How to Build a Dual-Encoder Joint Module Actuator EtherCAT Communication Series System?

The EtherCAT Robot Joint Module Actuator, developed by Avatar Robotics, is a cutting-edge intelligent robotic joint module designed for industrial automation scenarios. The robot joint actuator enables precise multi-axis synchronous motion control, as demonstrated in the video, where 50-60, 60-70, and 80-110 dual-encoder motors are networked via the EtherCAT communication protocol. System Components List
1. Drive Units
-TD- 80-110 Robot Servo Motor  
-TD- 60-70 Robot Servo Motor  
-TD-50-60  Robot Servo Motor  
 
2. Power Supply System
- Industrial-Grade Power Distribution Board (with Terminal Interfaces)  
- 22000μF Electrolytic Capacitor (for Power Filtering)  
- DC-DC Voltage Stabilizer Module  
- 16AWG Triple-Core Power Cables  
 
3. Communication System
- EtherCAT Communication Cables (Standard EC Connectors)  
- EtherCAT-to-RJ45 Adapter Cable  
- Daisy-Chain EC Communication Jumpers  
 
Power Wiring
① Route the main power cable from the distribution board.  
② Connect the primary end to the 80-110 motors’ power interface.  
③ Cascade the connections sequentially: TD- 80-110 → TD-60-70 → TD-50-60 motors.  
④ Complete the circuit by returning the final cable to the distribution board.  
 
EtherCAT Network Construction
1. Main Communication Line
- Insert the EC end of the EtherCAT-to-RJ45 cable into the EC IN port of the master station (80-110 motor).  
- Use a standard EC cable to link the master’s EC OUTto the EC IN of the next slave station (60-70 motor).  
- Repeat the process to connect the 50-60 motor, forming a daisy-chain topology.  
 
2. Network Termination
- Attach a 120Ω terminal resistor to the EC OUT  of the last motor in the chain.  
- Connect the RJ45 end to the host PC or master PLC Ethernet port.  
- Check the status LEDs on all nodes (green indicates normal operation).