Zikodrive ZD10UART Series User manual

1
Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire,
UK, HX7 5RW [e-mail] –www.Zikodrive.com - [phone]
ZikoDrive ZD10UART Series Operating Manual
For Firmware V3.5 and above (dated 10/10/19)
Introduction
OverView
This manual is intended to be used with the ZikoDrive ZD SERIES UART Motor controller running
standard firmware (V3.5 and above) and includes the following UART Commands that can also be
used over RS232 or RS485 using the relevant Break Out Boards:
•Run at a set speed
•Run Number of Microsteps
•Decelerate to Stop
•Emergency Stop
•Move to the Home position
•Reset Home Position
•Move to Absolute Position
•Move to Home input Limit Switch
•Setting STD motor Parameters including Running Current, Holding Current,
Acceleration/Deceleration Current, Acceleration/Deceleration Rates and Microstepping
resolution.
Specifications
•Up to 30Vdc.
•Up to 5A.
•Up to128 Microsteps/Step.
•Modular design connects to many Break Out Boards that can provide options such as
420mA, 0-10Vdc, Optically Isolated inputs, etc...
•Over-temperature protection and stall detection.
•Microprocessor controlled enabling exceptional positional accuracy.

2
Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire,
UK, HX7 5RW [e-mail] –www.Zikodrive.com - [phone]
Contents
Contents
Introduction ................................................................................................................................................ 1
Contents.................................................................................................................................................. 2
Board View.............................................................................................................................................. 6
Wiring Motor Phase Wires....................................................................................................................... 7
Power Wires............................................................................................................................................ 7
Connections to Box Header (UART).......................................................................................................... 8
Programming Manual.................................................................................................................................. 9
The UART Protocol................................................................................................................................... 9
The ZikoDrive Protocol ............................................................................................................................ 9
Example 1 –Basic Send........................................................................................................................ 9
CheckSum formula ................................................................................................................................ 10
Command Complete.............................................................................................................................. 11
Example 2 –Command Complete (RUN_STPS)................................................................................... 12
Example 3 –Command Complete (RUN_SPD).................................................................................... 13
Shortlist of Commands .......................................................................................................................... 14
Incremental Commands ............................................................................................................................ 15
RUN_SPD (0x01) .................................................................................................................................... 15
RUN_SPD Formula ............................................................................................................................. 16
Example 4 -RUN_SPD (Multiple Commands)................................................................................. 16
RUN_STPS (0x02)................................................................................................................................... 17
RUN_STPS Formula............................................................................................................................ 18
Example 5 -Setting RUN_STPS ...................................................................................................... 18
General Commands................................................................................................................................... 19
STOP (0x03)........................................................................................................................................... 19
Example 6 -STOP .......................................................................................................................... 19
EMER_STOP (0x04) ............................................................................................................................ 19
Example 7 -EMER_STOP ............................................................................................................... 19
Absolute Commands ................................................................................................................................. 20

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Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire,
UK, HX7 5RW [e-mail] –www.Zikodrive.com - [phone]
MOV_HOME (0x05) ............................................................................................................................... 20
Example 8 -MOV_HOME & High Impedance................................................................................. 20
RST_HOME (0x06) ................................................................................................................................. 20
Example 9 -RST_HOME................................................................................................................. 20
MOV_ABS (0x07) ................................................................................................................................... 21
Example 10 - MOV_ABS.................................................................................................................. 21
MOV_HOME_RST (0x08)........................................................................................................................ 22
Example 11 - MOV_HOME_RST...................................................................................................... 22
Parameter Setup ....................................................................................................................................... 23
Motor Current ....................................................................................................................................... 23
Standard Mode Current formula:....................................................................................................... 23
Example 12 - Standard Mode Current Calculation .......................................................................... 24
Precision Mode Current formula:....................................................................................................... 24
Example 13 - Precision Mode Current Calculation .......................................................................... 24
HOLD_CUR (0x0A) ................................................................................................................................. 25
ACC_CUR (0x0B) .................................................................................................................................... 25
DEC_CUR (0x0C) .................................................................................................................................... 25
ACC_VAL (0x0D)..................................................................................................................................... 25
ACC_VAL Formula.............................................................................................................................. 25
DEC_VAL (0x0E) ..................................................................................................................................... 26
DEC_VAL Formula .............................................................................................................................. 26
Example 14 - DEC_VAL ................................................................................................................... 26
SPD_RUN (0x0F) .................................................................................................................................... 27
Example 15 - SPD_RUN................................................................................................................... 27
M_STEP (0x10)....................................................................................................................................... 28
Precision Mode...................................................................................................................................... 28
Standard Mode...................................................................................................................................... 29
Example 16 - M_STEP..................................................................................................................... 30
READ_PAR (0x11) ...................................................................................................................................... 31
READ_PAR register layout...................................................................................................................... 31
READ_SPD (0x11 0x01) .......................................................................................................................... 32

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Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire,
UK, HX7 5RW [e-mail] –www.Zikodrive.com - [phone]
Example 17 -...................................................................................................................................... 32
READ_SPD ......................................................................................................................................... 32
READ_POS (0x11 0x02) .......................................................................................................................... 33
Example 18 -...................................................................................................................................... 33
READ_POS ......................................................................................................................................... 33
READ_***_CUR ..................................................................................................................................... 34
READ_***_CUR formula for Standard Mode ......................................................................................... 34
Example 19 -...................................................................................................................................... 34
READ_RUN_CUR (Standard Mode)..................................................................................................... 34
READ_***_CUR formula for Precision Mode: ........................................................................................ 35
Example 20 -...................................................................................................................................... 35
READ_ACC_CUR (Precision Mode) ..................................................................................................... 35
READ_ACC/DEC_VAL (0x11 0x07/8)....................................................................................................... 36
Example 21 -...................................................................................................................................... 36
READ_ACC_VAL ................................................................................................................................. 36
READ_SPD_RUN (0x11 0x09) ................................................................................................................. 37
Example 22 -...................................................................................................................................... 37
READ_SPD_RUN................................................................................................................................. 37
READ_M_STEP (0x11 0x0A) ................................................................................................................... 38
Example 23 - READ_M_STEP .......................................................................................................... 38
Quick Commands ...................................................................................................................................... 39
RUN_SPD............................................................................................................................................... 39
RUN_STPS.............................................................................................................................................. 39
RUN_ABS............................................................................................................................................... 39
STOP...................................................................................................................................................... 40
HOME.................................................................................................................................................... 40
Current.................................................................................................................................................. 40
RUN_CUR........................................................................................................................................... 40
HOL_CUR........................................................................................................................................... 40
ACC_CUR ........................................................................................................................................... 41
DEC_CUR ........................................................................................................................................... 41

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Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire,
UK, HX7 5RW [e-mail] –www.Zikodrive.com - [phone]
ACC & DEC............................................................................................................................................. 41
ACC_VAL............................................................................................................................................ 41
DEC_VAL............................................................................................................................................ 41
RUN_SPD............................................................................................................................................... 42
M_STEP ................................................................................................................................................. 42
READ_PAR ............................................................................................................................................. 42
Document versions.................................................................................................................................... 43

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Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire,
UK, HX7 5RW [e-mail] –www.Zikodrive.com - [phone]
Board View
Important NOTE:
It is critically important to not exceed the recommended input voltages as this may cause
unrepairable damage to the Zikodrive ZD SERIES UART Motor Driver. The max voltage
recommended for any digital or analogue inputs is 5Vdc. DO NOT APPLY Higher Voltage PWM as
this will damage the board.
All wires must be kept as short as possible to reduce EMC emissions from the motor phase cables
and to reduce noise on both the analogue and digital inputs. If you require more information
regarding good wiring practice, please contact ZikoDrive [e-mail].

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Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire,
UK, HX7 5RW [e-mail] –www.Zikodrive.com - [phone]
Wiring Motor Phase Wires
Wire up the Motor phase wiring according to the motor manufacturers datasheet. Below is a
common example of an off the shelf unit. Wiring up the motor phases incorrectly will not damage
the board, however it will affect the direction and performance of the motor and in some cases
the motor may not run at all. As the ZD SERIES UART PCB is an absolute positioning Controller, if
the motor is traveling in the incorrect direction absolute positioning commands will not work.
Terminal
Wire
A2
Black
A1
Green
B1
Blue
B2
Red
Power Wires
12-30Vdc must be applied to the board on the 2 Way Terminal Block Marked GND & Vin. Although
the board is protected against reverse polarity, care should be taken to ensure the wires are not
reversed.
Note –Please ensure that the DC power supply has the proper current supply capability. Care
should be taken to ensure the DC supply is clean (keep wires as short as possible, and shield where
required).
Once all these connections are complete, the ZD SERIES UART can be powered up.

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Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire,
UK, HX7 5RW [e-mail] –www.Zikodrive.com - [phone]
Connections to Box Header (UART)
GND is the common digital GND for the PCB. The RX and the TX pins must be switched with the
Master Controller. I.e., TX (transmitting) from the Master controller must be connected to the RX
(receiving) pin on the ZD SERIES UART. The TX (transmitting) from the ZD SERIES UART must be
connected to the RX (receiving) of the Master Controller.
Connections for any serial Break Out Board (RS485 & RS232)
Connecting to the Break Out Boards.
A= Non-inverting receiver input and non-inverting driver output
B= Inverting receiver input and inverting driver output
GND = Ground
Note - If shielded cables are used between the Master Controller and the ZikoDrive please ensure
only one end of the shielding is grounded to ensure no Ground loops.
CAUTION –supplying RS485 or RS232 signals directly to the UART pins will damage the controller. If
you need to use RS232 or RS485 please ensure you have the appropriate plug in board.

9
Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire,
UK, HX7 5RW [e-mail] –www.Zikodrive.com - [phone]
Programming Manual
The UART Protocol
The protocol used is non-standard and derived by the ZikoDrive engineers to provide fast and
efficient data transfer.
The Data is transmitted and received in 8bit Bytes. Which, in this manual will be displayed in a
Hexadecimal format.
Please note, that no bytes can be sent with a Value of 0xFF as this value can not be processed with
the 8bit UART protocol.
Protocol Setup
BAUD RATE
=
19200
STOP BITS
=
One
PARITY
=
None
Bit order
=
LSB first
The ZikoDrive Protocol
All commands must be sent with a two-byte header, one-byte address code, one-byte register
address code, an “x” amount of data bytes and then followed with a CheckSum.
To ensure the correct data is being transferred, the protocol will send either a confirm (0x06) or a
reject (0x15) for a good, or a bad command. If the ZD SERIES UART has accepted the command,
the confirmation will then be sent to the Master Controller and then process the given command.
If the command was rejected, all data will be disregarded, and a new command must be sent.
Example 1 –Basic Send
From Master
0x7A 0x64 0x01 0x03 0xFB
0x7A & 0x64 =
Header, ASCII code ZD
0x01 =
ZikoDrive Address, Set as 0x01 as default
0x03 =
Register Address, STOP command
0xFB =
CheckSum
Note –as this is a STOP command no DATA bytes are required.

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Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire,
UK, HX7 5RW [e-mail] –www.Zikodrive.com - [phone]
CheckSum formula
Each command sent to the ZikoDrive controller must be followed with a CheckSum byte or the
data will be rejected.
CHECKSUM = ((ADDRESS + REGISTER + DATA_MSB + DATA_0 + DATA_1 + DATA_LSB) XOR 0xFF) & 0xFF;
1. The Address, the required register, and all the data bytes are added together.
2. A command is run through an XOR with 0xFF
3. A command is then run through & with 0xFF
We have available an EXCEL spreadsheet to help calculate the CheckSum byte if required. We are
happy to send this over on request.
Please note that the Header and the CheckSum bytes are not included in the CheckSum Formula.