AK80-64 AK Series Actuator Driver Manual V1.0.8
Table Of Contents
- Notice
- 1.Ensure that the circuit is normal and the interfac
- 2. The driver board will be hot when output, pleas
- 3. Please Check whether the parts are in good cond
- 4. Several optional control modes can’t be switche
- 5. Please use it strictly in accordance with the w
- Feature
- Disclaimer
- Version Change Record
- 1.Drive Product Information
- ①Three-phase wires connection port
- 2.R-link produce information
- 2.1 Introduction of R-link' appearance&Specificat
- 3. Actuator and R-link Connection and Notices
- Connection instructions: Connect the USB cable to
- 4. Instructions for use of the upper computer
- 1.Click Open File and select the firmware. The firmw
- 2.Click Bootloader.
- 3.Click download and wait for the progress bar to re
- 5. Driver board communication protocol and descrip
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receives the motor feedback once the motor status
Example of motor return serial port command:02 49 04 01 66 FC D0 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 FF FF FF F3 00 F6 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 FF
FF FF FF 00 16 D7 AD 00 0A 6F 19 40 7E 00 00 00 00 00 00 00 00 00 00 00 00 00 04 4D 53 03 02
05 16 00 1A B6 03 C9 B5 03
// 02（frame header）+49（Data length）+ 04（Data Frame） + mos temperature（2byte）+motor
temperature （2byte）+output current（4byte）+input current（4byte）+Id current（4byte）
+Iq current（4byte）+Motor throttle value（2byte）+motor speed（4byte）+input voltage（2byte）
+reserved value（24byte）+Motor status code（1byte）+Motor outer ring position value（4byte）
+Motor Control ID Number（1byte）+Temperature retention value（6byte）+Vd voltage value
（4byte）+Vqvoltage value（4byte）+CRC+03(end of frame)
The conversion formula of some parameters sent by the motor is as follows:
MOS temperature=(float)buffer_get_int16(data, &ind) / 10.0)
Motor temperature=(float)buffer_get_int16(data, &ind) / 10.0)
Output current=(float)buffer_get_int32(data, &ind) / 100.0)
Input current=(float)buffer_get_int32(data, &ind) / 100.0)
Id current=(float)buffer_get_int32(data, &ind) / 100.0)
Iq current=(float)buffer_get_int32(data, &ind) / 100.0)
Motor throttle value=(float)buffer_get_int16(data, &ind) / 1000.0)
Motor speed=(float)buffer_get_int32(data, &ind) )
Iinput voltage=(float)buffer_get_int16(data, &ind) / 10.0)
Motor outer ring position=(float)buffer_get_int32(data, &ind) / 1000000.0)
Motor ID number=data
Motor Vd voltage=(float)buffer_get_int32(data, &ind) / 1000.0)
Motor Vq voltage=(float)buffer_get_int32(data, &ind) / 1000.0)
Motor feedback position message command
Serial command：02 02 0B 04 9C 7E 03 // The motor sends the current position every 10ms
after receiving
Example of sending the motor feedback position value (the feedback position message command
needs to be sent to the motor in advance, and the current position is sent every 10ms after the
motor receives it)
Serial command：02 05 16 00 1A B6 64 D5 F4 03
Pos=(float)buffer_get_int32(data, &ind) / 1000.0
Single or multiple parameter acquisition instruction instance of motor
Serial command: 02 05 32 00 00 00 01 58 4C 03 // Get motor temperature command
Instruction description: This instruction can acquire single or multiple motor parameters. The