Hangfa Compass Q2 User Manual V1.2

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7.2 IMDR4 Four shaft driver
7.2.1 The Module overview
This module is used to drive the four dc servo motors and provide accurate speed closed-loop
control. It also integrates motion control algorithm of the four omnidirectional wheels. Users can
realize the overall chassis motion control or directly for each motor motion control through the
communications via CAN bus and RS232 interface.
For more details，please check IMDR4 four shaft driver Can communication protocol , and MDR4
four shaft drive UART communication protocol .
7.2.2 Interface description
7.2.2.1 Interface summary
Table3 IMDR4 Interface summary
Interface
serial
number
Description Remark
H1 Power input
H2 Motor 1 power interface
H3 Motor 2 power interface
H4 Motor 3 power interface
H5 Motor 4 power interface
H6 Motor 1 encoder interface
H7 Motor 2 encoder interface
H8 Motor 3 encoder interface
H9 Motor 4 encoder interface
H11
RS232、CAN bus interface
JP2 CAN bus 120Ωresistance jump line