Communication Protocols Introduction

Serial Frame to CAN Frame Conversion

• In the process of converting a serial frame to a CAN message, if the data format of a certain fixed byte (13 bytes) in the serial data frame, which is aligned to a fixed byte length, is not standard, the fixed byte length will not be converted, and the subsequent data will be converted instead. If any CAN messages are missing after conversion, please check whether the serial data format of the corresponding message's fixed byte length complies with the standard format.

• The frame data in the CAN format conversion has a fixed length of 8 bytes. The valid length is determined by the value of DLC3-DLC0. When the valid data is less than the fixed length, it is necessary to pad with zeros to reach the fixed length.

• In this mode, it is important to strictly follow the fixed byte format for serial data in order for the conversion to be successful. The CAN mode conversion can refer to the following example. During the conversion, make sure that the frame information is correct and the data length is accurately represented; otherwise, the conversion will not proceed.

• Example：

  Serial Frame	88	17	65	43	21	99	88	77	66	55	44	33	22
  ↓
  CAN Frame	Frame Info	Frame ID				Frame Data
  	88	17	65	43	21	99	88	77	66	55	44	33	22

Control Frame

• The control frame is sent from the master controller to the actuator for mode selection, parameter configuration, and motion control.
  • Type of Frame：DATA
  • Format of Frame：EXTENDED
  • DLC: 8

Control Function	Default frame ID （Motor ID=0）	DATA
		Data[0]	Data[1]	Data[2]	Data[3]	Data[4]	Data[5]	Data[6]	Data[7]
Reset	05060000	55	55	55	55	55	55	55	55
Select EEPROM Mode	05060001	0E (EEPROM Mode)	00	00	00	00	00	00	00
Restore Factory Settings	0506000E	45 (Erase All)	55	55	55	55	55	55	55
Read Register Value	0506000E	52 （Read）	XX （Address）	55	55	55	55	55	55
Write Register Value	0506000E	57 （Write）	XX （Address）	32-bit data content, using big-endian mode				55	55
Motor Parament Calibration	0506000E	41 （Auto Set）	55	55	55	55	55	55	55
Select Current Mode	05060001	05 (Current Mode)	XX (Cycle of Feedback 1,unit:ms）	XX (Cycle of Feedback 2,unit:ms）	XX (Cycle of Feedback 3,unit:ms）	00	00	00	00
Set Phase Current (Current mode)	05060005	16-bit phase current data content, using big-endian mode		55	55	55	55	55	55
Select Profile Velocity Mode	05060001	06 (Current Velocity Mode)	XX (Cycle of Feedback 1,unit:ms）	XX (Cycle of Feedback 2,unit:ms）	XX (Cycle of Feedback 3,unit:ms）	00	00	00	00
Set Phase Current & Velocity (Profile Velocity Mode)	05060006	16-bit phase current data content, using big-endian mode		16-bit velocity data content, using big-endian mode		55	55	55	55
Select Profile Position Mode	05060001	07 (Profile Position Mode)	XX (Cycle of Feedback 1,unit:ms）	XX (Cycle of Feedback 2,unit:ms）	XX (Cycle of Feedback 3,unit:ms）	00	00	00	00
Set Phase Current & Velocity&Position (Profile Position Mode)	05060007	16-bit phase current data content, using big-endian mode		16-bit velocity data content, using big-endian mode		32-bit position data content, using big-endian mode
Select Position Mode	05060001	08 (Position Mode)	XX (Cycle of Feedback 1,unit:ms）	XX (Cycle of Feedback 2,unit:ms）	XX (Cycle of Feedback 3,unit:ms）	00	00	00	00
Set Phase Current & Velocity&Position (Profile Position Mode 2)	05060008	16-bit phase current data content, using big-endian mode		16-bit velocity data content, using big-endian mode		32-bit position data content, using big-endian mode
Select MIT Mode	05060001	09 (MIT Mode)	XX (Cycle of Feedback 1,unit:ms）	XX (Cycle of Feedback 2,unit:ms）	XX (Cycle of Feedback 3,unit:ms）	00	00	00	00
Set Phase Current & Velocity&Position (MIT mode)	05060009	16-bit phase current data content, using big-endian mode		16-bit velocity data content, using big-endian mode		32-bit position data content, using big-endian mode
Select Openloop Mode	05060001	04 (Openloop Mode)	XX (Cycle of Feedback 1,unit:ms）	XX (Cycle of Feedback 2,unit:ms）	XX (Cycle of Feedback 3,unit:ms）	00	00	00	00
Set Velocity (Openloop Mode)	05060004	16-bit velocity data content, using big-endian mode，unit:Pul		55	55	55	55	55	55
Set Brake PWM and Duration	05060020	16-bit PWM data content, using big-endian mode		16-bit time data content, using big-endian mode		00	00	00	00
Note: The following are real-time parameter modification instructions, which modify the RAM value. They are sent after entering the running mode. If they are not sent, the value in the Flash is called.
Real-time Setting of Current Loop PI（Current Mode & Profile Velocity Mode & Profile Position Mode&Position Mode）	05060042	32-bit float type current loop coefficient Kp parameter				32-bit float type current loop coefficient Ki parameter
Real-time Setting of Velocity loop PI (Profile Velocity Mode & Profile Position Mode&Position Mode）	05060043	32-bit float type velocity loop coefficient Kp parameter				32-bit float type velocity loop coefficient Ki parameter
Real-time Setting of Position Loop PD (Profile Position Mode&Position Mode）	05060044	32-bit float type position loop coefficient Kp parameter				32-bit float type position loop coefficient Kd parameter
Real-time setting of Kp & Kd (MIT Mode)	05060045	32-bit float type position coefficient (Kp) parameter				32-bit float type velocity coefficient (Kd) parameter
Real-time acceleration and deceleration setting (Open-loop mode)	05060030	32-bit acceleration data in big-endian format, unit: Pul/s				32-bit deceleration data in big-endian format, unit: Pul/s
Real-time acceleration and deceleration setting (Profile Velocity Mode & Profile Position Mode & Position Mode）	05060031	32-bit acceleration data in big-endian format, unit: rpm/s				32-bit deceleration data in big-endian format, unit: rpm/s

EEPROM/FLASH List

Definition	Register Adress	Default Value	Range	Unit
Current Loop_Kp	0x00	0.0006
Current Loop_Ki	0x01	0.0001
Velocity Loop_Kp	0x02	30
Velocity Loop_Ki	0x03	1
Position Loop_Kp	0x04	0.006
Position Loop_Kd	0x05	1.7
MIT_Kp	0x06	0.1
MIT_Kd	0x07	13.1
CAN ID Start	0x0F	05060000	0-256
Motor Rotation Direction	0x10	Auto-Set	+1/-1
Encoder Selection for Each Positon Mode	0x1E	0	1:Reducer 0:Motor
reduction ratio Numerator	0x1F	31/51/101
reduction ratio Denominator	0x20	1
Reducer Encoder Zero Bias	0x21	0
Auto Return Zero Point	0x22	1	0:No 1:Yes
Openloop Mode Acceleration	0x28	1500		Pul/s
Openloop Mode Deceleration	0x29	1500		Pul/s
Acceleration settings in profile velocity mode and profile position modes	0x2A	1500		rpm/s
Deceleration settings in profile velocity mode and profile position modes	0x2B	1500		rpm/s
Max Phase Current Limt（MIT Mode）	0x2C	10000		ma
Max Velocity Limt	0x2D	3500		rpm
Negative Position Limit	0x2E	-2147480000
Positive Position Limit	0x2F	2147480000
Under Voltage Protection Value	0x32	20		V
Over Voltage Protection Value	0x33	60		V
Mosfet Shutdown Temperature	0x35	90		℃
Motor Shutdown Temperature	0x36	90		℃
MCU Shutdown Temperature	0x37	90		℃
CAN Watch Dog Period	0x38	0		ms

Feedback Frame

• The feedback frame is sent from the actuator to the master controller to provide feedback on various statuses.
  • Type of Frame：DATA
  • Format of Frame：EXTENDED
  • DLC:8

Type of Feedback	Default frame ID （Motor ID=0）	DATA
		Data[0]	Data[1]	Data[2]	Data[3]	Data[4]	Data[5]	Data[6]	Data[7]
Feedback 0	050600B0	32-bit serial number				32-bit firmware version date
Feedback 1	050600B1	16-bit Voltage		16-bit PWM		16-bit Phase Current		16-bit Velocity
Feedback 2	050600B2	32-bit Motor Position				32-bit Reducer Position
Feedback 3	050600B3	Mosfet temperature	Motor temperature	MCU temperature	Warning Type	Error Type	No Definition	No Definition	Operating Mode

Error Type
0x01	Power Supply Under Voltage
0x02	Power Supply Over Voltage
0x03	Motor Over Current
0x04	Mosfet Over Temperature
0x05	Motor Over Temperature
0x06	MCU Over Temperature
Warning Type
0x01	CAN Watch Dog Time Out