Reference

Communication Method

485 Bus Protocol Control
After power-on, simply send the relevant information according to the corresponding protocol.

Communication Protocol Details

Baud rate: 115200
Data bit: 8 bits
Stop bit: 1 bit
Parity check: None
Data length: 10bits
Method: Polling
Maximum Frequency: 500 Hz
Current Mode: -32767~32767 correspond to -8~8A (not the range of the motor), INT16 bits.
Velocity Mode: -330~330 rpm, INT16 bits
Angle Mode: 0~32767 correspond to 0°~360°, UINT 16 bits.

• Spin the motor
  

Acceleration time: Valid in velocity loop mode. unity: 1 rpm/0.1 ms. When you set to 1, acceleration time is 10*0.1 ms = 1 ms each 1 rpm. When set to 0, it would be the default value as 1.
Brake: 0XFF is valid value in velocity loop mode to brake, other values are invalid.

• Obtain other feedback
  

Angle in 8 bits: 0~255 corresponds to 0~360°
Stator temperature: unity ℃

a、Fault values:

E.g.:0x02 or 0b00000010 means corresponds to bus over current fault.
CRC8 value:The Value of DATA[0] to DATA[8] after CRC8/Maxim algorithm verification.
Use CRC-8/Maxim algorithm to validate the value from DATA [0] to DATA [8]
CRC-8/Maxim multinomial: x8 + x5 + x4 + 1

b、Motor mode switching：

Mode value:
0x01: Current loop
0x02: Velocity loop
0x03: Angle loop
Switching to angle loop is available only when the velocity is lower than 10 rpm.

c、Motor ID setting:

Note: When setting the ID, please make sure that the bus has only one motor; ID setting is
allowed once every power reset; The ID will be changed after 5 times repeating the ID setting
command.

d、ID check:

Note: When checking the ID, please make sure that the bus has only one motor.

Principle

The driver performs closed-loop control of torque current and speed based on the user's input target value.

Protection Specifications

• Bus overcurrent protection threshold: 3A. Protection triggers upon overcurrent occurrence, and is released after 5 seconds.

• Motor overtemperature protection threshold: 80°C. Protection is released when the temperature falls 5°C below the threshold.

• Phase current protection threshold: 4.6A. Protection triggers upon overcurrent occurrence, and is released after 5 seconds.

• Stall protection: Protection triggers if the stall condition persists for more than 5 seconds, and is released after 5 seconds.