AK80-64 AK Series Actuator Driver Manual V1.0.8

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5. Driver board communication protocol and description
5.1 Servo mode and control mode description
Servo mode with six control modes
Duty cycle mode: duty cycle voltage is specified for a given motor, similar to square
wave drive mode
Current loop mode: given the Iq current specified by the motor, the motor output
torque = Iq *KT, so it can be used as a torque loop
Current brake mode: the motor is fixed at the current position by the specified brake
current given by the motor (pay attention to the motor temperature when using)
Velocity mode: the speed specified by the given motor
Position mode: Given the specified position of the motor, the motor will run to the
specified position, (default speed 12000erpm acceleration 40000erpm)
Position velocity loop mode: the position, speed and acceleration specified by the
given motor. The motor will run at a given acceleration and maximum speed to a
specified position.
The servo motor protocol is CAN protocol, and the extended frame format is shown
below
Can ID bits
[28]-[8]
[7]-[0]
Field name
Control mode
Source node ID
Control mode contain {0,1,2,3,4,5,6,7} Seven eigenvalues correspond to seven control modes
respectively
Duty cycle mode: 0
Current loop mode: 1
Current brake mode: 2
Velocity mode: 3
Position mode: 4
Set origin mode:5
Position velocity loop mode: 6
Examples of various mode control motors are provided below
The following are library functions and macro definitions for each instance
typedef enum {
typedef enum {
CAN_PACKET_SET_DUTY = 0, //Duty cycle mode
CAN_PACKET_SET_CURRENT, //Current loop mode