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Direct-drive Servo Motor

Getting Started

This article provides essential guidelines and a detailed UART instruction set for motor usage, ensuring safe operation and optimal performance within the specified voltage and temperature ranges.

Usage Notes (Pre-Use Essentials)

  1. Please confirm whether the working voltage is within the voltage range specified in this article before use.

  2. Ensure that the motor is used within the specified ambient temperature range (-25℃~45℃). The motor overtemperature protection threshold is 80℃, and the protection is released when the temperature is lower than 5℃.

  3. Please avoid immersing the motor in water, otherwise it may cause abnormal operation or damage to the motor.

  4. Before use, please ensure that the wiring is correct and stable to avoid poor contact.

  5. Please refer to the installation instructions before using the motor to ensure that the motor is installed correctly and firmly.

  6. Please refer to the installation instructions before using the motor to ensure that the external output part of the motor is installed correctly and firmly.

  7. Please avoid damaging the wire during use, otherwise it may cause abnormal operation or damage to the motor.

  8. Do not touch the rotating part of the motor during use to avoid injury.

  9. When the motor outputs large torque, it will heat up. Do not touch the motor to avoid burns.

  10. Do not disassemble the motor privately, otherwise it may cause abnormal operation or damage to the motor and may bring safety hazards.

Tutorial

Requirements

  • Hardware

Direct drive servo motor-UART 210rpm x1

USB/RS232/RS485/TTL protocol converter x1

  • Software

Serial port debugging assistant

UART instruction set

1、Switch speed loop (02), this instruction has no feedback
01 A0 02 00 00 00 00 00 00 E4

2、Get motor mode
01 75 00 00 00 00 00 00 00 47

3、Brake command, valid in speed loop mode
01 64 00 00 00 00 00 FF 00 D1

4、ID setting (01), send this command five times in a row
AA 55 53 01 00 00 00 00 00 00

5、ID query
C8 64 00 00 00 00 00 00 00 DE

6、Speed loop command (-2100 ~ 2100 corresponds to -210~210 rpm)

01 64 FE 0C 00 00 00 00 00 16 (-50rpm) // Calculation method: FFFF-01F4+1=FE0C, reverse other speeds and so on

01 64 FC 18 00 00 00 00 00 EB (-100rpm)

01 64 F8 30 00 00 00 00 00 08 (-200rpm)

01 64 00 00 00 00 00 00 00 50 (0rpm)

01 64 01 F4 00 00 00 00 00 C3 (50rpm) //Calculation method: 50rpm=500=01F4, and the same applies to other speeds in forward rotation

01 64 03 E8 00 00 00 00 00 9F (100rpm)

01 64 07 D0 00 00 00 00 00 27 (200rpm)

7、Position loop command (0-32767 corresponds to 0-360°)

01 64 00 00 00 00 00 00 00 50 （0°）

01 64 20 00 00 00 00 00 00 BF （90°）//Calculation method: 90°=32767/360*90=(Integer）8192（0x2000）, and the same applies to other angles

01 64 40 00 00 00 00 00 00 97 （180°）

01 64 60 00 00 00 00 00 00 78 （270°）

01 64 7F FF 00 00 00 00 00 97 （360°）

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