication Interface
PIN

Name

Description

1

RX+

EtherCAT Data Receive +2RX-

EtherCAT Data Receive -3

TX+

EtherCAT Data Transmit +4

TX-

EtherCAT Data Transmit -8. RS232 Communication Interface
PIN

Name

Description

1

GND

Ground2

RX

RS232 Data Receive

3

TX

RS232 Data Transmit

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9. Analog Input Interface
PIN

Name

Description

1

GND

Ground2

5V

Internal Supply of Logic Power 5V

3

ANI-

+/-10V Analog-

4

ANI+

+/-10V Analog+

10. Digital Input Interface
PIN

Name

Description

1

IN 2

Input 22

OUT 6

Output 63

GND

Ground

11. Regenerative Resistor Interface（Resistor mark in the interface）
PIN

Name

Description

1

R+

Regenerative Resistor+

2

R-

Regenerative Resistor-

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4.5 Encoder1). Elephant Robotics®Module MS Series adopts 19-bit Biss feedback, which can achieve therepeated positioning accuracy of 0.001°.
2). Elephant Robotics® Module MS Series has an encoder at the input and output ends of
reducer. The magnitude of external forces on the joint where the module is located can be
determined , based on the comparison of the position and speed feedback of the two encoders.
Then feeding external forces value to the controller, safety control of robots can be easily realized
without additional auxiliary sensors.

Parameter Type

Encoder

Name

Unit

MS14

MS17

MS20

MS25

MS32

Incremental Encoder

P/R

20000

20000

20000

20000 20000

Absolute Value Encoder

Bit

16/19

16/19

16/19

16/19

16/19

4.6 Brake1). Elephant Robotics®Module MS Series is equipped with spring-actuated brake; whichmeans that when not energized, the brake can prevent the rotation of reducer input shaft.
2). Under the normal operating conditions, when the drive is used by the user controller, thebrake coil will pull-in the brake pad with a “click” sound. After the brake is released, the movementof motor is available. Similarly, when the drive is disabled by the user controller, the coil will be
powered off, then the brake pad will push away by springs with a "click" sound.
PS: the user controller only needs to send IO signal to release and close brake.
3). MS module cannot rotate without power, but when the users fails to power the module
drive or the drive fails to release the brake through IO control, and users need to manually rotate
the MS module. Users should remove the brake connector from driver and connect it to adjustable
power, then turn the power up from 0V with a maximum of 48V, after a "click" sound release turnthe adjustable power down to 10V, then users can rotate the module to target position.

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5. Specification & Operation Requirements
5.1 Module Parameter
Parameter Type

Module Size

Module Output

Name

Unit

MS14

MS17

MS20 MS25 MS32

Diameter

mm

80

86

100

125

158

Height

mm

96

98.5

114.5

144.5

176

lengthmm

Allowable Load Torque

nm

28

54

82

157

333

Average Load Torque

nm

13.5

39

49

108

216

Maximum Instantaneous Torque

nm

54

86

147

284

647

Rated Speed

rpm

25

25

25

22

18

Maximum Speed

rpm

28

28

28

25

20

116.74 137.57 148.05 157.97 188.47

Load cycle (as shown in appendix table 1) : continuous torque capability at
rotation speed based on joint size and load cycle percentage (%)
Module Weightkg

Module Precision

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5.2 Module Configuration Recommendation
Robot Rated Load

Base

ShoulderElbow

Wrist 1

Wrist 2

Wrist 3

3KG

MS20

MS20

MS20

MS14

MS14

MS14

5KG

MS25

MS25

MS25

MS14

MS14

MS14

10KG

MS32

MS32

MS25

MS17

MS17

MS17

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5.3 Module Power and Current
The rated operational voltage of Elephant Robotics®Module MS Series is 48VDC (theminimum is 40VDC and the maximum is 56VDC). Voltage failure may occurs when bus voltage
exceeds 56VDC. It is recommended that a discharge circuit be added to the power supply (Forexample, add regenerative resistors and capacitors to the power supply, you can refer to the 5.5
regenerative warning).
According to 6 degree of freedom(dof) manipulator with standard payload test, the following
table lists the current of each type of Elephant Robotics®Module MS Series:

Type

Supply voltage (VDC)

Average Current (A)Peak Current (A)MS1448(±10%)0.5-0.8

1.1

MS1748(±10%)

1-1.5

2.6

MS20

48(±10%)1.5-3.2

5.8

MS2548(±10%)

5-6

12.5

MS32

48(±10%)

7-9

15.2

PS: The above table is the limit current value of a single joint under the condition of maximum
load and maximum speed. But during normal robot motion, not all joints consume these currents
at the same time. As a reference, the power supply specifications for the 6-axis robot understandard load are listed below:
Recommended power specifications for classical configurations of robots.
DOF

Payload (KG)

Voltage (VDC)

Power (W)

6

3

48

500

6

5

48

1000

6

10

48

1600

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5.4 Module Power and Communication Line
Elephant Robotics®Module MS Series comes with six or four cables (four in CAN and six in
EtherCAT) through the hole of reducer output shaft, making users easily connect andcommunicate between robot modules in a "Daisy Chain" form.
12AWG /18AWG /20AWG Red(+) and 12AWG /18AWG /20AWG Black(-) supply 48VDC power
to the next joint. The twisted pair wire with 28AWG white (high) and 28AWG green (low) enables
communication to the next joint through CAN (28AWG red, black, green, and white 4 lines enablecommunication to the next joint through EtherCAT).
PS: In module installation operation, like bolt two MS joint modules together, extreme caremust be taken to avoid damaging these cables.
Size/Color/Function List of "Daisy Chain" Cable:
Name

Color

Specification
MS14 MS17 MS20

MS25

MS32

Power

48VDC+Red(20AWG)0.5 mm2(18AWG)0.8 mm2(16AWG)1.3 mm2

Cable

48VDC-

Black

silicone wire

silicone wire

silicone wire

RX+

Red

RX-

White

TX+

Yellow

TX-

Black

CAN_H

White

CAN_L

Yellow

EtherCAT

CANopen(26AWG)0.12 mm2 Teflon silver plated wire20

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5.5 Environment Requirement
The normal performance level of Elephant Robotics®Module MS Series can be achieved atroom temperature of 25°C. Elephant Robotics®Module MS Series can be used not exceeding
50°C , but the performance and load cycle capacity will be reduced. In these cases, you need tomonitor the joint and adjust the motion period to protect the gear of reducer.
Elephant Robotics®Module MS Series is suitable for fixed installation in general indoor
industrial environment, not be used in applications with excessive dust, high impact and vibration(vehicles, etc.) or the presence of corrosive substances, explosive materials, or where vacuum
operation is required. Please consult our technical staff for information on non-standard
applications.
IP Level: Elephant Robotics®Module MS Series is suitable to achieve Protection Grade IP54
(Dust-Proof and Water-Proof). If you need to meet this requirement, please contact our technicalstaff.

5.6 Regeneration Warning
No.

1

2

Warning

Short Circuit

Voltage Limited

Meaning

Solution

Short circuit

A discharge circuit shall be installed

Protection for Drive

between the output end of 48V power
supply and the main power input end toOver voltage

discharge the reverse electromotive force

Protection for Drive

21

generated when the motor slows down.

Shenzhen Elephant Robotics Technology Co.,

5.7 Installation Requirement
The required screw specifications and tightening torque when assembling multiple MS joint
modules together or adding an arm to the output shaft of the MS joint module are listed in thefollowing table. Hexagon screws with corrosion resistant coatings are recommended.
Installation Diagram:
1. Apply a small amount of grease to the seal ring and place it in the seal groove
corresponding to the end face.

2. Assemble the module output flange face of the installed sealing ring with thecorresponding mating surface, and apply 100N pressure to flatten the sealing ring.

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3. Place the corresponding countersunk head screws at the corresponding countersunk headhole, and initially lock the screws in the order of 1,2,3,4 (in the PICTURE 1), then place the cup
head screws and lock the screws in the way of cross crossing as shown (in the PICTURE 2-6), andincrease to the value of tightening torque corresponding to the screw equally four times.

Parameters of screws for Elephant Robotics®Module MS Series :
Type

MS14

MS17

MS20

MS25

MS32

Specification

Level

Tightening
TorqueQuantity

Cup head hexagon socket screw M3X10

2N.m

8

Flat head hexagon socket screw M3X10

2N.m

4

Cup head hexagon socket screw M3X10

2N.m

16

Flat head hexagon socket screw M3X10

2N.m

4

2N.m

8

2N.m

4

Cup head hexagon socket screw M4X12

4N.m

12

Flat head hexagon socket screw M4X12

4N.m

4

Cup head hexagon socket screw M5X15

9N.m

12

Flat head hexagon socket screw M5X15

9N.m

4

Cup head hexagon socket screw M3X10
Flat head hexagon socket screw M3X10

12.9

ATTENTION:
1. It is recommended to apply LOCTITE 243 thread adhesive to all screws to prevent themfrom loosening due to vibration.
2. The screws are locked in the form of a cross method, and the tightening torque of thescrews is increased equally to four or five times.

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Shenzhen Elephant Robotics Technology Co.,PICTURE 1: Way of Screw locking

PICTURE 2: MS14 --- Screw locking sequence diagram

PICTURE 3: MS17 --- Screw locking sequence diagram

24

Shenzhen Elephant Robotics Technology Co.,PICTURE 4: MS20 --- Screw locking sequence diagram

PICTURE 5: MS25 --- Screw locking sequence diagram

PICTURE 6: MS32 --- Screw locking sequence diagram

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Shenzhen Elephant Robotics Technology Co.,

5.8 Installation Procedure1). Remove 3 screws from the back cover of the joint.
2). Pass the joint power cord and communication wire through the next joint to be connected.
Arrange the wires so that the two joints do not press.
3). Place the two joints close together without squeezing them into the cable, install the joints
together with equal force, then secure the screws listed in the table above.
4). Insert the red and black power cables into V+ (48V+) and V- (48V-), pull the cables tomake sure they are tightly inserted.Then Insert the communication wire into the communicationin port.
5). Remove the power cord and communication wire before removing the joint. Whenremoving the power cord, use a small screwdriver to press the white spring of the connector andgently pull out the cable. Then remove the joint fixing screw, finally remove the joint with evenforce.

5.9 Rotation Limitation
Elephant Robotics®Module MS Series can be continuously rotated in either direction whenused as a single axis. But when the device is assembled into a robot with multiple axes/degrees
of freedom and a "Daisy chain" wire in the center of the output shaft is used to connect joints tojoints or joints to arms, the maximum rotation Angle in either direction is +/- 360°(mechanical).
If exceeded the angle limit, the wiring may be damaged and the warranty may be invalidated.

5.10 CAN Terminal
The CAN address and baud rate of Elephant Robotics®Module MS Series drive are assigned
during debugging via the serial port (RS232 connector).
Note that the CANopen network requires a terminal resistor at the source device (the main
station) and also at the last drive at the end of the network. When JP1 is short connected on PCB
of MS driver, the 120 terminal resistor on the driver is connected and used. When JP1 isdisconnected, the 120 terminal resistor on the driver is removed.

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6. Software Debug
We will provide the EDS file of CANopen slave station for the user master station
configuration for the CANopen joint module, and a slave station file in XML format for the user
master station configuration for EtherCAT joint module. We also provide debugging upper
software for users to read and set the basic parameters in the joint driver through the serial port,
and the oscilloscope can monitor the operation data of the joint in real time. Please refer to therelevant module upper computer debugging instruction manual provided by our company. If
there is any problem, please contact our technical department.

7. FAQNO.

Question

ReasonSolution

The robot joints can be1

rotated by hand

Brake failure for joint module

Replace brake

Short circuit or connected V+/

Check for short circuit,

V- inversely

check for power supply

before being powered
Module is not normally2energized when the
power is switched on

Check the3

Abnormal

Poor communication line orcommunication terminal

communication

terminal contact

for virtual welding or
replugging

Exceed the following error set
4

5

Following error

by the user

Reset the following error

Speed and acceleration of some Reduces its use speed
limiting poses are set too highand acceleration

Abnormal encoder

The encoder wiring is loose or

Rewire the encoder orreadings

the encoder is damaged

replace the encoder27

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8. Dimension1). Dimension for Elephant Robotics®Module MS14

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2). Dimension for Elephant Robotics®Module MS17

29

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3). Dimension for Elephant Robotics®Module MS20

30

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4). Dimension for Elephant Robotics®Module MS25

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5). Dimension for Elephant Robotics®Module MS32

32