Hardware

Electrical interfaces

Power bus

Voltage: 48 V DC
Current: up to 30 A
Actuator connector: XT30 male

Actuators usually draw much less than the maximum current without load, but the supply and wiring must be suitable for the configured limits and application. If the supply cannot provide the possible demand, configure an appropriate current or torque limit.

Power cable

The actuator requires an XT30 female connector on the power cable.

XT30 Pinout

XT30 power connection

Danger

Verify polarity before applying power. Incorrect wiring can damage equipment and create a fire or injury hazard.

USB

The actuator USB connector supports direct connection to one computer for configuration, single-actuator testing, control, and maintenance. Use a standard USB-A to USB-C cable.

Direct USB uses actuator address 0 in Pulsar Python SDK; see the direct USB guide and Python SDK USB quickstart.

For a shared DC bus or applications that may return energy, review Regenerative energy management.

CAN FD

PULSE actuators support CAN FD with a 1 Mbit/s arbitration rate and selectable 1 or 5 Mbit/s data phase. Dual CAN connectors allow daisy chaining.

CAN bus example

USB-to-CAN adapter

A CAN adapter connects the host computer to the actuator bus. PULSAR HRI provides a USB-to-CAN adapter.

Pulsar CAN adapter

CAN cables

Compatible cables use 3-pin Molex PicoBlade connectors.

CAN bus cable

CAN bus connector pinout

Preserve the pinout at both cable ends:

CAN cable pin mapping

Termination

Place one CAN-Terminator at each physical end of the CAN bus. These TRs are not usually available on the market. They can either be made by the user or provided by PULSAR HRI.

CAN-Terminator assemblies use a 3-pin Molex PicoBlade connector with components between CAN-H and CAN-L. A minimal version uses a 120 Ω resistor:

CAN termination resistor

A noise-rejecting version can also include capacitors:

CAN Terminator with capacitors

Continue with CAN FD connectivity.