Inserter documentation

Inserter is a six-axis arm using three 58-40 and four 58-10 actuators, including its gripper. These pages describe the r3 development candidate.

Getting Started#

1. Review the assembly.
2. Read the coordinate frames.

Troubleshooting#

• Coordinate-frame mismatch
• Communication and bus load

References#

• Specifications
• 3D model
• Engineering downloads
• CAN network

Actuator documentation#

58-10 and 58-40 have separate integration and protocol pages.