Communication Protocol

BrainCo Revo 2 Dexterous Hand supports up to three external communication interfaces: RS485, CAN FD, and EtherCAT.

Modbus RTU/CAN FD Protocol

This is used for robotic dexterous hands, and the protocol content is completely open, allowing direct control of the various functions of the dexterous hands through the protocol content below, or through SDK and host computer control. Under this protocol, multiple dexterous hands or devices can be connected on a single bus, enhancing versatility. The design aims for compatibility of protocols, creating a protocol that is compatible with both 485 and CANFD communication interfaces, ensuring high efficiency, reliability, and scalability of communication while being compatible with different communication protocols.

In addition, the Revo 2 basic version dexterous hand switches between CAN FD and Modbus-RTU protocols using a dip switch located beneath the wrist; setting the switch to the CAN FD side activates the CAN FD protocol, while setting it to the Modbus-RTU side activates the Modbus-RTU protocol.

There are currently three versions of the second generation hand：

• V2-BASIC：Second Generation Dexterous Hand Basic Version
• V2-PRO：Second Generation Dexterous Hand Pro Version
• V2-TOUCH：Second Generation Dexterous Hand Touch Version

EtherCAT Protocol

Used for robotic dexterous hands, EtherCAT communication offers advantages of high real-time performance, low latency, and precise synchronous control. Utilizing the EtherCAT protocol can meet the stringent requirements for real-time control of dexterous hands with high degrees of freedom. The dexterous hand integrates multi-modal sensors such as force and tactile sensors, generating a large volume of data. The efficient data encapsulation and hardware-level timestamps of EtherCAT enable synchronized processing of joint control and sensor feedback, avoiding the complexities of mixed protocol usage.