MSDxx Manual v30

Cc-Smart Technology Co., Ltd
Board Setting (configuration encoder and board information)
Address: Address of the driver in the Uart-Network (Network)
Encoder Line: The resolution of encoder (number pulses encoder per
one circle).
Pulse/Row (Baud Rate): Same electronic gear ratio. This value
configures how many external pulses correspond to ONE
rotation round of motor. For example, if the value is 300
means the motor needs 300 pulses (from the external source)
to rotate exactly one round.
Follow Error: Follow Error Value (rad) (difference between estimate position vs current
position)
Control method
Pulse/Dir: This method the driver is controlled by external signal “Pulse-Direction”.
USB: The driver is controlled by software via USB
Analog: The analog signal input is command for driver. It is only
used with Velocity mode.
Network: Control multi driver by UART
Selecting Model Control
Auto Tuner Tool: This tool is used to auto finding a system
information.
stFeedback Position Control: The motor is used a position mode
and controlled by state feed-back loop.
PID Position Control: The motor is used a position mode and
controlled PID loop.
PI Velocity Control: The motor is used a velocity mode and
controlled by PI loop.
Smart Position Control: This is our advanced close loop to control the motor (recommend).
Filter:
Accel: A frequency of low pass filter for accelerator. This value is
usually about 50-60 (Hz)
Velocity: A frequency of low pass filter for velocity loop. This value
is usually about 50-60 (Hz)
Encoder Filter: A frequency hardware filter. The Hardware filter
Encoder is calculated as below formula:
F_filter = Encoder Line*4*60*V_max+ 1000
With:
F_filter: filter frequency.
Encoder_Line: the number of encoder pulse per round.
V_max: the maxium velocity of motor.
Current Setting:
Configure maximum current for controlling motor. This function protects overload or short
circuit. The Driver automatically cuts off output current in 50ms.