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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FAULT_CODE_ENCODER_SPI,// SPI ENCODER FAULT
FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE,//Encoder overrun
FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE,//Encoder overrun
FAULT_CODE_FLASH_CORRUPTION,// FLASH FAULT
FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1,// Current sampling channel 1 fault
FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2,// Current sampling channel 2 fault
FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3,// Current sampling channel 1 fault
FAULT_CODE_UNBALANCED_CURRENTS,// current unbalance
} mc_fault_code;
2. Examples of control commands:
Example of Duty Cycle Transmit Mode
Serial command：02 05 05 00 00 4E 20 29 F6 03 // 0.20 duty cycle
Serial command：02 05 05 FF FF B1 E0 77 85 03 // -0.20 duty cycle
Duty=(float)buffer_get_int32(data, &ind) / 100000.0) //值为 接收 4 位数据/10000.0
Example of current loop transmit mode
Serial command：02 05 06 00 00 13 88 8B 25 03 // 5 A IQ 电流
Serial command：02 05 06 FF FF EC 78 E3 05 03 // - 5 A IQ 电流
Current=(float)buffer_get_int32(data, &ind) / 1000.0 //值为接收 4 位数据/1000.0
Example of brake current sending mode
Serial command：02 05 07 00 00 13 88 21 74 03 // 5A Braking current
Serial command：02 05 07 FF FF EC 78 49 54 03 // - 5A Braking current
I_Brake=(float)buffer_get_int32(data, &ind) / 1000.0 //值为接收 4 位数据/1000.0
Example of speed loop sending mode
Serial command：02 05 08 00 00 03 E8 2B 58 03 // 1000 ERPM Electrical speed
Serial command：02 05 08 FF FF FC 18 43 78 03 // - 1000 ERPM Electrical speed
Speed=(float)buffer_get_int32(data, &ind) //值为接收 4 位数据
Example of position loop sending mode
Serial command：02 05 09 0A BA 95 00 1E E7 03 //Motor turns to 180 degrees
Serial command：02 05 09 05 5D 4A 80 7B 29 03 //Motor turns to 90 degrees
Pos=(float)buffer_get_int32(data, &ind) / 1000000.0 //值为接收 4 位数据/1000000.0
Handbrake current sending mode example
Serial command：02 05 0A 00 00 13 88 00 0E 03 //5A HB current Electrical speed
Serial command：02 05 0A FF FF EC 78 68 2E 03 //5A HB current Electrical speed
HAND_Brake=(float)buffer_get_int32(data, &ind) / 1000.0 //值为接收 4 位数据/1000.0