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SVD48V Series hub motor servo controller user manual

21

5.3 Basic parameters of the motor

5.3.1

M1 Basic parameters of the motor

register

address

definition

describe

Attributes Types of Defaults

5000

Motor

inductance Lq

Range: 0~0.1H

RW

float

5008

Motor

inductance Ld

Range: 0~0.1H

RW

float

5010

Motor internal

resistance Rs

Range: 0~127.99Ω

RW

float

5018

Motor pole pairs Range: 1~128

RW

uint1

6

501

C

maximum

speed

Unit: rpm

Range: 0~65535

RW

uint1

6

5020

Maximum

current

Unit: A

Range: 0~512A

RW

uint1

6

5024

Motor KV

Unit: 0.1rpm/V

Range: 0~65535

RW

uint1

6

5028

direction of

rotation

0: positive

1: Reverse

RW

uint1

6

502

C

sensor type

0: Encoder

1: HALL

2: String encoder

RW

uint1

6

5.3.2

M2 motor

register

address

definition

describe

Attributes Types of Defaults

5002

Motor

inductance Lq

Range: 0~0.1H

RW

float

500A

Motor

inductance Ld

Range: 0~0.1H

RW

float

5012

Motor internal

resistance Rs

Range: 0~127.99Ω

RW

float

5019

Motor pole pairs Range: 1~128

RW

uint1

6

Содержание SVD48V Series

Страница 1: ...SVD48V Series wheel hub motor servo controller user manual 1 SVD48V series hub motor servo driver User Manual V2 0 ...

Страница 2: ...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...

Страница 3: ...ode Instructions 30 6 1 Prepare 30 before use 6 2 connection device 30 6 3 Toolbar buttons 31 6 4 Confirm board information 32 6 5 Confirm motor general parameters 32 6 5 1 General Motor Parameters 32 6 5 2 Motor encoder parameter 33 6 5 3 Motor Hall Parameters 34 6 6 Confirm motion parameters 35 6 7 confirmPID parameter 36 6 8 Speed Mode 37 6 9 Location Mode 38 6 10 Torque Mode 38 7 Hall Calibrat...

Страница 4: ...he PC side host computer debugging software provides parameter list setting and real time waveform display interface which is convenient for setting various parameters and can also test the performance of the driver and motor in real time providing very friendly help for parameter adaptation Basic parameters model SVD48V30A SVD48V50A Operating Voltage 24V 48VDC 24V 48VDC Maximum input continuous c...

Страница 5: ...SVD48V Series wheel hub motor servo controller user manual 4 2 Interface definition ...

Страница 6: ...e is AMASS XT60 pay attention to the polarity of the power supply 2 2 Motor cable interface No mark name Remark 1 U Motor power line U The wiring sequence of the motor cable interface must be correct otherwise overload protection or speeding will occur at startup 2 V Motor power line V 3 W Motor power line W Motor cable interface motor line interface is AMASS XT30 pay attention to the motor line s...

Страница 7: ...Note The total current limit of all external 5V power supplies is 1A 11 5V Output power 5V 12 GND output power ground Encoder interface The encoder interface is a PHB 2x6 connector Support AB HALL type absolute optical encoder input Support ABZ type optical encoder input ABZ signal can be software configured differential and single ended input Support software to change to the RS485 interface magn...

Страница 8: ...ground Input voltage range 0 5V 16 P3 PPM input 3 channels Internal pull down 17 5V Output power 5V Input voltage range 0 5V 18 GND output power ground 19 P2 PPM input 2 channels Internal pull down 20 5V Output power 5V Input voltage range 0 5V 21 GND output power ground 22 P1 PPM input 1 channel Internal pull down 23 5V Output power 5V Input voltage range 0 5V 24 GND output power ground Note The ...

Страница 9: ...S485 communication interface 8 CANH CANH signal CAN communication interface 9 CANL CANL signal Communication Interface The communication interface is two DB9 connector females Compatible with the RS232 DB9 pin without flow control you can directly connect to the RS232 interface for communication by using the standard RS232 serial line without flow control The signals of the two DB9s are exactly th...

Страница 10: ...ing diagram No mark name Remark 1 ON Connect the RS485 terminating resistor Turn the switch up to disconnect the terminating resistor turn the switch down to connect the terminating resistor OFF Disconnect the RS485 terminating resistor 2 ON Connect the CAN terminating resistor OFF Disconnect the CAN terminating resistor ...

Страница 11: ...ply packet drive address function code number of bytes data CRC upper 8 bits CRC lower 8 bits 0x01 0xFF 0x03 number of bytes high up ahead low behind xx xx error response packet drive address function code exception code CRC upper 8 bits CRC lower 8 bits 0x01 0xFF 0x83 01 or 02 or 03 see exception Answer Definition xx xx 4 1 2 write register request packet drive address function code register addr...

Страница 12: ... see register definition 2 bytes register number 2 bytes xx xx error response packet drive address function code exception code CRC upper 8 bits CRC lower 8 bits 0XEE 0x90 01 or 02 or 03 see exception Answer Definition xx xx illustrate RS232 and RS485 are basically the same the difference is that theSlave ID of RS232 is fixed to 0xee The communication format is compatible with Modbus protocol Writ...

Страница 13: ...ample Function describe read a single register Read motor M1 current 5410 Send EE 03 54 10 00 01 60 83 Instruction details EE drive address 03 function code 54 10 Register start address 00 01 Number of registers 60 83 Checksum of CRC16 Return EE 03 02 00 03 92 2D Instruction details EE drive address 03 function code 02 Number of bytes 00 03 Motor M1 current 92 Checksum of 2D CRC16 read multiple re...

Страница 14: ... 51 00 00 02 68 0E Instruction details EE drive address 03 function code 51 00 Register start address 00 02 Control mode is torque mode 68 0E Checksum of CRC16 Write a single register 10 function codes Set the motor M1 control mode 0x5100 to torque mode Send EE 10 51 00 00 01 02 00 02 60 EF Instruction details EE drive address 03 function code 51 00 Register start address 00 01 Number of registers...

Страница 15: ... 02 00 02 EA 45 Instruction details EE drive address 03 function code 51 00 Register start address 00 02 Number of registers 04 Number of bytes 00 02 Motor M1 control mode is torque mode 00 02 Motor M2 control mode is torque mode EA 45 Checksum of CRC16 Return EE 10 51 00 00 02 AB 47 Instruction details EE drive address 03 function code 51 00 Register start address 00 02 Number of registers Checks...

Страница 16: ... 2 RO uint16 0x010 0 3003 hardware version For example 0x0122 means V1 2 2 RO uint16 0x010 0 3004 Bootloader Version For example 0x0112 means V1 1 2 RO uint16 0x010 0 3005 Product ID For example 0x0011 means V1 1 2 RO uint16 0x010 0 3006 RS485 Baud Rate 0 9600 1 19200 2 38400 3 57600 4 115200 5 128000 6 256000 7 460800 8 500000 RW uint16 4 3007 CAN baud rate 0 25 Kbit s 1 50 Kbit s 2 100 Kbit s 3 ...

Страница 17: ... 15V the driver will turn off output and an error is reported It is recommended that the 6S lithium battery power supply is set to 28V the 14S lithium battery power supply is set to 54V RW uint16 300A Overload timeout between ms timeout after overload trigger protection after timeout RW uint16 300B Encoder power on calibrati on When the drive is powered on the motor will be calibrated once RW 5 2 ...

Страница 18: ...nding period is 0 close the configuration The value range of the packet sending period is 5 65535 RW uint32 0 3204 CAN active packet sending configuration 2 31 16bit register address Bits 15 0 Active packet sending cycle packet sending period is 0 close the configuration The value range of the packet sending period is 5 65535 RW uint32 0 3206 CAN active packet sending configuration 3 31 16bit regi...

Страница 19: ...ge of the packet sending period is 5 65535 RW uint32 0 320E CAN active packet sending configuration 7 31 16bit register address Bits 15 0 Active packet sending cycle packet sending period is 0 close the configuration The value range of the packet sending period is 5 65535 RW uint32 0 3210 CAN Active Packet Configuration 8 31 16bit register address Bits 15 0 Active packet sending cycle packet sendi...

Страница 20: ...ing cycle packet sending period is 0 close the configuration The value range of the packet sending period is 5 65535 RW uint32 0 3216 CAN active packet sending configuration 11 31 16bit register address Bits 15 0 Active packet sending cycle packet sending period is 0 close the configuration The value range of the packet sending period is 5 65535 RW uint32 0 ...

Страница 21: ... uint1 6 0 3304 Parameter register address 2 Parameter register address RW uint1 6 0 3305 Parameter register address 3 Parameter register address RW uint1 6 0 3306 Parameter register address 4 Parameter register address RW uint1 6 0 3307 Parameter register address 5 Parameter register address RW uint1 6 0 3308 Parameter register address 6 Parameter register address RW uint1 6 0 3309 Parameter regi...

Страница 22: ... 1 128 RW uint1 6 501 C maximum speed Unit rpm Range 0 65535 RW uint1 6 5020 Maximum current Unit A Range 0 512A RW uint1 6 5024 Motor KV Unit 0 1rpm V Range 0 65535 RW uint1 6 5028 direction of rotation 0 positive 1 Reverse RW uint1 6 502 C sensor type 0 Encoder 1 HALL 2 String encoder RW uint1 6 5 3 2 M2 motor register address definition describe Attributes Types of Defaults 5002 Motor inductanc...

Страница 23: ... magnetic encoder RW uint1 6 5 4 Motor motion parameters 5 4 1 M1 motor motion parameters register address definition describe Attributes Types of Defaults 5100 control mode 0 speed mode 1 position mode 2 Torque Mode 3 Voltage Mode 4 Skateboard Mode 5 Karting mode RW uint1 6 0 5104 Location mode 0 absolute position 1 relative position RW uint1 6 0 5108 acceleration maximum acceleration Unit rpm s ...

Страница 24: ...ximum acceleration Unit rpm s RW uint1 6 510 D Deceleration maximum deceleration Unit rpm s RW uint1 6 5111 speed smoothing time S type acceleration time RW uint1 6 5 5 Motor PID parameter 5 5 1 M1 motor PID parameters register address definition describe Attribut es Types of Defaults 5200 Speed Kp Range 0 127 999 RW float 5208 Speed Ki Range 0 127 999 RW float 5210 Speed Kd Range 0 127 999 RW flo...

Страница 25: ... Location Kp Range 0 127 999 RW float 5222 LocationKi Range 0 127 999 RW float 522A Location Kd Range 0 127 999 RW float 5232 Current loop gain Range 0 1 0 RW float 523A Speed feed forward gain Range 0 1 0 RW float 5241 speed loop dead zone Range 0 100 RW uint1 6 5 6 Motor control parameters 5 6 1 M1 Motor Control Parameters register address definition describe Attributes Types of Defaults 5300 co...

Страница 26: ...coder line number 4LSB Magnetic encoder coding range 1LSB Range 2147483648 2147483647 RW Int32 0 5 7 Motor status parameters 5 7 1 M1 Motor status parameters register address definition describe Attributes Types of Defaults 5400 Motor running status 0 stop 1 Running RO int16 0 5404 Motor temperature Unit 0 1 Range 2000 2000 RO int16 0 5408 bus voltage Unit 0 1V Range 0 2000 RO int16 0 540 C MOS tu...

Страница 27: ... 0 5411 Motor speed Unit rpm Range 32768 32767 RO int16 0 5415 Motor current Unit 0 1A Range 5000 5000 RO int16 0 541A Motor absolute position Optical encoder line number 4LSB Magnetic encoder coding range 1LSB Range 2147483648 2147483647 RO int32 0 5422 error code See Troubleshooting Read Only RO uint32_ t 0 5 8 Motor sensor parameters 5 8 1 Encoder parameters 5 8 1 1 M1 Encoder parameters regist...

Страница 28: ...nt1 6 5504 Encoder lines bits Range 0 32767 RW uint1 6 5509 Encoder installation direction 0 positive 1 Reverse RW uint1 6 550 D Encoder Bias Unit Range 360 360 RW uint1 6 5581 Encoder temperature Unit x0 1 Range 2000 2000 RO int16 5585 Calibration status 0 Calibration successful 1 Calibrating 2 Calibration failed RO uint1 6 5 8 2 Hall Sensor parameters 5 8 2 1 M1 Hall Sensor parameters register a...

Страница 29: ...meters register address definition describe Attribut es Types of Defaults 5601 calibration 0 No calibration 1 Perform calibration RW uint1 6 5605 Calibration current Range 0 30A RW uint1 6 5621 Hall installation 0 120 1 60 RW uint1 6 5609 Calibration current Range 0 30A RW uint1 6 5650 Angle table Contains 8 int16angle data units Range 360 360 RW int16 0 5681 Encoder temperature Unit x0 1 Range 20...

Страница 30: ... PPM1 base value Value range 10000 20000 RW uint1 6 15000 2282 PPM2 benchmark Value range 10000 20000 RW uint1 6 15000 2283 PPM3 benchmark Value range 10000 20000 RW uint1 6 15000 5 9 2 control parameter register address definition describe Attributes Types of Defaults 2000 Throttle dead zone range Value range 1 20 RW uint1 6 5 2001 throttle curve 0 Linear curve 1 custom curve RW uint1 6 2002 Thro...

Страница 31: ...eel and the diameter of the wheel RW uint1 6 2030 Turbo mode Throttle maximum force Percentage of maximum current value range 0 100 RW uint1 6 2031 Turbo mode Initial throttle force Value range 0 50 RW uint1 6 2032 Turbo mode accelerator acceleration Value range 0 100 RW uint1 6 2033 Turbo mode Maximum speed Calculated according to the number of teeth of the motor wheel and the diameter of the whe...

Страница 32: ...6 20A1 sport mode initial braking force Value range 0 100 RW uint1 6 20A2 sport mode braking acceleration Value range 0 100 RW uint1 6 20B0 Turbo mode maximum braking force Value range 0 100 RW uint1 6 20B1 Turbo mode initial braking force Value range 0 100 RW uint1 6 20B2 Turbo mode braking acceleration Value range 0 100 RW uint1 6 20E0 custom throttle curve Contains 32 uint16 data RW uint1 6 ...

Страница 33: ...is in the middle position the value is 15000 RW uint1 6 2103 Brake stroke The value range is 10000 20000 It is defined according to the throttle range of the remote control When the dial is in the middle position the value is 15000 RW uint1 6 2130 current driving speed Current driving speed the unit is km h read only RW uint1 6 2131 battery power Value range 0 100 RW uint1 6 2132 Output Power Outp...

Страница 34: ...0XEE 0x42 0x10 0x01 xx xx xx no reply packet 6 Instructions for use of control mode 6 1 Preparation before use Before use please make sure that the controller and the motor are connected correctly and ensure that the power supply voltage is within the specified range For your safety please keep the in wheel motor off the ground and keep the motor in a suspended state when powering on for the first...

Страница 35: ... you can quickly open the serial port through this button 2 Disconnect close the serial port 3 Read parameters read all parameters from the drive 4 Write parameters write all the parameters of the host computer SV Conifg to the drive note the parameters must be written after stopping the motor 5 start up button 6 stop button 7 Clean error information button when driver has error click this to clea...

Страница 36: ...d The parameters imported into the configuration file will be updated to the setting value list but they are not delivered and saved to the drive After modifying the setting values you can directly save the parameters to the drive through the Write Parameters button 6 5 1 General Motor Parameters Motor Maximum RPM Modified according to the maximum speed of the selected motor and the maximum speed ...

Страница 37: ... servo controller user manual 36 Motor direction the direction of motor movement Sensor Type Encoder Hall String Encoder 6 5 2 Motor encoder parameters Encoder lines bits Optical encoders are lines magnetic encoders are bits ...

Страница 38: ...celeration The maximum acceleration of motor acceleration Deceleration acceleration The maximum acceleration of motor deceleration Speed optimization time refers to the time when the speed acceleration transitions from 0 to the maximum acceleration Smooth transition to speed changes use Properly increasing the speed smoothing time and appropriately reducing the acceleration and deceleration ramp t...

Страница 39: ...rt motor Set a speed 6 7 Confirm PID parameter The PID parameters can be tested according to the default value first and the effect can be modified in real time if the effect is not satisfied After writing the parameters it will take effect in real time But when all motors stop the parameters will be written to Flash and saved 6 8 speed mode The process of using the speed mode ...

Страница 40: ...oder given 4096 the motor will make one revolution Absolute position The given value is the absolute value of the position The absolute value of the position is initialized to 0 from the time of power on and then increases continuously exceeding int32 Returns to 0 after the range Location mode usage process 6 10 Torque Mode The torque mode only has a current loop in theory but in order to limit th...

Страница 41: ...he Start button and wait for the calibration to succeed Hall sensors need to be recalibrated in the following situations 1 Change the line sequence of the three phase line of the motor 2 Replace the new motor 3 The motor rotates in the opposite direction When the motor rotates in the opposite direction modify the direction in the general parameters write it to the drive and then recalibrate After ...

Страница 42: ...lue return the CRC verification code of two bytes uint16 Calc_Crc uint8_t pack_buff uint8_t pack_len uint8_t len pack_len uint16 crc_result 0xffff int crc_num 0 int xor_flag 0 for int i 0 i len i crc_result pack_buff i crc_num crc_result 0x0001 for int m 0 m 8 m if crc_num 1 xor_flag 1 else xor_flag 0 crc_result 1 if xor_flag crc_result 0xa001 crc_num crc_result 0x0001 8 Appendix I CRC Check Calcu...

Страница 43: ...d light 4 flashes Motor overload protection Red light 5 flashes Overvoltage protection 6 flashes of red light Undervoltage protection Red light 7 flashes Drive temperature is too high 9 2 Handling according to error code Self check error code bit Fault type Possible Causes Solution 0 Abnormal current sampling Abnormal power supply or current sensor abnormality Please contact after sales 1 Abnormal...

Страница 44: ...ower motor 10 Motor overcurrent protection Motor wire short circuit Replace the motor 11 Motor overload protection Motor is subject to specified overload Guard Time Stall 1 Appropriate software to increase overload protection time 2 Please use a higher power motor 12 Overvoltage protection Unstable supply voltage 1 It is recommended to use a higher current power supply or use a battery pack for po...

Страница 45: ...de and make judgment and processing according to the error code 2 Connect to the host computer to check whether the parameters of the driver and motor are correct and re write all parameters using the configuration file provided by the manufacturer number 4 Motor shakes too much PID parameter mismatch Connect the host computer to re adjust the PID parameters First adjust the I parameter to the min...

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