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
https://www.cubemars.com/
42 / 52
acquired parameters are determined by the 4 bytes of the data segment. When the
corresponding bit is 1, the motor will return the motor parameters of the corresponding bit.
When it is 0, this field will be removed.
The motor parameters corresponding to the bits are as follows:
32-19 位
18 位
17 位
16 位
15-9 位
8 位
7 位
6 位
reserved
value
Motor ID
(1byte)
Motor
error sign
(1byte)
Motor
position
(4byte)
reserved
value
Motor
voltage
( 2byte
)
reserve
d value
Motor
speed
( 4byt
e)
5
位
4
位
3
位
2
位
1
位
motor
throttle
(
2byte
)
Input
current
(
4byt
e
)
Output
current
(
4byt
e
)
Motor
temperature
(
2byte
)
MO
temper
ature
(
2byt
e
)
After the motor receives the command, it will send out the corresponding parameters
Example:02 03 32 00 81 2A 6C 03 // Feedback motor temperature
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)
Motor throttle value=(float)buffer_get_int16(data, &ind) / 1000.0)
Motor speed=(float)buffer_get_int32(data, &ind) )
Input voltage=(float)buffer_get_int16(data, &ind) / 10.0)
Motor position=(float)buffer_get_int32(data, &ind) / 1000000.0)
Motor ID NUMBER=data
Motor error status code
typedef enum {
FAULT_CODE_NONE = 0,
FAULT_CODE_OVER_VOLTAGE,// OVER VOLTAGE
FAULT_CODE_UNDER_VOLTAGE,// UNDER_VOLTAGE
FAULT_CODE_DRV,// DRIVE FAULT
FAULT_CODE_ABS_OVER_CURRENT,// OVER_CURRENT
FAULT_CODE_OVER_TEMP_FET,// MOS OVER TEMPERATURE
FAULT_CODE_OVER_TEMP_MOTOR,//MOS OVER TEMPERATURE
FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE,//DRIVER_OVER_VOLTAGE
FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE,// DRIVER UNDER VOLTAGE
FAULT_CODE_MCU_UNDER_VOLTAGE,// MCU UNDRE VOLTAGE
FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET,//UNDREVOLTAGE