{"id":6289,"date":"2026-10-16T08:33:44","date_gmt":"2026-10-16T01:33:44","guid":{"rendered":"https:\/\/robot3t.com\/?post_type=product&p=6289"},"modified":"2026-10-16T14:14:38","modified_gmt":"2026-10-16T07:14:38","slug":"vj-03-can","status":"publish","type":"product","link":"https:\/\/robot3t.com\/en\/san-pham\/vj-03-can\/","title":{"rendered":"VJ-03-CAN: Robot Joint with CAN Bus"},"content":{"rendered":"
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Up to 328 Nm<\/strong>Peak torque<\/span><\/div>\n
\u00b10.0025\u00b0<\/strong>Repeatability<\/span><\/div>\n
CAN 1 Mbit\/s<\/strong>Up to 127 joints per bus<\/span><\/div>\n
24\u201348 VDC<\/strong>Supply<\/span><\/div>\n<\/div>\n

VJ-03-CAN is the CAN bus version of the VJ-03 joint: the same motor, harmonic gear and torque range, controlled over CAN 2.0A at 1 Mbit\/s and built into a fully enclosed housing with screw-locking M12 connectors. Any master with a CAN port \u2013 an STM32 board, a PLC or a PC with a USB-CAN adapter \u2013 can read position and command position or speed with a handful of simple messages. No EtherCAT master or real-time PC is needed. It suits custom robots, mobile robots, OEM machines and research or teaching labs. Designed and built by Robot3T in Vietnam.<\/p>\n\n\t\tRequest a quote<\/span>\n\t<\/a>\n \n\t\tWhatsApp +84 974 908 615<\/span>\n\t<\/a>\n\n

Typical applications<\/h3>\n
    \n
  • Custom robots and OEM machines:<\/strong> multi-axis arms, gantry wrists and rotary tool heads driven from an STM32 or a PLC with a CAN port.<\/li>\n
  • Mobile and service robots:<\/strong> arms on AMRs and pan-tilt heads; CAN keeps wiring short and noise-tolerant.<\/li>\n
  • Research and education:<\/strong> students read position and current and command position or speed using a USB-CAN adapter and Python.<\/li>\n
  • Rotary axes and positioners:<\/strong> indexing tables and camera or sensor gimbals that need high torque and absolute position.<\/li>\n<\/ul>\n

    Why VJ-03-CAN<\/h3>\n
      \n
    • All-in-one, fully enclosed<\/strong> \u2013 motor, harmonic gear, driver, absolute encoder and brake in one sealed unit, with screw-locking M12 connectors.<\/li>\n
    • Simple CANopen-style protocol<\/strong> \u2013 16 commands, standard 11-bit IDs; each joint has its own command and reply IDs, so the master can query several joints at once.<\/li>\n
    • Keeps absolute position through power loss<\/strong> \u2013 20-bit single-turn and multi-turn encoder backed by a 3.6 V battery; no homing at every start-up.<\/li>\n
    • Safe by design<\/strong> \u2013 electromagnetic brake that closes when control is lost, command watchdog, broadcast E-STOP and protection against over-current, over-voltage, over-temperature and encoder faults.<\/li>\n
    • Two ways to move<\/strong> \u2013 stream setpoints every 1\u20132 ms like EtherCAT, or send a target once and let the joint generate its own acceleration profile.<\/li>\n<\/ul>\n

      Specifications<\/h3>\n
      \n\n\n\n\n\n\n\n\n\n\n
      Model<\/td>\nVJ-03-CAN<\/td>\n<\/tr>\n
      Harmonic gear ratio<\/td>\n50 \/ 80 \/ 100<\/td>\n<\/tr>\n
      Rated torque<\/td>\n58 \/ 92.8 \/ 116 Nm<\/td>\n<\/tr>\n
      Peak torque<\/td>\n164 \/ 262.4 \/ 328 Nm<\/td>\n<\/tr>\n
      Max. output speed (48 VDC)<\/td>\n\u2248 48 \/ 30 \/ 24 rpm<\/td>\n<\/tr>\n
      Motor<\/td>\nFrameless BLDC \u00d885 mm, 8 pole pairs<\/td>\n<\/tr>\n
      Motor shaft torque<\/td>\n1.45 Nm rated \u00b7 4.1 Nm peak<\/td>\n<\/tr>\n
      Supply voltage<\/td>\n24\u201348 VDC<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n\n\n\n\n\n\n\n\n\n\n
      Encoder<\/td>\n20-bit absolute, single-turn and multi-turn<\/td>\n<\/tr>\n
      Encoder backup battery<\/td>\n3.6 V<\/td>\n<\/tr>\n
      Repeatability<\/td>\n\u00b10.0025\u00b0<\/td>\n<\/tr>\n
      Control interface<\/td>\nCAN 2.0A, 1 Mbit\/s, VJ CAN v2 protocol<\/td>\n<\/tr>\n
      Control modes<\/td>\nPosition, speed, hand guiding<\/td>\n<\/tr>\n
      Brake<\/td>\nElectromagnetic, fail-safe<\/td>\n<\/tr>\n
      Controller<\/td>\nSTM32H7, FOC position \u2013 speed \u2013 current loops<\/td>\n<\/tr>\n
      Connectors<\/td>\nScrew-locking M12<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

      Torque and speed are listed for ratios 50 \/ 80 \/ 100. Max. motor shaft speed \u2248 2,400 rpm at 48 VDC (2,000 rpm at 30 VDC).<\/p>\n

      VJ-03-CAN vs. VJ-03 (EtherCAT)<\/h3>\n
      \n\n\n\n\n\n\n\n\n
      <\/th>\nVJ-03<\/th>\nVJ-03-CAN<\/th>\n<\/tr>\n<\/thead>\n
      Interface<\/td>\nEtherCAT 100 Mbps, daisy chain<\/td>\nCAN 2.0A 1 Mbit\/s, shared bus<\/td>\n<\/tr>\n
      Master required<\/td>\nEtherCAT master, real-time PC<\/td>\nAny device with CAN or a USB-CAN adapter<\/td>\n<\/tr>\n
      Housing and connectors<\/td>\nStandard housing<\/td>\nFully enclosed, screw-locking M12<\/td>\n<\/tr>\n
      Best for<\/td>\nMulti-axis cobots with short synchronized cycles<\/td>\nCustom and mobile robots, OEM, education<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

      Same motor, harmonic gear, 20-bit encoder and torque range.<\/p>\n

      CAN interface \u2013 bus parameters<\/h3>\n
      \n\n\n\n\n\n\n\n\n\n\n
      Parameter<\/th>\nValue<\/th>\n<\/tr>\n<\/thead>\n
      Frame format<\/td>\nCAN 2.0A, standard 11-bit ID, data frames (no 29-bit IDs, no CAN FD)<\/td>\n<\/tr>\n
      Bit rate<\/td>\n1 Mbit\/s, 80 % sample point<\/td>\n<\/tr>\n
      Byte order<\/td>\nLittle-endian<\/td>\n<\/tr>\n
      Joints per bus<\/td>\nUp to 127, joint ID N = 1..127, printed on the label<\/td>\n<\/tr>\n
      Units<\/td>\nPosition: motor-shaft encoder counts (1,048,576 per rev) \u00b7 speed: 0.1 rpm motor shaft \u00b7 current: mA \u00b7 voltage: 0.1 V<\/td>\n<\/tr>\n
      Command processing cycle<\/td>\n1 ms inside the joint<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

      Identifiers (COB-ID), N = joint ID<\/h3>\n
      \n\n\n\n\n\n\n\n\n\n
      COB-ID<\/th>\nDirection<\/th>\nContent<\/th>\n<\/tr>\n<\/thead>\n
      0x000<\/td>\nMaster \u2192 all joints<\/td>\nBroadcast E-STOP<\/td>\n<\/tr>\n
      0x600 + N<\/td>\nMaster \u2192 joint N<\/td>\nCommand: B0 command code, B1..B7 parameters<\/td>\n<\/tr>\n
      0x580 + N<\/td>\nJoint N \u2192 master<\/td>\nReply: B0 command code, B1 result code, B2..B7 data<\/td>\n<\/tr>\n
      0x700 + N<\/td>\nJoint N \u2192 master<\/td>\nBoot-up and heartbeat (state, error code, mode, flags)<\/td>\n<\/tr>\n
      0x180 + N<\/td>\nJoint N \u2192 master<\/td>\nCyclic feedback: int32 position, int16 current, error code, flags<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

      Example for joint N = 2: send commands to 0x602, receive replies on 0x582. Every command gets a reply, even when rejected; replies to SET_POSITION and SET_SPEED can be turned off to reduce bus load.<\/p>\n

      Command set<\/h3>\n
      \n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
      Code<\/th>\nCommand<\/th>\nSend<\/th>\nReturns<\/th>\n<\/tr>\n<\/thead>\n
      01<\/td>\nGET_INFO<\/td>\n\u2014<\/td>\nProtocol, firmware and board version, joint ID<\/td>\n<\/tr>\n
      02<\/td>\nESTOP<\/td>\n\u2014<\/td>\n\u2014<\/td>\n<\/tr>\n
      10<\/td>\nSET_MODE<\/td>\nmode 0..7<\/td>\n\u2014<\/td>\n<\/tr>\n
      11<\/td>\nSET_COMMAND<\/td>\n0 disable \u00b7 1 enable \u00b7 3 reset<\/td>\n\u2014<\/td>\n<\/tr>\n
      12<\/td>\nSET_POSITION<\/td>\nint32 counts \u00b7 level 0..15<\/td>\n\u2014<\/td>\n<\/tr>\n
      13<\/td>\nSET_SPEED<\/td>\nint32, 0.1 rpm<\/td>\n\u2014<\/td>\n<\/tr>\n
      14<\/td>\nSET_OUTPUT<\/td>\n0 \/ 1<\/td>\n\u2014<\/td>\n<\/tr>\n
      20<\/td>\nGET_STATUS<\/td>\n\u2014<\/td>\nError code, state, mode, command, flags<\/td>\n<\/tr>\n
      21<\/td>\nGET_POSITION<\/td>\n\u2014<\/td>\nint32 counts (absolute)<\/td>\n<\/tr>\n
      22<\/td>\nGET_ENCODER<\/td>\n1 single-turn \u00b7 2 multi-turn \u00b7 3 absolute<\/td>\nuint32<\/td>\n<\/tr>\n
      23<\/td>\nGET_CURRENT<\/td>\n\u2014<\/td>\nint32 mA<\/td>\n<\/tr>\n
      24<\/td>\nGET_VBUS<\/td>\n\u2014<\/td>\nSupply voltage, 0.1 V<\/td>\n<\/tr>\n
      25<\/td>\nGET_ENC_BAT<\/td>\n\u2014<\/td>\nEncoder battery voltage, 0.1 V \u00b7 alarm<\/td>\n<\/tr>\n
      30<\/td>\nSET_CONFIG<\/td>\nparameter \u00b7 uint32<\/td>\n\u2014<\/td>\n<\/tr>\n
      31<\/td>\nGET_CONFIG<\/td>\nparameter<\/td>\nuint32<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

      Result codes: 00 OK \u00b7 01 unknown command \u00b7 02 missing bytes \u00b7 03 invalid value \u00b7 04 wrong state. Encoder reset, brake release and remote restart require the A5 confirmation byte.<\/p>\n

      Modes and configuration<\/h3>\n
        \n
      • Mode 1 \u2013 position:<\/strong> stream setpoints every 1\u20132 ms (level 0), or send a target once (levels 1..15) for a built-in trapezoidal profile<\/li>\n
      • Mode 2 \u2013 speed:<\/strong> zero speed holds position without drift<\/li>\n
      • Mode 3 \u2013 hand guiding:<\/strong> reduced stiffness for teaching by hand<\/li>\n
      • Jerk-free enable:<\/strong> holds the current position, releases the brake after 200 ms<\/li>\n
      • Heartbeat:<\/strong> configurable period, sent immediately on error change<\/li>\n
      • Cyclic feedback:<\/strong> position and current, from 1 ms period<\/li>\n
      • Command watchdog:<\/strong> joint decelerates and brakes if the master or cable is lost<\/li>\n
      • Profile speed and acceleration:<\/strong> set with SET_CONFIG, effective immediately<\/li>\n
      • Absolute or relative position:<\/strong> selected with parameter 7<\/li>\n
      • Service:<\/strong> RS232 debug port, 115,200 bps<\/li>\n<\/ul>\n

        Example: move joint N = 2 to 100,000 counts<\/h3>\n
        \n\n\n\n\n\n\n\n\n\n\n\n\n
        Step<\/th>\nSend 0x602<\/th>\nReceive 0x582<\/th>\n<\/tr>\n<\/thead>\n
        Heartbeat 100 ms<\/td>\n30 01 64 00 00 00<\/td>\n30 00 01<\/td>\n<\/tr>\n
        Watchdog 100 ms<\/td>\n30 03 64 00 00 00<\/td>\n30 00 03<\/td>\n<\/tr>\n
        Check errors<\/td>\n20<\/td>\n20 00 00 01 00 00 00<\/td>\n<\/tr>\n
        Position mode<\/td>\n10 01<\/td>\n10 00<\/td>\n<\/tr>\n
        Enable<\/td>\n11 01<\/td>\n11 00<\/td>\n<\/tr>\n
        Go to 100,000 counts, level 8<\/td>\n12 A0 86 01 00 08<\/td>\n12 00<\/td>\n<\/tr>\n
        Read position<\/td>\n21<\/td>\n21 00 A0 86 01 00<\/td>\n<\/tr>\n
        Stop and brake<\/td>\n11 00<\/td>\n11 00<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

        Emergency stop for all joints: send 02 00 to ID 0x000. You can test quickly with any USB-CAN tool (PCAN-View, ECANTools, SavvyCAN): 1000 kbit\/s, Standard frames.<\/p>\n

        CAN bus wiring<\/h3>\n
          \n
        • Daisy-chain topology:<\/strong> master \u2192 joint 1 \u2192 joint 2 \u2192 \u2026 \u2192 last joint; no star wiring, stubs no longer than 0.3 m.<\/li>\n
        • Termination:<\/strong> two 120 \u03a9 resistors at the two far ends of the bus. With power off, CANH\u2013CANL should read about 60 \u03a9.<\/li>\n
        • Cable:<\/strong> 120 \u03a9 twisted-pair CANH\/CANL, 0.2\u20130.35 mm\u00b2, shielded near power wiring; up to about 40 m at 1 Mbit\/s, under 25 m recommended on a robot.<\/li>\n
        • Ground:<\/strong> connect signal ground between the master and every joint.<\/li>\n<\/ul>\n

          Supplied with the joint<\/h3>\n
            \n
          • Full CAN integration manual: wiring, command set, operating sequence, error codes and troubleshooting.<\/li>\n
          • Sample code: reading position and status, position and speed moves, safe stop.<\/li>\n
          • Options: USB-CAN adapter, M12 cables, 48 VDC power supply, training fixtures.<\/li>\n<\/ul>\n

            Video<\/h3>\n
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