{ "_meta": { "units": "mm, g, N, N*m; angles in degrees", "retrieved": "2026-10-25", "notes": "Values from vendor drawings unless a field name or 'basis' says STEP (measured in the vendor STEP with OCP) or inferred. 'depth' = usable thread depth from the drawing. Output face = the rotating face the link bolts to. See research/actuator-interfaces.md for sources per value." }, "robstride-rs-04": { "envelope": { "outer_diameter": 120.0, "length_case": 39.0, "length_case_tol": 0.15, "rear_cover_length": 13.2, "rear_cover_diameter": 94.0, "length_total": 52.2, "length_total_basis": "drawing 13.2+39, excl. 0.5 output step and 3 mm pins", "length_total_step": 55.7, "mass_g": 1420, "mass_note": "manual 1420+-20; spec PDF 1510" }, "output": { "flange_diameter": 49.8, "flange_basis": "STEP", "face_offset_from_case_face": 0.5, "face_offset_tol": 0.3, "bolts": { "count": 9, "thread": "M5", "pcd": 36.0, "depth": 6.5, "pcd_tol": 0.1, "depth_note": "min", "angles_deg": [ 45.0, 75.0, 105.0, 165.0, 195.0, 225.0, 285.0, 315.0, 345.0 ], "angles_basis": "STEP (RS04.stp): 12 positions every 30 deg from 15 deg, pins at 3 of them; angles from STEP +X" }, "dowel_pins": { "count": 3, "diameter": 6.0, "tolerance": "0/-0.01", "pcd": 35.86, "pcd_tol": 0.025, "protrusion": 3.0, "protrusion_tol": 0.25, "note": "pins are INSTALLED and stand 3 mm proud of the output face", "angles_deg": [ 15.0, 135.0, 255.0 ] }, "pilot": null, "through_hole": false, "through_hole_diameter": null }, "case": { "mount_face": "both faces", "bolts": { "count": 10, "thread": "M4", "pcd": 106.0, "depth": 5, "pcd_tol": 0.1, "depth_note": "output-side face, min" }, "bolts_rear": { "count": 10, "thread": "M4", "pcd": 106.0, "depth": 6, "pcd_tol": 0.1 }, "locating": { "count": 2, "diameter": 5.0, "tolerance": "0/-0.01 (as drawn)", "pcd": 106.0, "note": "STEP shows 4.5 deep holes" }, "spigot": null }, "bearing": { "type": "deep-groove ball, thin section", "size_d_D_B": [ 50, 65, 7 ], "basis": "STEP part name '61810_50'", "crossed_roller": false, "rated_axial_n": null, "rated_radial_n": null, "rated_moment_nm": null }, "connectors": { "power": "XT30UW-F on harness (board XT30APW-M)", "signal": "GH1.25 2-pin CAN on harness (board GH1.25-2PWT)", "fixed_leads": true, "harness": "310+-5 mm sheathed lead through a silicone-sealed grommet in the rear cover, then 40+-3 mm breakout; blue CAN_H, brown CAN_L, black GND, red VBAT+", "exit": "radial, rear cover side", "cable_od": null, "bend_radius": null }, "encoder": { "count": 2, "type": "magnetic", "bits": 14, "output_absolute": "not stated explicitly", "through_bore": false }, "step": { "url": "https://raw.githubusercontent.com/RobStride/Product_Information/384cc561e1ff079c22f68b19908526094430febd/Product%20Literature/CAN2.0/RS04/RS04.stp", "local": "references/vendor/robstride-rs-04/RS04.stp" }, "drawing": { "url": "https://raw.githubusercontent.com/RobStride/Product_Information/384cc561e1ff079c22f68b19908526094430febd/Product%20Literature/CAN2.0/RS04/RS04User%20Manual260713.pdf", "pdf_page": 10, "local": "references/vendor/robstride-rs-04/RS04User_Manual260713.pdf" }, "sources": [ "https://github.com/RobStride/Product_Information/tree/384cc561e1ff079c22f68b19908526094430febd/Product%20Literature/CAN2.0/RS04", "https://github.com/RobStride/Product_Information/blob/main/README.md", "https://github.com/RobStride/Product_Information/blob/main/%E7%81%B5%E8%B6%B3%E6%97%B6%E4%BB%A3RS%E7%B3%BB%E5%88%97%E4%BA%A7%E5%93%81%E8%A7%84%E6%A0%BC%E4%BB%8B%E7%BB%8D(2026.010.09).pdf" ], "confidence": "drawing" }, "odrive-botwheel": { "envelope": { "outer_diameter": 171.3, "outer_diameter_basis": "drawing (171.30 reference); shop says 171", "tyre_width": 44.6, "tyre_width_tol": 1.5, "length_total": 52.1, "length_total_basis": "inferred: 44.6 width + 7.5 to mounting face", "mass_g": 2200 }, "output": { "type": "rotating hub/tyre (outer rotor); no output flange", "rim_screws": "10 x M3 on the hub cover (assembly screws, not an interface)" }, "case": { "mount_face": "single-sided fixed stator flange on one side", "bolts": { "count": 4, "thread": "M6", "pcd": 36.0, "depth": null, "pcd_tol": 0.05, "depth_note": "not published" }, "spigot": { "type": "male boss", "diameter": 50.0, "tolerance": "0/-0.04", "height": 5.0, "height_tol": 0.1 }, "boss_face_outboard_of_tyre_side": 7.5, "boss_face_outboard_tol": 0.8, "opposite_side": "closed hub with centre cap; no axle (drawing)" }, "bearing": { "type": null, "rated_radial_n": 785, "rated_radial_basis": "shop: 'Rated load weight: 80kg / wheel' (80 x 9.81)", "rated_axial_n": null, "rated_moment_nm": null }, "connectors": { "phase": "JST 03T-WPJV-1-SM (WPJ series, 3-pin, waterproof)", "feedback": "JST 08R-JWPF-VSLE-D housing + SWPR-001T-P025 pins (JWPF 8-pin, waterproof); supplied stub harness ends in JST PUD with ODrive S1 pinout", "exit": "axial, from the centre of the stator mounting boss", "fixed_leads": true, "cable_length": 300, "cable_length_tol": 25, "cable_note": "200 REF dimension on drawing, probably the sheathed length (inferred)", "cable_od": null, "bend_radius": null }, "encoder": { "type": "hall + 3200 CPR incremental", "absolute": false, "through_bore": null }, "ip_rating": "IP54", "step": { "url": "https://cad.onshape.com/publications/ffa16d9268e83ffcb5643cba/w/81f7a79746984b3bebf1d392/e/3101f331226b74a504e702ae", "local": null, "note": "Onshape publication; STEP export needs an Onshape login" }, "drawing": { "url": "https://cdn.shopify.com/s/files/1/0580/2904/7878/files/BotWheel_Drawng.png?v=1738951877", "local": "references/vendor/odrive-botwheel/BotWheel_Drawng.png" }, "sources": [ "https://shop.odriverobotics.com/products/botwheels", "https://docs.odriverobotics.com/v/latest/hardware/odrive-motors.html#odrive-botwheel" ], "confidence": "drawing" } }