RoboMaster C610 User manual

User Guide
RoboMaster
C610 Brushless DC Motor Speed Controller
2019.03v1.0

2
Disclaimer
Thank you for purchasing the ROBOMASTERTM C610 Brushless DC Motor Speed Controller
(hereinafter referred to as “product”). Read the disclaimer carefully before using this product.
By using this product, you hereby agree to this disclaimer and signify that you have read it fully.
Install and use this product in strict accordance with the user guide. SZ DJI TECHNOLOGY CO.,
LTD. and its afliated companies assume no liability for damage(s) or injuries incurred directly or
indirectly from using, installing, or modifying this product improperly, including but not limited to
using non-designated accessories.
DJITM is a trademark of SZ DJI TECHNOLOGY CO., LTD. (abbreviated as “DJI”) and its afliated
companies. Names of products, brands, etc., appearing in this document are trademarks
or registered trademarks of their respective owner companies. This product and document
are copyrighted by DJI with all rights reserved. No part of this product or document shall be
reproduced in any form without the prior written consent or authorization of DJI.
The nal interpretation right of this disclaimer is reserved by DJI.
Warnings
1. Make sure that there are no short circuits and all the cables are correctly connected when
using the speed controller.
2. The speed controller heats when the output power is too high. Handle carefully to avoid
scalding.
3. Make sure the heat-shrink tubing is in good condition. Replace it when necessary.
4. The serial port and CAN port cannot be used simultaneously. Power off the speed controller,
change to the port you want to use, and power on the speed controller again.
5. Make sure to use the speed controller in strict accordance with the Specications section.
Failure to do so may reduce the product service life or even lead to permanent damage.
Introduction
Using a 32-bit motor driver chip and field-oriented control (FOC), the RoboMaster C610
Brushless DC Motor Speed Controller enables precise control over motor torque. It is compatible
with the M2006 P36 Brushless DC Gear Motor* to create a complete propulsion system. Users
can congure and update the speed controller rmware using RoboMaster Assistant.
Features
• Provides CAN bus command control.
• Supports a maximum continuous current of 10 A.
• Quickly assigns ID numbers to all speed controllers connected to the CAN bus.
• Acquires the position and rotational speed information of the rotor via the CAN bus.
* Refer to the M2006 P36 Brushless DC Gear Motor User Guide for more information about
this product.

3
In the Box
C610 Speed Controller × 1 Heat-shrink Tubing × 1
Overview
C610 Brushless DC Motor Speed Controller
1. Power Cable
Connects to a 24 V power supply to provide power for the speed controller.
2. 3-Phase Power Cable
Connects to the 3-phase cable of the M2006 motor. Make sure the cables are securely
connected.
3. 4-Pin Port
Connects to the 4-pin cable of the M2006 motor to acquire position information of the rotor.
4. Securing Grooves
There are two securing grooves on either side of the speed controller. Use M2 screws to
secure the speed controller.
5. Set Button
Congures the speed controller. Refer to Using the Set Button section for more information.
6. Status LED
Indicates the speed controller’s operating status. Refer to the Status LED Description section
for more information.
1
23
4
5
6
89
7

4
7. CAN Terminal Resistance Switch
Switch to ON or NC to connect or disconnect the 120 Ω terminal resistance, according to
CAN bus wiring regulations and other relevant regulations.
8. CAN cable
Receives the CAN controlling signal of the control panel. The bitrate of the CAN bus is 1
Mbps.
9. Serial Port
Connects to a USB-to-serial converter by soldering. Connect the USB-to-serial converter to
a computer to congure the parameters or update the rmware of the speed controller via
RoboMaster Assistant.
When the CAN bus command control is in use, the information of the position and
rotational speed of the rotor can be acquired. Make sure to consider the bandwidth of
the CAN bus wire when it is in use.
Serial Port
Side view:
RXD, TXD, and GND
Connecting the Speed Controller
1. Connect the 4-pin cable of the motor to the 4-pin port on the speed controller.
2. Connect the 3-phase cable of the motor to the 3-phase port on the speed controller. Make
sure the cables are correctly connected.
3. Connect the CAN cable to the CAN port on the control panel.
4. Connect the power cable to a power supply.
CAN Cable
4-pin Cable
3-phase Cable Power Cable
CAN Cable
Side view:
Red (CAN_H) and black
(CAN_L)
GND
TXD
RXD

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Dimensions
295
303
22.5
44.8
1.2
22.0
7.3
R1.0
Securing the Speed Controller
There are two securing grooves on either side of the speed controller. The grooves have a
diameter of 2 mm, and it is recommended to use M2 screws. The heat-shrink tubing must be
cut in order for the M2 screws to pass through the grooves. DJI bears no responsibility for any
damage caused to the heat-shrink tubing when it is cut.
Using RoboMaster Assistant
To congure the speed controller or update its rmware, use a Takyon Updater or a compatible
USB-to-serial converter via RoboMaster Assistant.
The voltage of the USB-to-serial converter must be 3.3 V.
Unit: mm
1. Download RoboMaster Assistant from the ofcial RoboMaster website.
https://www.robomaster.com/products/components/assistant
2. Connect the speed controller to the Takyon Updater by soldering, and connect the Takyon
Updater to a computer. Make sure the PWM cable is correctly connected (“-“ for GND, “+” for
TXD and “ ” for RXD). A USB-to-serial converter can be used in place of a Takyon Updater.
RXD
TXD
GND
GND
TXD
RXD

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3. Connect the speed controller to a power supply.
4. Launch RoboMaster Assistant.
5. Click Settings to adjust parameters.
6. Click Firmware Update and select the version you want for the speed controller. RoboMaster
Assistant will automatically download and update the rmware.
Status LED Description
The status LED is used to indicate the operational status of the speed controller. In situations
where there is both a warning and an abnormal working condition, the LED only indicates the
abnormal working condition. In situations that indicate multiple warnings or abnormal working
conditions, the LED only indicates the warning or abnormal working condition that emits the least
amount of blinks. Note that the speed controller automatically cuts off the output stream when it
has detected an abnormal working condition.
Normal Description
Blinks green x times every second The number of blinks indicates the ID of the speed
controller. The ID range is from one to eight.
Quick ID Setting Description
Solid orange Setting the ID of the speed controller.
Calibration Description
Blinks green quickly The speed controller is calibrating.
Warning Description
Blinks orange twice every second More than one speed controller connected to the CAN
bus share the same ID.
Abnormal Description
Blinks red once every second The voltage of the power supply is too high (only
detected in self-diagnosis when powering on.)
Blinks red twice every second The 3-phase cable of the motor is not connected.
Blinks red three times every second The 4-pin cable connected on the motor has lost signal.
Blinks red quickly Motor calibration failed.
Warning Sound Description
When in use, the motor connected to the speed controller beeps to indicate the working status
of the whole system.
Normal Sound Description
Power-on music The system is ready.
Abnormal Sound Description
BB--BB--BB…… The motor stalls.
BBB--BBB--BBB…… The 4-pin cable connected on the motor has lost signal

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Using the Set Button
1. Separate ID Setting
Follow the steps below to assign a unique ID to each speed controller (from 1-8):
a. Press the Set button once to activate separate ID assignment mode for the speed controller.
Once the speed controller is in ID assignment mode, the status LED is powered off.
b. Press the Set button again to assign an ID to each speed controller. The number of times
you press the button is the ID of the speed controller. The status LED blinks orange each
time the button is pressed.
c. If the Set button is idle for three seconds, the speed controller automatically saves the ID
entered. Restart the speed controller after assigning the ID.
Multiple speed controllers connected to the same CAN bus cannot share the same
ID. Any speed controllers with the same ID will blink orange twice every second and
cut off the output stream.
2. Quick ID Setting
Follow the steps below to quickly assign an ID to all speed controllers connected to the CAN
bus. A maximum of eight speed controllers can be connected.
a. Make sure all speed controllers are working normally. Press the Set button on any speed
controller once to activate separate ID assignment mode and then press and hold the Set
button again until the status LEDs of all the connected speed controllers turn solid orange.
All the speed controllers will automatically be assigned an ID.
b. The ID of each speed controller will be assigned based on the order you turn the M2006
rotors. Turn each M2006 rotor at least 180° in either direction in the order you wish to
assign the ID. Restart the speed controllers after assigning IDs.
If the M2006 rotor is not turned, the speed controller saves the original ID that
it received after powering on. The speed controller stops working if the speed
controller shares the same ID with another speed controller connected to the same
CAN bus.
Make sure to connect or disconnect the terminal resistance according to the CAN
bus wiring and relevant regulations. Otherwise, the CAN Bus communication may
not work properly.
3. M2006 Calibration
After the speed controller and motor are connected and powered on, calibrate the motor to
make sure it is working properly.
a. Press and hold the Set button. Release when the status LED starts to blink green quickly.
b. The motor will begin calibration. When calibration is complete, the motor stops rotating.
Calibrate the motor before using for the first time or when the motor or the speed
controller has been changed in the system. It is recommended to calibrate the motors
without a payload. The motor continues to rotate during calibration. DO NOT touch
the motor during calibration. If calibration fails several times, replace the motor.

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CAN Communication Protocol
1. Speed Controller Receiving Message Format
The two identiers (0×200 and 0×1FF) control the current output of each of the four speed
controllers by ID. The controllable current range is -10000 ~ 0 ~ 10000. The corresponding
speed controller output torque current range is -10 ~ 0 ~ 10 A.
Identier : 0×200 Frame type : Standard
Frame format : DATA DLC : 8 Bytes
Data Field Description Speed Controller ID
DATA[0] Controls the current value in higher order byte (8 bits)
1
DATA[1] Controls the current value in lower order byte (8 bits)
DATA[2] Controls the current value in higher order byte (8 bits)
2
DATA[3] Controls the current value in lower order byte (8 bits)
DATA[4] Controls the current value in higher order byte (8 bits)
3
DATA[5] Controls the current value in lower order byte (8 bits)
DATA[6] Controls the current value in higher order byte (8 bits)
4
DATA[7] Controls the current value in lower order byte (8 bits)
Identier : 0×1FF Frame type : Standard
Frame format : DATA DLC : 8 Bytes
Data Fields Description Speed Controller ID
DATA[0] Controls the current value in higher order byte (8 bits)
5
DATA[1] Controls the current value in lower order byte (8 bits)
DATA[2] Controls the current value in higher order byte (8 bits)
6
DATA[3] Controls the current value in lower order byte (8 bits)
DATA[4] Controls the current value in higher order byte (8 bits)
7
DATA[5] Controls the current value in lower order byte (8 bits)
DATA[6] Controls the current value in higher order byte (8 bits)
8
DATA[7] Controls the current value in lower order byte (8 bits)
2. Speed Controller Sending Message Format
The format in which the speed controller sends feedback data to the CAN bus. Identier is
determined by 0×200 + speed controller ID. For example, if the speed controller ID is 1, the
identier of that speed controller is 0×201.
Frame type : Standard Frame format : DATA DLC : 8 Bytes
Data Fields Description Data Fields Description
DATA[0] Controls the rotor mechanical
angle in higher order byte (8 bits) DATA[4] Actual torque current in
higher order byte (8 bits)
DATA[1] Controls the rotor mechanical
angle in lower order byte (8 bits) DATA[5] Actual torque current in
lower order byte (8 bits)

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DATA[2] Controls the rotational speed in
higher order byte (8 bits) DATA[6] Null
DATA[3] Controls the rotational speed in
lower order byte (8 bits) DATA[7] Null
Sending frequency: 1 KHz by default (can be changed using RoboMaster Assistant)
Rotor mechanical angle value range: 0 ~ 8191 (corresponding mechanical angle range: 0 ~
360°)
Rotor speed value unit: rpm
Performance Diagram (Using M2006 Motor)
η – Electrical Efciency, T – Torque, I – Current, P – Output Power, n – Rotational Speed
The data above was collected in a laboratory setting with an input voltage of 24 V, at the
temperature of 25° C (77° F), and under normal dissipation conditions. These gures should
be used for reference only. Make sure to use the speed controller in accordance with the
actual working environment and consider working conditions such as working temperature and
dissipation.
Specications
Rated Voltage (DC) 24 V Weight 17 g
Max Allowable Current*
(continuous) 10 A Dimensions 50×22×7.3 mm (L×W×H)
CAN Bus Bitrate 1 Mbps Operating Temperature
Range 0–55° C (32–131° F)
* Tested at a temperature of 25°C (77° F) in well-ventilated laboratory conditions.
90
20
450
300
0
50
150
250
350
200
400
0.5 1 1.5 20
10
30
50
70
40
60
80
100
0
10
20
30
40
50
60
70
0
1
2
3
4
5
6
P(W) I(A)
T(N·m)
η (%) n(rpm)
P
n
η
I

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