UUMOTOR SVD48V Series, Руководство пользователя

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SVD48V Series wheel hub motor servo controller user manual
2
Directory
1
Preface ..................................................................................................................................................................... 3
2 Interface Definition ................................................................................................................................................... 4
2.1 Power interface ................................................................................................................................................. 5
2.2 Motor cable interface ....................................................................................................................................... 5
2.3 Encoder interface ............................................................................................................................................ 6
2.4 Expansion interface .......................................................................................................................................... 6
2.5 Communication interface ................................................................................................................................. 7
2.6 Fan reserved port .............................................................................................................................................. 8
2.7 DIP switch .......................................................................................................................................................... 8
3 System Wiring Diagram ......................................................................................................................................... 9
4 Communication Protocols ..................................................................................................................................... 10
4.1 RS232 andRS485 Communication Protocol
............................................................................................
10
4.1.1 read register ........................................................................................................................................... 10
4.1.2
write register ........................................................................................................................................... 10
4.1.3 Write multiple registers11 ......................................................................................................................
4.1.4 Abnormal response ................................................................................................................................ 12
4.1.5
Communication example ....................................................................................................................... 12
5 Register Definition ................................................................................................................................................ 15
5.1 Board Parameters ........................................................................................................................................... 15
5.2 Board Control Parameters .............................................................................................................................. 16
5.2.1 Basic parameter function ........................................................................................................................ 16
5.2.2
CAN Active upload package parameter ................................................................................................ 16
5.2.3 RS232 Active upload parameter ............................................................................................................. 18
5.3 Basic Motor Parameters ................................................................................................................................. 19
5.3.1 M1 Basic Motor Parameters
....................................................................................................................
19
5.3.2 M2 Basic Motor Parameters .................................................................................................................... 19
5.4 Motor motion parameters ................................................................................................................................ 20
5.4.1 M1 Motor motion parameters .................................................................................................................. 20
5.4.2 M2 Motor motion parameters .................................................................................................................. 20
5.5 motorPID parameter ..................................................................................................................................... 21
5.5.1
M1 motorPID parameter ........................................................................................................................ 21
5.5.2 M2 motorPID parameter ........................................................................................................................ 21
5.6 Motor Control Parameters .............................................................................................................................. 22
5.6.1 M1 Motor Control Parameters ................................................................................................................. 22
5.6.2 M2 Motor Control Parameters ................................................................................................................. 22
5.7 Motor status parameter ................................................................................................................................... 23
5.7.1 M1 Motor status parameter ..................................................................................................................... 23