Slip rings (SR-001)
Power slip rings — through-bore, 6 ch × 35 A, ≥ 380 V L-L
| Ch | SR1 (joint 1) | SR2 (joint 2) | SR3 (joint 3) | Load |
|---|---|---|---|---|
| 1–3 | L1 / L2 / L3 | L1 / L2 / L3 | L1 / L2 / L3 | SR1/SR2: 36 A worst case · SR3: 18 A |
| 4 | PE | PE | PE | fault current only — mandatory dedicated ring |
| 5–6 | spare | spare | spare | reserve; optional redundant PE if man-rated |
- SR1 and SR2 carry the combined yaw + roll current (36 A), not one drive's 18 A.
- 36 A vs 35 A/ch (~3 % over): mitigate with (a) motion-profile RMS analysis ≤ 35 A or (b) TwinCAT continuous-current limit ≤ 17 A per AX5118. Document whichever is chosen.
- Never rely on bearings/housing for PE.
Data slip rings — capsule
Per joint: EtherCAT 100BASE-TX (2 pairs, Ethernet-rated contacts), STO ch1 + ch2 (non-adjacent rings if possible), EDM 1–2, ≥ 2 spares. DS1 & DS2 carry the full trunk; DS3 the roll subset only.
Rules
- Verify the 35 A derating curve at actual in-gimbal ambient.
- Service loop + strain relief on both stator and rotor sides; full range-of-motion sweep before power.
- PE resistance cabinet → roll stage < 0.3 Ω, measured at two gimbal positions 90° apart.