User Manual

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ROBOT.HEADtoTOE
ProductUser’sManual–MDDS60
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8.4SERIALPACKETIZEDMODE
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In Packetized Serial mode, SmartDriveDuo60 is controlled by using the UART interface.           
DIG1 pin is the UART Rx pin. DIG2, AN1 and AN2 pins are not used in this mode. To                  
control the motor, data sent to the driver must be in 4 bytes packet format which includes a                 
header, address, command and checksum. Up to 8 units of SmartDriveDuo60 can be            
connectedtogethertoasinglemicrocontrollerUARTTxpin.
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Besides that, the SmartDriveDuo60 also incorporates an AutoBaud feature in Packetized          
Serial mode. When the driver is first powered up, the host microcontroller must send a header               
byte (Decimal 85 or hex 55) once to the driver. The driver will then calculate the baud rate                 
automatically based on this byte. After that, SmartDriveDuo60 is ready to read full packet (4              
bytes) and the baud rate cannot be changed without power recycle (power off and on) or reset                
button.
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NOTE:
1. When the driver is powered up and waiting for the header byte, the error LED will               
blinkandindicatethatthereisinputerror.
2. SmartDriveDuo60 may take up to 500ms to start up after power is applied. Sending             
the header byte for auto baud during this time period may cause undesirable results.             
Pleaseallowoneseconddelaybetweenapplyingpowerandsendingtheheaderbyte.
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Packetized Serial mode is selected by setting SW1, SW2 and SW3 to 1 (Up). SW4 – SW6                
areusedtoselecttheaddress.
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InputMode
SW1SW3
111
PacketizedSerialMode
UARTAddress
SW4SW6
000111
07
0OFF 1ON XDon’tCare
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Apacketconsistsof4bytesandtheformatisshowninthefollowingtable.
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Byte
Name
Value(Decimal)
Description
1
Header
85
Toindicatethestartofpacket.
2
Channel&
Address
Channel:Bit3
Address:Bit20
Used to identify the driver when multiple units are connected         
together. The address bits (bit 2  0) must match the address           
configured with the DIP switch. Bit 3 represent which motor         
tobecontrolled,0formotorLEFTand1formotorRIGHT.
3
Command
0–255
Value 127 stops the motor, 0 is full reverse and 255 is full            
forward.
4
Checksum
0–255
Thevalueforchecksummustbetheresultof
Header+Address+Command
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CreatedbyCytronTechnologiesSdn.Bhd.–AllRightsReserved 23
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