UUMOTOR SVD48V Series User manual

SVD48V Series wheel hub motor servo controller user manual
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SVD48V series hub motor servo driver
User Manual (V2.0)

SVD48V Series wheel hub motor servo controller user manual
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Directory
1Preface .....................................................................................................................................................................3
2Interface Definition ................................................................................................................................................... 4
2.1 Power interface ................................................................................................................................................. 5
2.2 Motor cable interface .......................................................................................................................................5
2.3 Encoder interface ............................................................................................................................................6
2.4 Expansion interface ..........................................................................................................................................6
2.5 Communication interface .................................................................................................................................7
2.6 Fan reserved port .............................................................................................................................................. 8
2.7 DIP switch ..........................................................................................................................................................8
3System Wiring Diagram .........................................................................................................................................9
4Communication Protocols .....................................................................................................................................10
4.1 RS232 andRS485 Communication Protocol ............................................................................................ 10
4.1.1 read register ........................................................................................................................................... 10
4.1.2 write register ...........................................................................................................................................10
4.1.3 Write multiple registers11......................................................................................................................
4.1.4 Abnormal response ................................................................................................................................ 12
4.1.5 Communication example .......................................................................................................................12
5Register Definition ................................................................................................................................................15
5.1 Board Parameters ...........................................................................................................................................15
5.2 Board Control Parameters ..............................................................................................................................16
5.2.1 Basic parameter function ........................................................................................................................ 16
5.2.2 CAN Active upload package parameter ................................................................................................16
5.2.3 RS232 Active upload parameter .............................................................................................................18
5.3 Basic Motor Parameters ................................................................................................................................. 19
5.3.1 M1 Basic Motor Parameters ....................................................................................................................19
5.3.2 M2 Basic Motor Parameters ....................................................................................................................19
5.4 Motor motion parameters ................................................................................................................................20
5.4.1 M1 Motor motion parameters ..................................................................................................................20
5.4.2 M2 Motor motion parameters ..................................................................................................................20
5.5 motorPID parameter .....................................................................................................................................21
5.5.1 M1 motorPID parameter ........................................................................................................................ 21
5.5.2 M2 motorPID parameter ........................................................................................................................ 21
5.6 Motor Control Parameters .............................................................................................................................. 22
5.6.1 M1 Motor Control Parameters .................................................................................................................22
5.6.2 M2 Motor Control Parameters .................................................................................................................22
5.7 Motor status parameter ...................................................................................................................................23
5.7.1 M1 Motor status parameter ..................................................................................................................... 23

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5.7.2 M2 Motor status parameter ..................................................................................................................... 23
5.8 Motor sensor parameters ..............................................................................................................................24
5.8.1 Encoder parameter ............................................................................................................................... 24
5.8.2 Hall Sensor parameters ......................................................................................................................... 25
5.9 Accelerator brake control parameters ............................................................................................................26
5.9.1 Basic parameters .................................................................................................................................... 26
5.9.2 Control parameters ................................................................................................................................. 27
5.9.3 Remote control parameters ................................................................................................................. 29
5.10 Software upgrade ( RS232 ) ......................................................................................................................... 29
5.10.1 Card reader status .............................................................................................................................29
5.10.2 write card status .................................................................................................................................30
6Control Mode Instructions ......................................................................................................................................30
6.1 Prepare ........................................................................................................................................................... 30
before use
6.2 connection device .......................................................................................................................................... 30
6.3 Toolbar buttons ............................................................................................................................................. 31
6.4 Confirm board information .............................................................................................................................. 32
6.5 Confirm motor general parameters ................................................................................................................ 32
6.5.1 General Motor Parameters ..................................................................................................................... 32
6.5.2 Motor encoder parameter ......................................................................................................................33
6.5.3 Motor Hall Parameters ............................................................................................................................ 34
6.6 Confirm motion parameters ............................................................................................................................35
6.7 confirmPID parameter ..................................................................................................................................36
6.8 Speed Mode ................................................................................................................................................... 37
6.9 Location Mode ................................................................................................................................................38
6.10 Torque Mode .................................................................................................................................................. 38
7Hall Calibration ....................................................................................................................................................... 39
7.1 Calibrating Hall Angle ....................................................................................................................................39
8Appendix I CRC Check Calculation Routine ........................................................................................................40
9Appendix II Troubleshooting ................................................................................................................................. 42
9.1 Led Error LED ................................................................................................................................................42
9.2 Handle according to error code................................................................................................................... 42
9.3 Treatment according to the phenomenon ....................................................................................................... 43

SVD48V Series wheel hub motor servo controller user manual
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1Foreword
SVD48V series in-wheel motor servo driver is a one-to-two low-voltage motor drive product
launched by UU Motor Technology Co., Limited. This series can adapt to two 100W~800W in-wheel
motors at the same time, adopts FOC drive mode with encoder, supports optical encoder with Hall,
and magnetic encoder solution. The driver has RS485, RS232 , CAN communication interface, and
PWM or pulse input, they can all control the motor operation. Using RS485 or CAN bus can realize
the parallel operation of multiple drives, which is suitable for two-wheel or multi-wheel drive platform.
The driver adopts a single control chip to achieve one-to-two, so that the two motors driven have better speed
synchronization, and fault protection is more timely and reliable, especially suitable for two-wheel-drive
AGV platforms.
SV-Config for this series The PC -side host computer debugging software provides parameter
list setting and real-time waveform display interface, which is convenient for setting various parameters,
and can also test the performance of the driver and motor in real time, providing very friendly help for
parameter adaptation.
Basic parameters
model
SVD48V30A
SVD48V50A
Operating Voltage
24V-48VDC
24V-48VDC
Maximum input continuous current
20A
40A
Output highest Iq current
30A
50A
Adapted motor power
100-400W
400-800W
Maximum speed support
1000.0 RPM (20 pole pairs)
Minimum RPM Support
1.0RPM
Minimum working voltage
18V
Maximum working voltage
60V
Overvoltage Protection Threshold
Software settings
control mode
Speed mode, position mode, torque mode
control interface
RS485, RS232, CAN, PWM, analog input
Host computer support
SV-Config host computer, RS232 interface
Encoder input
A/B/Z type, A/B+HALL type, support String Dynamics
custom RS485 interface magnetic encoder
Working temperature
-20
℃
~ +55
℃
Dimensions
143 x 80 x 33 mm
Applicable fields
1. All kinds of AGV;
2. Industrial robot;
3. warehousing robot;
4. unmanned delivery vehicles;

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2Interface definition

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2.1 Power interface
No.
mark
name
Remark
1
GND
positive input power
Power input 24V~48V
2
VCC
Input power negative
Power interface
power interface is AMASS XT60 , pay attention to the polarity of the power supply.
2.2 Motor cable interface
No.
mark
name
Remark
1
U
Motor power line U
The wiring sequence of the motor cable interface
must be correct, otherwise overload protection or
speeding will occur at startup.
2
V
Motor power line V
3
W
Motor power line W
Motor cable interface
motor line interface is AMASS XT30 , pay attention to the motor line sequence.

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2.3 Encoder interface
No.
Mark
name
Remark
1
A+
Optical encoder A phase positive input
Optical encoder input supports
single-ended and differential
signals
2
A-
Optical encoder A phase negative input
3
B+
Optical encoder B phase positive input
4
B-
Optical encoder B phase negative input
5
Z+ (RS485A)
Optical encoder Z-phase positive input
Magnetic encoder with RS485
input can be selected by
separate software
6
Z-(RS485B)
Optical encoder Z-phase negative input
7
HU
Hall U-phase input
Three-phase Hall signal input
(used with optical encoder)
8
HV
Hall V phase input
9
HW
Hall W-phase input
10
GND
output power ground
Note: The total current limit of
all external 5V power supplies
is 1A
11
5V
Output power +5V
12
GND
output power ground
Encoder interface
The encoder interface is a PHB-2x6 connector.
Support AB+HALL type absolute optical encoder input;
Support ABZ type optical encoder input, ABZ signal can be software-
configured differential and single-ended input. Support software to
change to the RS485 interface magnetic encoder input customized by
String Dynamics .
2.4 Extension ports
No.
mark
name
Remark
1
D1
download port
2
D2
download port
3
GND
output power ground
Input voltage range: 0~5V
4
TXD
TTL interface sender
High level 3.3V, low level 0V
5
RXD
TTL interface receiver
High level 3.3V, low level 0V
6
GND
output power ground
Input voltage range: 0~5V
7
AN2
Throttle analog input port
Input voltage range: 0~5V
8
5V
Output power +5V
Input voltage range: 0~5V
9
GND
output power ground

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10
AN1
Brake analog input port
Input voltage range: 0~5V
11
5V
Output power +5V
Input voltage range: 0~5V
12
GND
output power ground
13
P4
PPM input 4 channels
Internal pull down
14
EMS
emergency stop
Internal pull-up, grounding is valid
15
GND
output power ground
Input voltage range: 0~5V
16
P3
PPM input 3 channels
Internal pull down
17
5V
Output power +5V
Input voltage range: 0~5V
18
GND
output power ground
19
P2
PPM input 2 channels
Internal pull down
20
5V
Output power +5V
Input voltage range: 0~5V
21
GND
output power ground
22
P1
PPM input 1 channel
Internal pull down
23
5V
Output power +5V
Input voltage range: 0~5V
24
GND
output power ground
Note: The total current limit of all external 5V power supplies is 1A
Extension ports
expansion interface is PHB-2x8 connector

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1
2
2.5 Communication Interface
.No.
mark
name
Remark
1
RS485B
RS485 communication B
signal
RS485 commun ication interface
2
RS232_TX
D
RS232 send
RS232 communication interface, support RS232
DB9 male head plugs straight in. Note:
RS485 will not work if an RS232 connector with
flow control is used
3
RS232_RX
D
RS232 receive
4
NC
NC
NC
5
DGND
output power ground
Note: The total current limit of all external 5V
power supplies is 1A
6
5V
Output power +5V
7
RS485A
RS485 communication A
signal
RS485 communication interface
8
CANH
CANH signal
CAN communication interface
9
CANL
CANL signal
Communication Interface
The communication interface is two DB9 connector females.
Compatible with the RS232 DB9 pin without flow control, you can directly connect to the RS232
interface for communication by using the standard RS232 serial line without flow control. The
signals of the two DB9s are exactly the same, the user can use one DB9 to connect the control
host, and the other can use daisy-chain to expand the use of multiple drives.
2.6 Fan reserved port
Fan interface
No.
mark
name
Remark
1
VOUT
Fan 5V output
If there is a need for heat dissipation, an
external 5V fan can be connected to increase
the driving capacity of large loads
2
GND
power ground

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2.7 DIP switch
DIP switch
3System wiring diagram
System wiring diagram
No.
mark
name
Remark
1
ON
Connect the RS485 terminating resistor
Turn the switch up to disconnect
the terminating resistor; turn the
switch down to connect the
terminating resistor
OFF
Disconnect the RS485 terminating resistor
2
ON
Connect the CAN terminating resistor
OFF
Disconnect the CAN terminating resistor

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4Communication Protocols
4.1 RS232 and RS485 communication protocol
4.1.1 read register
request packet
drive address
function
code
register address
Number of
registers
CRC upper
8 bits
CRC lower 8
bits
0x01~0xFF
0x03
see register
definitions,
2 bytes
Number of
registers
xx
xx
reply packet
drive address
function
code
number of
bytes
data
CRC upper
8 bits
CRC lower 8
bits
0x01~0xFF
0x03
number of
bytes
high up
ahead,
low behind
xx
xx
error response packet
drive address
function
code
exception code
CRC upper 8 bits
CRC lower 8
bits
0x01~0xFF
0x83
01 or 02 or 03, see exception
Answer Definition
xx
xx
4.1.2 write register
request packet
drive address
function
code
register address
data (2 bytes)
CRC upper
8 bits
CRC lower
8 bits
0x01~0xFF
0x06
see register
definition
2 bytes
High is first, low is
back
xx
xx
reply packet

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Baotou
function
code
register address
data (2 bytes)
CRC upper
8 bits
CRC lower 8
bits
0XEE
0x06
see register
definitions,
2 bytes
High is first, low is
back
xx
xx
error response packet
drive address
function
code
exception code
CRC upper
8 bits
CRC lower
8 bits
0XEE
0x86
01 or 02 or 03, see
exception
Answer Definition
xx
xx
4.1.3 write multiple registers
request packet
driver
address
Funct
ion
code
register start
site
register
number
number of
bytes
data
CRC high
8
bit
CRC low 8
bit
0XEE
0x10
see register
definition
2 bytes
2 bytes
1 byte
high up
ahead,
low behind
xx
xx
reply packet
driver
address
function
code
register start
address
Number of
registers
CRC upper 8
bits
CRC lower
8 bits
0XEE
0x10
see register
definition, 2
bytes
register
number, 2
bytes
xx
xx
error response packet
drive address
function
code
exception code
CRC upper
8 bits
CRC lower
8 bits
0XEE
0x90
01 or 02 or 03, see
exception
Answer Definition
xx
xx
illustrate
RS232 and RS485 are basically the same, the difference is that the Slave ID of
RS232 is fixed to 0xee. The communication format is compatible with
Modbus protocol.
Write register and read register can access the register data of M1 and M2 motors at the same
time. Write register data and return register data are arranged according to the register byte
width. Writing a register will also return the value of the current register after writing the register,
and reading a register will return the value of the specified register. The data of multiple bytes is
arranged in the low order first and the high order last. The CRC check starts from the Slave ID to the
last data. The verification method adopts ModbusCRC16, see appendix 1 .

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4.1.4 abnormal response
exception code
definition
describe
01
Invalid function
code
The function code is wrong, that is, the function
code is not 0x03 or 0x06 or 0x10
02
invalid register
address
Register address error, that is, the register address is
an unrecognized register
03
invalid data value
The data value is wrong, the set value is abnormal
(out of the set range)
range), or the data length is abnormal.
4.1.5 Communication example
Function
describe
read a single register
Read motor M1 current (5410)
Send: EE 03 54 10 00 01 60 83
Instruction details:
EE drive
address 03
function code
54 10 Register start address
00 01 Number of registers
60 83 Checksum of CRC16
Return: EE 03 02 00 03 92 2D
Instruction details:
EE drive
address 03
function code
02 Number of bytes
00 03 Motor M1 current
92 Checksum of 2D CRC16
read multiple registers
Read motor M1 current (5410), M2
current (5411) Send: EE 03 54 10 00 02
61 C3
Instruction details:
EE drive
address 03
function code
54 10 Register start address
00 02 Number of registers
61 Checksum of C3 CRC16
Return: EE 03 04 00 07 00 02 FD D4
Instruction details:
EE drive address

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03 Function code
02 Number of bytes
00 07 Motor M1 current
00 02 Motor M1 current
Checksum of FD D4 CRC16
Write a single register (06
function code)
Set the motor M1 control mode (0x5100)
to torque mode Send: EE 06 51 00 00
02 68 0E
Instruction details:
EE drive
address 03
function code
51 00 Register start address
00 02 Control mode is torque mode
68 0E Checksum of CRC16
Return: EE 06 51 00 00 02 68 0E
Instruction details:
EE drive
address 03
function code
51 00 Register start address
00 02 Control mode is torque mode
68 0E Checksum of CRC16
Write a single register (10
function codes)
Set the motor M1 control mode (0x5100)
to torque mode Send: EE 10 51 00 00
01 02 00 02 60 EF
Instruction details:
EE drive
address 03
function code
51 00 Register start address
00 01 Number of registers
02 Number of bytes
00 02 Control mode is torque mode
60 EF CRC16 checksum
Return: EE 10 51 00 00 01 AA 07
Instruction details:
EE drive
address 03
function code
21 00 Register start address
00 01 Number of registers
AA 07 Checksum of CRC16

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Write multiple registers (10
function codes)
Set the motor M1 control mode ( 0x5100 ) and the motor M2
control mode ( 0x5101 ) to torque mode
Send: EE 10 51 00 00 02 04 00 02 00 02 EA 45
Instruction details:
EE drive
address 03
function code
51 00 Register start address
00 02 Number of registers
04 Number of bytes
00 02 Motor M1 control mode is torque mode
00 02 Motor M2 control mode is
torque mode EA 45 Checksum of
CRC16
Return: EE 10 51 00 00 02 AB 47
Instruction details:
EE drive
address 03
function code
51 00 Register start address
00 02 Number of registers
Checksum of AB 47 CRC16

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5register definition
Register addresses are all hexadecimal data.
5.1 Board parameters
register
address
definition
describe
Attributes
Types of
Defaults
3001
Slave ID
User ID address for RS485 and CAN
Range: 0~255
RO
uint16
1
3002
Software
version
For example, 0x0112 means V1.1.2
RO
uint16
0x010
0
3003
hardware
version
For example, 0x0122 means V1.2.2
RO
uint16
0x010
0
3004
Bootloader
Version
For example, 0x0112 means V1.1.2
RO
uint16
0x010
0
3005
Product ID
For example, 0x0011 means V1.1.2
RO
uint16
0x010
0
3006
RS485 Baud
Rate
0:9600
1:19200
2:38400
3:57600
4:115200
5:128000
6:256000
7:460800
8: 500000
RW
uint16
4
3007
CAN baud
rate
0: 25 Kbit/s
1: 50 Kbit/s
2: 100
Kbit/s 3:
125 Kbit/s
4: 250
Kbit/s 5:
500 Kbit/s
6: 1000 Kbit/s
RW
uint16
6
3008
control input
0: PWM input
1: RS485
2: CAN
3: TTL
5: Analog
RW
uint16
0

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3009
Maximum
bus
voltage
X0.1V ; the overvoltage protection voltage of
the driver. If the bus voltage is greater than
this value before starting the motor , the
drive will report an error. During operation,
the regenerative braking causes the
voltage to rise. When it rises to the
protection voltage, the driver will limit the
regenerative current, so that the bus
voltage is generally not higher than the
voltage of 8V; when the voltage is higher
than the voltage of 15V, the driver will turn
off output, and an error is reported. It is
recommended that the 6S lithium battery
power supply is set to 28V; the 14S lithium
battery power supply is set to 54V
RW
uint16
300A
Overload
timeout
between
ms; timeout after overload, trigger protection
after timeout
RW
uint16
300B
Encoder
power-
on
calibrati
on
When the drive is powered on, the motor will
be calibrated once
RW
5.2 Board control parameters
5.2.1 Basic parameter function
register
address
definition
describe
Attributes
Types of
Defaults
3100
save parameters
0: Do not save parameters to FLASH
1: Save parameters to FLASH
WO
uint1
6
3180
Drive in-position
flag
fixed at 1
The host computer is used as a
heartbeat package
RO
uint1
6

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5.2.2 CAN actively upload package parameters
register
address
definition
describe
Attributes
Types of
Defaults
3200
CAN active packet
sending
configuration 0
31~16bit: register address
Bits 15~0: Active packet
sending cycle
packet sending period is 0,
close the configuration
The value range of the
packet sending period is
5~65535
RW
uint32
0
3202
CAN active packet
sending
configuration 1
31~16bit: register address
Bits 15~0: Active packet
sending cycle
If the packet sending period
is 0, close the configuration
The value range of the
packet sending period is
5~65535
RW
uint32
0
3204
CAN active packet
sending
configuration 2
31~16bit: register address
Bits 15~0: Active packet
sending cycle
packet sending period is 0,
close the configuration
The value range of the
packet sending period is
5~65535
RW
uint32
0
3206
CAN active packet
sending
configuration 3
31~16bit: register address
Bits 15~0: Active packet
sending cycle
packet sending period is 0,
close the configuration
The value range of the
packet sending period is
5~65535
RW
uint32
0
3208
CAN active packet
sending
configuration 4
31~16bit: register address
Bits 15~0: Active packet
sending cycle packet
sending period is 0, close
RW
uint32
0

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the configuration
The value range of the
packet sending period is
5~65535
320A
CAN active packet
sending
configuration 5
31~16bit: register address
Bits 15~0: Active packet
sending cycle
packet sending period is 0,
close the configuration
The value range of the
packet sending period is
5~65535
RW
uint32
0
320C
CAN active packet
sending
configuration 6
31~16bit: register address
Bits 15~0: Active packet
sending cycle
packet sending period is 0,
close the configuration
The value range of the
packet sending period is
5~65535
RW
uint32
0
320E
CAN active packet
sending
configuration 7
31~16bit: register address
Bits 15~0: Active packet
sending cycle
packet sending period is 0,
close the configuration
The value range of the
packet sending period is
5~65535
RW
uint32
0
3210
CAN Active Packet
Configuration 8
31~16bit: register address
Bits 15~0: Active packet
sending cycle
packet sending period is 0,
close the configuration
The value range of the
packet sending period is
5~65535
RW
uint32
0
3212
CAN active packet
sending
configuration 9
31~16bit: register address
Bits 15~0: Active packet
sending cycle
packet sending period is 0,
close the configuration
The value range of the
packet sending period is
5~65535
RW
uint32
0

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3214
CAN active packet
sending
configuration 10
31~16bit: register address
Bits 15~0: Active packet
sending cycle
packet sending period is 0,
close the configuration
The value range of the
packet sending period is
5~65535
RW
uint32
0
3216
CAN active packet
sending
configuration 11
31~16bit: register address
Bits 15~0: Active packet
sending cycle
packet sending period is 0,
close the configuration
The value range of the
packet sending period is
5~65535
RW
uint32
0