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Version: 1.0.0

Acutator Debugger Software User Guide

1.Installation Instructions​

  1. Download the software.
  2. Install and run it on a Windows machine.

2. Initial Interface​

Steps:​

  1. Select the Correct Serial Port.

  2. Click the SCAN button to start scanning. This will scan all baud rates for motors with IDs ranging from 1 to 10. Detected motor IDs and baud rates will be displayed automatically in the dropdown menu. Users can also manually select the baud rate and ID.

    Initial Interface

  3. After entering the correct baud rate and ID, click the ENTER button at the bottom-right corner to access the mode selection interface.

Additional Information:​

  • After clicking the SCAN button, a progress bar will appear at the bottom. When the scan completes, a message box will appear:

    • If successful: baudrate {motor baudrate}, ID {motor ID}.

      baudrate and id

    • If no motor is found: No motor found.

      No motor found

  • If the serial port, baud rate, or ID is incorrect, clicking the ENTER button will show an "Incorrect parameters" message box.

    Incorrect parameters

  • Click the Language button at the top-right corner to toggle between Chinese and English.

3. Mode Selection Interface​

Steps:​

  1. Choose the desired mode. The selected mode box will turn purple.model selection
  2. Click the ENTER Selected Mode button to enter the corresponding mode interface.

Additional Information:​

  • Click the BACK button at the top-left corner to return to the home page.

4. Position Mode​

Note: When entering Position Mode, the motor will first return to zero.

The interface consists of four sections:

  • Actuator Status

  • Parameter Settings

  • Position Control (Relative Position)

  • Position Control (Absolute Position)

    positon mode

4.1. Actuator Status​

Displays the motor's:

  • Temperature
  • Fault status
  • Present Velocity
  • Present Current
  • Input position
  • Output position

If a motor fault occurs (fault status ≠ 0), the Clear Error button will turn red. Click it to clear the fault.

4.2. Parameter Settings​

Allows users to set the following:

  • Target speed
  • Current limit
  • Acceleration time
  • Deceleration time

To modify parameters:

  1. Enter the new value in the input box next to the parameter name.
  2. Press Enter on your keyboard to confirm.

4.3. Position Control (Relative Position)​

  • Changes the motor's relative position (angles are cumulative with each click).
  • Unit: degrees (°).
  • Actions:
    • Click one of the eight buttons on the left to adjust position.
    • Enter a custom angle (up to two decimal places) in the input box next to the buttons, then click the GO button to execute.
    • To stop the motor, click the STOP button.
  • The button next to "Position Control (Relative Position)" switches the motor's reduction ratio between 101 and 51.

4.4. Position Control (Absolute Position)​

  • Changes the motor's absolute position relative to its origin.

  • Unit: degrees (°).

  • Actions:

    • Similar to Relative Position Control, you can use the left buttons or input a custom angle, then click GO to execute.
    • To stop the motor, click the STOP button.

  • The button next to "Position Control (Absolute Position)" switches the motor's reduction ratio between 101 and 51.

  • Click the BACK button at the top-left corner to return to the mode selection interface.

5. Speed Mode​

The interface consists of:

  • Actuator Status

  • Speed Control

    velocity mode

5.1. Actuator Status​

Displays the motor's:

  • Temperature
  • Fault status
  • Present Velocity
  • Present Current
  • Input position
  • Output position

If a motor fault occurs (fault status ≠ 0), the Clear Error button will turn red. Click it to clear the fault.

velocity mode error

5.2. Speed Control​

  • Adjusts the motor's speed.

  • Actions:

    • Use the buttons on the left to increase/decrease speed (values are cumulative).
    • Enter a custom speed in the input box (whole numbers only, unit: rpm), then click the GO button to execute.
    • To stop the motor, click the STOP button.

  • Click the BACK button at the top-left corner to return to the mode selection interface.

6. PWM Mode​

The interface consists of:

  • Actuator Status

  • PWM Control

    pwm mode

6.1. Actuator Status​

Displays the motor's:

  • Temperature
  • Fault status
  • Present Velocity
  • Present Current
  • Input position
  • Output position

If a motor fault occurs (fault status ≠ 0), the Clear Error button will turn red. Click it to clear the fault.

6.2. PWM Control​

  • Adjusts the motor's PWM value.

  • Actions:

    • Use the buttons on the left to increase/decrease the PWM value (values are cumulative).
    • Enter a custom PWM value (whole numbers only, unit: pwm) in the input box, then click the GO button to execute.
    • To stop the motor, click the STOP button.

  • Click the BACK button at the top-left corner to return to the mode selection interface.

7. Configuration Parameters Interface​

configuration

This interface allows modification of the following parameters:

  • Motor ID:
    • Enter the target ID in the ID input box, then click OK.
  • Baud Rate:
    • Select the target baud rate from the dropdown menu, then click OK.
  • Position Loop PID:
    • Enter the target Kp, Ki, and Kd values in their respective input boxes, then click OK.
  • Motor Origin Position :
    • Move the motor to the desired position, then click the SET button.

Additional Steps:​

  • After modifying parameters, click the SAVE Parameters button at the bottom-right corner.
  • Exit the software and reboot the motor.