MSDxx Manual v30

Cc-Smart Technology Co., Ltd

$006=2000mA; Current Limit

$007=12; Follow Error (rad(Position Model) or rad/s(Velocity Model)):

The Maximum different between Estimate Value vs Real Value is 12

$008=1; Motor Protection Active (0: Disable, 1: Enable)

$009=115200; Uart Baud rate

$010=2; Delta Position Expect When press the TEST Button (Circle)

$011=60; Velocity Expect When press the TEST Button (Round/s)

$012=500; Acceleration Expect When press the TEST Button (Round/s2)

$020=4870; Kp_P=4870

$021=0; Ki_P=0

$022=69; Kd_P=69

$023=33; Kp_V=33

$024=1144; Ki_V=1144

$025=0; Kd_V=0

$026=0; Kp_I=0

$027=0; Ki_I=0

$028=0; Kd_I=0

$101=0; MCU(0: Running, 1: Saving & Reset; 2: Reset; 3: Factory Reset

& Reset;)

Nx [p/P value] [v value] [a value] \n: Moving motor Nx with p/P,v,a

parametter

Nx: x Adress Of Driver (0: Broadcast ; 1->99: Unicast)

p: Absolute Position Value (Option)

P: Relative Position Value (Option)

v: Velocity Value(Option)

a: Acceleration Value (Option)

Example: (The Driver 1 go to 100rad with Velocity 50rad/s and

Acceleration 600rad/s

): N1 p100 v50 a600

Nx [d value] \n: d= Duty Cycle in H-Bridge Mode ($004 = 6); (Value Range: -

900 to 900)

Note: "-": Direct =0 ; "1": Direct = 1 ;

Nx O [Kx] [T] [Mx] [Dx] [S] [L] [U] [r] [R101] [Gx] [C] \n; (O: Operation

Group Command)

[ ] : Option

Kx : Ack command respond (K1: Enable (default at start up MCU); K0:

Disable

T: Turning The Motor

Mx: Control Method = M4 (M3: PI Velocity, M4: Smart Position, M5: None,

M6: H-Bridge mode (Working as H-Bridge))

Dx: Communicate Method = D0 (D0: PULSE/DIR, D1: UART Network, D2:

None, D3: Analog (Just for velocity Mode))