UUMOTOR SVD48V Series User manual

SVD48V series servo driver manual (PC software)
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SVD48V series driver manual
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SVD48V series servo driver manual (PC software)
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content
1. Software Environment..............................................................................................................................................................3
1.1. Environmental requirements....................................................................................................................................... 3
2. Software configuration............................................................................................................................................................. 3
2.1. Software Installation..................................................................................................................................................... 3
2.2. software running............................................................................................................................................................ 3
3. Software Overview................................................................................................................................................................... 4
3.1. Software Description.....................................................................................................................................................4
3.2. software interface..........................................................................................................................................................4
4. software description................................................................................................................................................................. 5
4.1. Menu Bar........................................................................................................................................................................ 5
4.1.1. file column.....................................................................................................................................................................5
4.1.2. toolbar............................................................................................................................................................................6
4.1.3. Status Bar..................................................................................................................................................................... 6
4.2. Connect the device....................................................................................................................................................... 6
4.2.1. Serial connection......................................................................................................................................................... 6
4.2.2. Import configuration parameters...............................................................................................................................7
4.3. Board parameters..........................................................................................................................................................7
4.4. Motor settings................................................................................................................................................................ 7
4.5. data analysis........................................................................................................................................................................ 13
4.5.1. Data waveform...........................................................................................................................................................13
4.5.2. log file.......................................................................................................................................................................... 18
4.6. console..........................................................................................................................................................................19
4.6.1. console button............................................................................................................................................................19
4.6.2. speed mode................................................................................................................................................................19
4.6.3. Location mode........................................................................................................................................................... 20
4.6.4. Torque Mode..............................................................................................................................................................20
4.7. Firmware upgrade.......................................................................................................................................................21
4.8. Expansion port usage.................................................................................................................................................22
4.8.1. Use the remote to control the motor...................................................................................................................... 22
4.8.2. Control motors using analog output devices and switches................................................................................28
4.8.3. E n a b l e TTL communication.................................................................................................................................31

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1.
Software Environment
1.1. Environmental requirements
hardware environment
Operating hardware environment: CPU : Pentium dual-core 2.0GHz or more, memory: 4GB or more, hard disk space:
40GB or more
Software Environment
Operating software environment: Windows 7 or above
2.
Software configuration
2.1. Software Installation
Unzip the package
2.2. software running
Directly double-click to run SV-Config.exe in the decompressed package to run the program.

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3.
Software Overview
3.1. Software Description
This software runs on Windows platform, Windows7 and above are recommended.It is a PC software for the
configuration of the driver(controller). Using the software, you can use all the functions of the driver, modify and
read all the internal parameters, and observe some data curves during the running process.
3.2.
software interface
The interface of the software consists of menu bar, tool bar, function area, function display area, control area, driver
status area and status bar.
1.menu
2. tool bar
3.function area
4.function display area
5.control area
6.driver status
7.status bar

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4.
software description
Before use, please make sure that the driver and the motors are connected correctly, and ensure that the power supply
voltage is within the specified range(18V-60V). For your safety, please keep the in-wheel motors off the ground and
keep the motors in a suspended state during the first power-on debugging. Use RS232 Serial cable to connect the
driver to PC ( 24V,36V or 48V batteries or DC power supply).
4.1.
Menu Bar
The menu bar consists of File, Tool, and Help. Click the tool to update the driver firmware.
4.1.1. File column
1. Load Param Setting. Import the parameter configuration file of the driver.
2. Save Param Petting. Export the parameters of the current driver to a file.
3. Language. Support Chinese and English switching. After switching the language, you need to restart the
program to take effect.
4. Exit. Exit the program normally.

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4.1.2. toolbar
1. Connect. After opening the serial port one time, you can quickly open the serial port through this button.
2. Disconnect. close the serial port.
3. Read param, read all parameters from the drive.
4. Write param, connect the host computer SV-Conifg Write all the parameters to the driver. Note: the
parameters must be written(download to driver) after the motor is stopped.
4.1.3. Status Bar
The status bar includes three parts: driver error status, device connection status, and serial port connection status.
4.2.
Connect the device
Before use, please make sure that the driver and the motors are connected correctly, and ensure that the power supply
voltage is within the specified range(18V-60V). For your safety, please keep the in-wheel motor off the ground and keep
the motor in a suspended state during the first power-on debugging. Use RS232 Serial cable to connect the driver to
PC ( 24V,36V or 48V batteries or DC power supply).
4.2.1. Serial connection
Open SV-Config on the PC , select the corresponding serial port number, select 115200 for the baud rate , and then
open the serial port.Please noted that you may need to install the USB driver of your RS232 to USB cable.
Click the button , after the device is connected , the status information in the status bar will be refreshed in real
time .

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4.2.2. Import configuration parameters
We provide factory parameter configuration files. It is also possible to import parameter files that the user has
previously exported. The parameters imported into the configuration file will be updated to the set value list, but
they are not delivered and saved to the driver. After modifying the set values, you can directly save the
parameters to the driver through the "Write Param" button.
4.3. Board parameters
The functional area, select the board parameters, configure the CAN/RS485 communication address Slaveid , and
configure the RS485 and CAN baud rates respectively. Set the overvoltage protection voltage , undervoltage
protection voltage, and control interface type. When the driver is powered on, if the supply voltage is not within the
range of the overvoltage protection voltage and the undervoltage protection voltage, an error will be reported.
4.4. Motor settings
4.3.2. General parameters
General parameters of the motor, check whether the information of the motor and encoder is correct.
4.3.2.1. General Motor Parameters
Motor Maximum RPM : Modified according to the maximum speed of the selected motor and the maximum speed
required by the user. The given speed is not allowed to be greater than the maximum speed of the motor.

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Maximum motor current : This refers to the maximum current that the driver can drive the motor, which generally
corresponds to the maximum peak current of the motor. The greater the current, the greater the peak torque of the motor .
The maximum current cannot exceed the maximum current specified by the driver model.
Motor direction : the direction of motor movement(rotation).
Sensor type : support encoder, hall, string encoder.
Number of driven and driving gears : Support to configure the reduction ratio, and the Given Speed set for the motor
is the speed after the reduction ratio.

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4.3.2.2. Motor encoder parameters
Encoder lines / bits: Optical encoders are lines, magnetic encoders are bits.

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4.3.2.3. Motor Hall Sensor Parameters
There is a M1 and M2 tick option below, and the calibration will only be performed when the tick is on. Hall sensors
parameters are automatically saved after calibration.
Hall Sensor Calibration Process:
1. Calibration can only be performed after all parameters are set.
2. Select the Hall mounting type.
3. Set the size of the calibration current, based on whether the motor rotates evenly.
4. Click the Start button and wait for the calibration to succeed.
Hall sensors need to be re-calibrated in the following situations:
1. Change the wire sequence of the three-phase wires of the motor.
2. Replace with new motor.
3. When the motor rotates in the opposite direction, modify the direction in the general parameters, write it to the
driver, and then re-calibrate.

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4.3.3. Motion parameters
First, confirm the control mode, which is divided into three types: speed mode, position mode and torque mode. The position
mode also needs to set absolute position or relative position control in the motion parameters of the motor.
Acceleration Acceleration : The maximum acceleration of motor acceleration.
Deceleration acceleration : The maximum acceleration of motor deceleration.
Speed optimization time : refers to the time when the speed acceleration transitions from 0 to the maximum
acceleration. It plays a role of smooth transition to the speed change.
Properly increasing the speed smoothing time and appropriately reducing the acceleration and deceleration ramp time
can ensure the real-time response of the speed control to a certain extent, and at the same time ensure the stability.

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4.3.4. PID parameters
The PID parameters can be tested according to the default values first. If the effect is not satisfied, you can modify it in
real time. After writing the parameters, it will take effect in real time. But the parameters will be written to Flash and
saved only after all the motors stop.

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4.5.
data analysis
Data analysis is mainly to facilitate the user to observe the motor state during the debugging process.
4.5.1. Data waveform
1. Waveform zoom
Press and hold the right mouse button to select the area to be enlarged. After releasing the mouse, the waveform
will be enlarged.

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Place the mouse on the waveform and scroll the mouse to zoom in and out of the waveform as a whole.
Click the zoom button to restore the waveform to its original size.

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Click the X- axis time scale with the mouse, after the scale bar turns blue, scroll the mouse wheel to zoom the
waveform X- axis, and select it again to cancel.
Click the Y- axis time scale with the mouse, after the scale bar turns blue, scroll the mouse wheel to zoom the Y- axis
of the waveform, and select it again to cancel.

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2. Waveform analysis
Click the Track XY button to display the XY coordinates of the current mouse point .
Click the measurement button to realize the oscilloscope function.

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Click the Show Points button to display the waveform points.
The three buttons below are: Play, Stop, Pause / Resume buttons. The cycle is the waveform refresh cycle. The
smaller the cycle, the more waveform points.

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4.5.2. log file
Click the Save button to save the current waveform data as a .csv file.

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The log file function is to open the waveform file saved by the software, which is convenient for waveform playback
and analysis.
4.6.
console
The console mainly controls the start and stop of the motor.
4.6.1. console button
1. Start button .
2. stop button.
3. Clear Error button, when an error occurs in the drive, press this button to clear the error.
4.6.2. speed mode
The process of using the speed mode:

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4.6.3. Location mode
The position mode is divided into absolute position mode and relative position mode. The position mode works together
with the speed loop. Before running a given position, set the relevant parameters of the speed mode .
Reference speed : the maximum operating speed in position mode.
Given position : The given value of the position mode. The corresponding position information is given according to
the absolute position and the relative position.
Relative position : the given value is the increment of the position, such as 1024 line encoder, given 4096 , the
motor will make one revolution.
Absolute position : The given value is the absolute value of the position. The absolute value of the position is
initialized to 0 from the moment of power-on, and increases continuously thereafter, and returns to 0 after exceeding
the range of int32 . Location mode usage process:
4.6.4. Torque Mode
The torque mode only has a current loop in theory, but in order to limit the safety problems caused by the high speed
caused by the light load, we provide the maximum speed limit, that is, set the given speed as the maximum limit speed.
So before setting the given current, set the desired maximum limit speed. In this way, even if a larger given current is set,
the motor will not exceed the given speed under no-load condition.
Torque mode usage process: