ZLAC706-CAN Specification 1 - 3 Special For Hub Motor - 1 PDF

ZLAC706-CAN Low Voltage Servo Driver Manual V1.
3(Special for Hub Motor)
ZLAC706-CAN
Low Voltage Servo Driver Manual
(Special for Hub Motor)
[ Pleas e r ead t he m anua l ca r eful l y b ef or e use to a vo id dam a ge to t he d ri ve r]
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ZLAC706-CAN Low Voltage Servo Driver Manual V1.3(Special for Hub Motor)
Version Update Instructions
Create/modify Date Modifier Version NO. Remark
2017-07-28 PC V1.0
2017-08-19 PC V1.1
Increase the function to change current and

2017-12-12 PC V1.2 torque under RS232, CAN communication
and PID parameter address setting.
2019-4-16 PC V1.3 Increase read alarm status, voltage, current,

speed, position reference, position feedback
separately under RS232, CAN
communication. Increase CAN
communication emergency stop command
(driver version 18206)

CATALOGUE
PREFACE ................................................................................. 错误！未定义书签。

SAFETY PRECAUTIONS ............................................................. 错误！未定义书签。
OUTLINE ................................................................................................................. 3
1. BASIC FEATURES .................................................................. 错误！未定义书签。
2. APPLICATION....................................................................... 错误！未定义书签。
3. TECHNICAL NORMS ............................................................. 错误！未定义书签。
4. INTERFACE DEFINITION........................................................ 错误！未定义书签。
4.1 POWER/MOTOR INTERFACE(P3)...................................... 错误！未定义书签。
4.2 ENCODER INTERFACE(P2)................................................ 错误！未定义书签。
4.3 CONTROL INTERFACE(P1)................................................ 错误！未定义书签。
4.4 OUT/IN INTERFACE ......................................................... 错误！未定义书签。
4.5 COMMUNICATION INTERFACE ........................................ 错误！未定义书签。
5. CONTROL MODE ................................................................. 错误！未定义书签。
5.1 BASIC CONTROL.............................................................................................11
6. TYPICAL WIRING.................................................................. 错误！未定义书签。
7. INDICATOR LIGHT AND FAULT DIAGNOSIS ............................ 错误！未定义书签。
8. COMMUNICATION PROTOCOL ............................................................................13
8.1 CAN BUS PROTOCOL ......................................................................................13
8.1.1 CAN BUS PROTOCOL ...............................................................................13
8.1.2 CAN COMMUNICATION APPLICATION EXAMPLE ......................................19
8.2 RS232 COMMUNICATION PROTOCOL .............................................................27
8.2.1 RS232 COMMUNICATION PROTOCOL.......................................................27
8.2.2 RS232 COMMUNICATION APPLICATION EXAMPLE..... 错误！未定义书签。

PREFACE
Thanks for choosing the easy-use low voltage servo driver.
This manual describes the installation, debugging, maintenance, operation and other
aspects of this servo driver(25W-400W). Before using, please read the manual and
make clear of the safety precautions of this product.
This manual will be timely revised when product is improved. It will not be notified
when specification and version are changed for some other reasons.
Any questions when using our products, please read the relevant manual or call our
technical service department, we will meet your requirements in the shortest
possible time.
Marks and warning signal:
Danger: Indicates that this operation error may endanger personal safety!
Attention: Indicates that this operation error may result in equipment

damage!
1
SAFETY PRECAUTIONS
Open package and Check

Don’t install controllers which is missing parts or damaged.
The servo driver must be used with a matching servo motor.
Installation
Please installed the driver on a non-flammable metal frame, to prevent the

intrusion of dust, corrosive gases, conductive objects, liquids and flammable materials, and
maintain good heat dissipation conditions.
When installing, be sure to tighten the mounting screws of the driver. Please
prevent that servo driver and servo motor from vibration and withstand shock.
Wiring
Please make wiring work by professional electrical engineer.
Before wiring, please confirm that the input power is off. Wiring and inspection
must be performed after the power is turned off and the driver indicator is off to prevent
electric shock.
Make sure that the driver indicator is off before plugging and unplugging the driver
terminals.
The grounding terminal PE should be grounded reliably through the left screw of
the driver.
Please set the emergency stop circuit outside the controller.
Do not connect the power input cable to output U, V, W terminals.

Please tighten the output terminal with a suitable torque.
Electrify
Please confirm whether the main circuit input power is consistent with the rated
working voltage of the driver.
Do not make high voltage and insulation resistance test for driver for high voltage
and insulation resistance at will.
2
Do not connect the electromagnetic contactor or electromagnetic switch to the

output circuit.
Operation
Do not touch the output terminals directly after the driver is powered on.
When the system is on operation, the temperature of driver and motor may rise,
do not touch it.
Please confirm the input and output signals to ensure safe operation.
The alarm can be reset only after the operation signal is cut off. Alarm resetting in
the running signal state will cause the driver to restart suddenly.
Do not change the parameter settings of the driver at will. The parameter
modification needs to be performed under standby condition.
Maintenance and Inspection
Do not touch the controller terminals directly, as some of them have high voltage,
and it’s very dangerous.
Before powering up, be sure to install the cover. When removing the cover, be sure
to cut off the power supply first.
Before wiring, please confirm whether the input power is off.
After cutting off the main circuit input power and confirming the driver indicator
light has completely extinguished, it can be inspected and maintained.
Do the inspection and maintenance by professional electrical engineer.
Do not do wiring, disassembling or other operation on the terminals during power
on.
There is an integrated circuit on the main control board of the driver. Please pay full
attention when checking to avoid damage caused by static induction.
3
OUTLINE
The low-voltage servo driver is developed with a high-performance processor to provide
users with a cost-effective servo control solution.
Under the premise of ensuring stability and reliability, we pursue the functions and
performance that are closest to the application. Compared with stepping products, it has low
noise, low heat generation, high speed, constant torque output, and no lost step. Compared
with step servo products, it completely eliminates the inherent disadvantages of stepping
products, and has better functions, performance and reliability. Compared with well-known
foreign high voltage servo, the performance is close, price is lower, and it is easy to use.
4
1. BASIC FEATURES
Working voltage: 24V-60VDC (24V-36VDC for 200W motor, 24V-60VDC for 400W motor).
Output current: average 8A, peak 24A.
Speed: up to 1000RPM for hub motor.
Adapter motor: hub motor within 400W.
Control mode: external pulse, analog quantity, host computer communication control etc.,
support position, speed and torque mode.
Parameter commissioning: RS232 communication, PC debugging software write once, can
backup and import parameters.
Communication method: CAN, RS232.
Abnormal protection: has functions of under-voltage, over-voltage, overload, over-current,
encoder abnormality, etc. and has alarm output.
2. APPLICATION
Various types of electronic processing equipment, assembly line material conveying device,
medical equipment, instrumentation, precision testing equipment, channel gate control,
cartesian coordinates robot, servo fixed length positioning, garage blocking control,
equipment loading and unloading device, equipment auxiliary exercise device, grab and
handling machinery, inkjet printers, photo machines, home and office automation devices
etc.
3. TECHNICAL NORMS
Adopt FOC magnetic field orientation control technology and SVPWM space vector
modulation algorithm can modify the motor’s parameters easily to adapt to various motors
with different specifications. Built-in electronic gear, graphical debugging and monitoring
software. The control function can be customized according to the user's needs to integrate
control and drive.
Repeat tracking error: 1Pulse.

Speed control accuracy: 2RPM.
Receiving frequency: 600KHZ.
Maximum speed: 1000RPM for hub motor.
Minimum speed: 1RPM.
Positioning accuracy: 1/10000.
Highest no-load acceleration: 200RPM/MS.
Adaptable to hub motor within 24V/36V/48V/60V 400W.
5
4. INTERFACE DEFINITION
4.1 Power/Motor Interface(P3)

No. Mark Name Remark
1 GND Input power-
DC 24V-60V
2 VDC Input power+
Motor power line U
3 U
phase
Motor power line V Must be connected to the motor one
4 V
phase by one according to the mark
Motor power line W
5 W
phase
Tab 4-1
Fig 4-1 Power/motor interface terminal diagram
4.2 Encoder Interface(P2)

No. Mark Name No. Mark Name
Encoder B phase positive
1 GND Output power ground 7 B+
input
Encoder A phase positive
2 VCC Output power+5V 8 A+
input
Encoder W phase positive
3 W+ 9～12 No connection
input
Encoder V phase positive Encoder Z phase negative
4 V+ 13 Z-
input input
Encoder U phase positive Encoder B phase negative
5 U+ 14 B-
input input
Encoder Z phase positive Encoder A phase negative
6 Z+ 15 A-
input input
Tab 4-2
6
Fig 4-2 Encoder interface terminal diagram
4.3 Control Interface(p1)

No. Mark Name Remark
Enable Enable signal: This signal is used to
1 ERC-
negative input enable or disable the servo motor. When
the ERC+ and ERC- are at high level,
the drive will cut off the motor power, so
that the motor is in a free state and does
Enable
2 ERC+ not respond to the pulse. When the
positive input
ERC+ and ERC- are low, the motor is
enabled. If use 12V or 24V, need to string
1.5-2.2K resistor.
Direction signal: When the input
Direction negative
3 DIR- between DIR+ and DIR- is at high level , it
input
is reversed, and vice versa. The DIR signal
must be established at least 5uS ahead
Direction positive of PUL signal, 4-5V at high level and
4 DIR+
input 0-0.5V at low level. If use 12V or 24V,
need to string 1.5-2.2K resistor.
Pulse negative Pulse signal: Pulse rising edge is

5 PUL-
input effective, 4-5v at high level, 0-0.5v at low
level, the pulse width should be greater
Pulse positive than 1.6uS. If 12V or 24V is used, need to
6 PUL+ string 1.5-2.2k resistor.
input
Tab 4-3
Fig 4-3 Control interface terminal diagram
7
4.3.1 Control signal input example

Control signal differential mode input, control signal interface wiring diagram, as shown in
figure 4-4.
Fig 4-4 Wiring diagram of differential mode control signal interface
The wiring diagram of the single-ended mode control signal interface as figure 4-5.
Fig 4-5 Single-ended mode control signal interface wiring diagram
Special reminder: when the control signal is 12V or 24V, you need to connect an external
current limiting resistor. Connect 1K 1/8W resistor for 12V pulse, 2K 1/8W resistor for 24V
pulse. Otherwise, long-term operation will damage the opto-isolated device of driver.
8
4.4 OUT/IN Interface

Terminal Terminal
Name Remark Name Remark
No. No.
1 5V Output +5V power 2 GND Power ground
Encoder A phase 4 EA- Encoder A phase

3 EA+
positive output negative output
Encoder B phase 6 EB- Encoder B phase
5 EB+
Encoder Z phase 8 EZ- Encoder Z phase
7 EZ+
9 AI Analog input 10 GND Power ground
11 FAULT Alarm signal output 12 COM Output power ground
Tab 4-6
Fig 4-6
4.4.1 Analog input control example
The analog external potentiometer is shown in figure 4-7. There are two ways to control the
analog control, which can be selected by RS232 debugging software: position control mode -
external analog input and speed control mode - external analog input.
Fig 4-7 Analog quantity external potentiometer diagram

4.4.2 Alarm signal output example
The FAULT port is an opto-isolated OC output with the maximum withstand voltage 30VDC
and maximum saturation current 50mA. When the driver is working normally, the output
optocoupler is not conductiv
9
FAULT 11
COM 12
4.5 Communication Interface

Interface RS232/CANIN
Terminal
Diagram Name Remark
No.
1 CANH CANH high signal
2 CANL CANL low signal
3 GND Signal ground
4 RX RS232 signal received
5～7 NC No connection
RS232 signal
8 TX
transmitted
Tab 4-7
Communication Interface CANOUT
Terminal
Diagram Name Remark
No.
1 CANH CANH high signal
2 CANL CANL low signal
3 GND Signal ground
4～8 NC No connect
Tab 4-8
10
5. CONTROL MODE
5.1 Basic Control

The driver provides 3 basic operation modes: position, speed and torque, using a single
control mode. All operation modes and instructions are listed below.
Control mode
Control source selection Instruction
selection
The driver accepts a position command to
control the motor to the target position. The
External pulse input
position command is input by the terminal,
and the signal type is pulse + direction
Relative position:
The driver enable start time is mechanical 0
point, each time the PC digital input value is
written, the motor rotates the target distance.
Position control
Absolute position:
mode PC digital input
The driver enable start time is mechanical 0
point, each time the PC digital input value is
written, the motor rotates to the target
position with the mechanical 0 point as the
reference.
When the external analog input is 0~+5V, the
External analog input motor rotates -16384~+16384 pulses in
absolute position mode
Servo motor input range:
-4000RPM~+4000RPM;
PC digital input
Hub motor input range:
-1000RPM~+1000RPM
Speed control
mode
servo motor runs at a speed of
External analog input 4000RPM~+4000RPM;
Hub motor at a speed of - 1000RPM ~
+1000RPM
The input range is -7500~+7500. The
corresponding output current is 24A.When the
PC digital input input is positive, it corresponds to the positive
torque, and the negative value is the reverse
Torque control
torque.
mode
corresponding digital torque range is:
External analog input
-16384~+16384. Drive internal limiting to a
maximum of 7500.
Tab 5-1
11
6. TYPICAL WIRING
12
7. INDICATOR LIGHT AND FAULT DIAGNOSIS
Green LED is the power indicator, which is always on when the driver is powered up; it is off
when the driver is powered off.
Red LED is the fault indicator. When a fault occurs, the LED flashes in a cycle of 5 seconds.
When the fault is cleared, it keeps off. It flashes at 2Hz, with the LED on for 200ms and off for
300ms. Its flash number in 5 seconds represents different fault information, as shown in the
following table:
NO. Flash waveform Red indicator flash waveform Fault description
1 1 Overload fault
2 2 Under-voltage fault(VDC≤16V)
3 3 Over-voltage fault(VDC≥80V)
4 4 Encoder falling fault
5 5 Over-current fault
Users can also read the corresponding fault code through the PC host computer and serial
text.
8. COMMUNICATION PROTOCOL
8.1 CAN Bus Protocol
8.1.1 CAN bus protocol

ZL-C communication speed is 500K, the protocol is a signed integer data with 16-bit length or
32-bit length which is from data of each instruction like ID, slave number, function code,
register data address, register data subaddress, data content 1 high 8 bits, data content 1 low
8 bits, data content 2 high 8 bits, data content 2 low 8 bits, and they form a complete CAN
communication command.
The specific format is as follow:
(1) Write data, and the data will not be saved when power-off. The host computer sends
protocol data command, after the slave receives correct command, it will return the
corresponding data command.
The command format is as follow:
Slave ID Data Field
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7

slave function register register high 8 low 8 high 8 low 8
Preset number code address subaddress bits bits bits bits
preset 0xDA 0x00 (see —— —— —— ——
parameter
mapping table
for details)
13
If the received data is correct, the function code will change to 0xFB, other messages will
return in original text. Format is as follow:
Slave ID Data Field
slave function registe register high 8 low 8 low 8 low 8
Preset number code r subaddress bits bits bits bits
addres
s
preset 0xDB 0x00 (see parameter —— —— —— ——
mapping table for
details)
If the address does not exist, the function code will change to 0xFF, and other message will
Slave ID Data Field
Preset number code address subaddress bits bits bits bits
preset 0xFF 0x00 (see parameter —— —— —— ——
mapping table for
details)
(2) Read data. The host computer sends the protocol data command, after the slave
receives correct command, it will return the corresponding data command.
The command format is as follow:
Slave ID Data Field
slave function register register subaddress high 8 low 8 high 8 low 8
Preset number code address bits bits bits bits
Preset 0xDC 0x00 (See parameter 0x00 0x00 0x00 0x00
mapping table for
details)
If the received data is correct, the function code will change to 0xDB, other messages will
return in original text. Format as follows:
Slave ID Data Field
slave functio register register high 8 low 8 high 8 low 8
preset number n code address subaddress bits bits bits bits
preset 0xDB 0x00 (See parameter —— —— —— ——
mapping table for
details)
14
If the address does not exist, the function code will change to 0xDF, and other message will
Slave ID Data Field
preset number code address subaddress bits bits bits bits
preset 0xFF 0x00 (see parameter —— —— —— ——
mapping table for
details)
(3)Position mode related parameter mapping list:

Position Control Mode
Internal Variable Set Value Message(ID=1) Remark

Add. Name
0x0010 operation F Send 00 DA 00 10 00 00 00 0F release motor
control word Return 00 DB 00 10 00 00 00 0F (downtime)
0x0010 operation 1F Send 00 DA 00 10 00 00 00 1F enable motor(start)
control word Return 00 DB 00 10 00 00 00 1F
0x0019 Working mode 3F Send 00 DA 00 19 00 00 00 3F position mode
Return 00 DB 00 19 00 00 00 3F
0x0017 position mode 4F Send 00 DA 00 17 00 00 00 4F absolute position operation
0x0017 position mode 5F Send 00 DA 00 17 00 00 00 5F relative position operation
0x0018 origin control 6F Send 00 DA 00 18 00 00 00 6F run to Z signal
word Return 00 DB 00 18 00 00 00 6F (hub motor doesn’t have Z
signal)
0x0012 position mode 10*100 Send 00 DA 00 12 00 00 0A 0A ACC time from 0 to the
time of MS Return 00 DB 00 12 00 00 0A 0A highest speed
ACC/DEC
0x0014 trapezoid 1000RP Send 00 DA 00 14 00 00 0A AA Max. speed or uniform speed
speed M Return 00 DB 00 14 00 00 0A AA
(0x1000)
0x0015 alarm reset 7F Send 00 DA 00 15 00 00 00 7F clear when driving alarm
Return 00 DB 00 15 00 00 00 7F
0x0016 target position 123456 Send 00 DA 00 16 00 01 E2 40 0x16 address stores 32-bit
(0x1E240 Return 00 DB 00 16 00 01 E2 40 position command: high 16
) high 16 bits: 00 01 bits and low 16 bits
low 16 bits: E2 40
0x0030 Software 1F Send 00 DA 00 30 00 00 00 1F Emergency stop
brake Return 00 DB 00 30 00 00 00 1F
15
Note: In position mode, start the motor before sending the target position command. If the
motor is not started, the command is invalid. Therefore, the target position command must
be set after all the basic settings are completed.
(4) Speed mode related parameter mapping list:
Speed Control Mode

Internal Variable Set Value Message(ID=1) Remark
Add. Name
0x0010 operation F Send 00 DA 00 10 00 00 00 0F release motor
control word Return 00 DB 00 10 00 00 00 0F (downtime)
0x0010 operation 1F Send 00 DA 00 10 00 00 00 1F enable motor
control word Return 00 DB 00 10 00 00 00 1F (start)
0x0011 Target speed 500RPM Send 00 DA 00 11 00 00 05 55 motor speed
(0x1000) Return 00 DB 00 11 00 00 05 55
0x0013 speed mode 10*100MS Send 00 DA 00 13 00 00 0A 0A ACC time from 0 to the

time of Return 00 DB 00 13 00 00 0A 0A highest speed
ACC/DEC
0x0015 alarm reset 7F Send 00 DA 00 15 00 00 00 7F clear when driving
Return 00 DB 00 15 00 00 00 7F alarm
0x0019 working 2F Send 00 DA 00 19 00 00 00 2F speed mode
mode Return 00 DB 00 19 00 00 00 2F
0x0030 Software 1F Send 00 DA 00 30 00 00 00 1F Emergency stop
brake Return 00 DB 00 30 00 00 00 1F
PID Parameter mapping list
Internal Variable Name Set Value Message(ID=1) Remark

Add.
0x0020 position loop Kp 3000 Send 00 DA 00 20 00 00 0B B8
(0x0BB8) Return 00 DB 00 20 00 00 0B B8
0x0021 position loop Kd 1 Send 00 DA 00 21 00 00 00 01
(0x0001) Return 00 DB 00 21 00 00 00 01
0x0022 Position loop feed 0 Send 00 DA 00 22 00 00 00 00 Set the value to 0 or 1
forward gain Ki (0x0001) Return 00 DB 00 22 00 00 00 00
0x0023 Speed loop 5000 Send 00 DA 00 23 00 00 13 88

proportional gain Kp (0x1388) Return 00 DB 00 23 00 00 13 88
0x0024 speed loop Ki 500 Send 00 DA 00 24 00 00 01 F4
(0x01F4) Return 00 DB 00 24 00 00 01 F4
0x0025 speed loop Kd 0 Send 00 DA 00 25 00 00 00 00
(0x0000) Return 00 DB 00 25 00 00 00 00
16
0x0026 current loop Kp 500 Send 00 DA 00 26 00 00 01 F4

(0x01F4) Return 00 DB 00 26 00 00 01 F4
0x0027 current loop Ki 500 Send 00 DA 00 27 00 00 01 F4
(0x01F4) Return 00 DB 00 27 00 00 01 F4
(5) PID related parameter mapping list:
Under the default parameter setting, if the motor vibrates, reduce the value of the speed
loop Kp, and increase the value of the speed loop KI appropriately when vibrating stops. If
the reduced speed loop Kp is not enough to vibrate the motor , please reduce the value of
the position loop Kp. If the motor doesn't vibrate, please increase the value of the speed
loop Kp slowly and reduce the value of the speed loop Ki. Under the condition of satisfying
the rigidity, increasing the value of the speed loop Kd appropriately can reduce the
vibration of the motor, and increasing Kp excessively will cause high-frequency noise,
please pay attention to it. If the above steps cannot reduce the vibration, you could reducr
value of the current loop Kp appropriately.
Internal Variable Name Message(ID=1) Remark

Add.
0x00E1 bus voltage Send 00 DC 00 E1 00 00 00 00 Voltage = 0x19 corresponds
Return 00 DB 00 E1 00 00 00 19 to 25V
0x00E2 output current Send 00 DC 00 E2 00 00 00 00 Current = 0x40 corresponds
Return 00 DB 00 E2 00 00 00 40 to 64mA
0x00E3 alarm status Internal Control (PC):
Send 00 DC 00 E3 00 00 00 00
Return 00 DB 00 E3 00 00 00 00 Stop state
Return 00 DB 00 E3 00 00 00 01 Startup state
Return 00 DB 00 E3 00 00 00 02 Overcurrent
Return 00 DB 00 E3 00 00 00 04 Overvoltage
Return 00 DB 00 E3 00 00 00 08 Encoder error
Return 00 DB 00 E3 00 00 00 10 Overheat
Return 00 DB 00 E3 00 00 00 20 Undervoltage
Return 00 DB 00 E3 00 00 00 40 Overload
External Control (PLC):
Send 00 DC 00 E3 00 00 00 80
Return 00 DB 00 E3 00 00 00 80 Stop state
Return 00 DB 00 E3 00 00 00 81 Startup state
Return 00 DB 00 E3 00 00 00 82 Overcurrent
Return 00 DB 00 E3 00 00 00 84 Overvoltage
Return 00 DB 00 E3 00 00 00 88 Encoder error
Return 00 DB 00 E3 00 00 00 90 Overheat
Return 00 DB 00 E3 00 00 00 A0 Undervoltage
Return 00 DB 00 E3 00 00 00 C0 Overload
0x00E4 real-time Send 00 DC 00 E4 00 00 00 00 Actual speed = set value /
17
speed Return 00 DB 00 E4 00 00 00 96 8192 * 3000

0x00 0x96 corresponds to
150
Speed =
150/8192*3000=54rpm
0x00E6 position given Send 00 DC 00 E6 00 00 00 00 0xA0 0x00 corresponds to
Return 00 DB 00 E6 00 00 A0 00 40960
0x00E8 position Send 00 DC 00 E8 00 00 00 00 For reverse direction, value is
feedback Return 00 DB 00 E8 00 00 35 CF negative, taking the
complement of the target
position (inverting +1)
0x35 0xCF corresponds to
13775
(6) readable parameter mapping list
(7) Other related parameter mapping list:
Internal Variable Name Variable Variable Name Remark

Add. Name
0x002d torque mode 8000 Send 00 DA 00 2d 00 00 1F 40 8000mA
（0x1F40） Return 00 DB 00 2d 00 00 1F 40
0x0019 motion control 8F Send 00 DA 00 19 00 00 00 8F torque mode
word Return 00 DB 00 19 00 00 00 8F
0x0008 target torque 1500 Send 00 DA 00 08 00 00 05 DC 2500 corresponds to 8A,
(0x05DC) Return 00 DB 00 08 00 00 05 DC 1500 corresponds to 4.8A
(8) CAN heartbeat message

In the PC software, you can set the upload interval of heartbeat message. If the time is set to
0, then stop the function of uploading heartbeat message. If it is greater than 0, then upload
the selected content automatically.
The position command is the position pulse of the actual feedback. Current command is 100
times the actual output current. Speed command is a digital command, and the specific
correspondence is: actual speed = digital command / 8192 * 3000RPM.
Heartbeat Heartbeat message Message

message NO. content
0 position, current, 00 FE 00 20 00 00 00 00
speed 00 FE 00 21 00 0A 00 00
1 position 00 FE 00 20 00 00 00 00
2 position 00 FE 00 21 00 07 00 00
Heartbeat message description:
18
00 FE 00 20 00 01 E1 E2 0X00 01 E1 E2 = 123362 is the position of feedback

00 FE 00 21 00 1E 04 3F 0X00 1E= 30 Current=30/100=0.3A
0X04 3F=1087 Speed=1087/8192*3000RPM=398RPM
If the driver alarms, the heartbeat message is forced to report the alarm code:
00 internal alarm code Add 00 to alarm code in internal control mode
80 external control code Add 80 to alarm code in external control mode
Internal Control (PC) External Control (PLC)

over-current 00 FF 00 EB 02 02 02 02 00 FF 00 EB 82 82 82 82
over-voltage 00 FF 00 EB 04 04 04 04 00 FF 00 EB 84 84 84 84
Encoder failure or position error is too large 00 FF 00 EB 08 08 08 08 00 FF 00 EB 88 88 88 88
overheat 00 FF 00 EB 10 10 10 10 00 FF 00 EB 90 90 90 90
under-voltage 00 FF 00 EB 20 20 20 20 00 FF 00 EB A0 A0 A0 A0
overload 00 FF 00 EB 40 40 40 40 00 FF 00 EB C0 C0 C0 C0
8.1.2 CAN communication application example
Driver internal speed conversion: actual speed = set value / 8192 * 3000RPM.
1. Servo USB to serial port host computer settings

First, connect the device and turn on the power.
The CAN bus baud rate defaults to 500Kbps. The baud rate can be modified in
RS485_BaudRate: input 1 (represented as 1MHz baud rate), input 2 (500KHz baud rate),
input 3 (250KHz baud rate), input 4 (125KHz Baud rate). After modifying the baud rate,
please power off and restart the driver to finish the modification successfully. Set frame ID,
automatic report time, control mode PC control as shown in the figure: CAN_ID is 10 (0-109),
the automatic reporting time is 500ms (value according to the situation), and
RS485_BaudRate is 2 to represent 500KHz baud rate.
19
2. Host computer settings of CANPro protocol analysis platform

First, connect the device and turn on the power.
(1) Start the device and set the same value of baud rate with host computer
RS485_BaudRate. If the RS485_BaudRate is set to 2, please set baud rate to 500K KHz. Other
options are default. There is heartbeat message feedback.
(2) The frame ID is hexadecimal. If the ID is 10 (decimal), please input 00 00 00 0A.
(3) Send the command, through CAN bus, the host computer will receive a feedback.
Eg: Send: 00 DA 00 19 00 00 00 3F
Return: 00 DB 00 19 00 00 00 3F
That means the host and the slave can communicate normally.
①Set system parameters

Select menu "Operation" -> "Data List Settings" to set the data list parameters, as shown
below:
20
Buffer size indicates the number of data frames that can be displayed simultaneously in the
data list. Refresh period indicates how often the data list is refreshed. The refresh period is
preferably set to 200 milliseconds or more, and the recommended value is 500 milliseconds.
②Starting system
After setting the parameters, you can start the system. Select menu "Operation" -> "Start
System", the following picture will pop up:
Select the type of device you want to operate, and select “USBCAN-2E-U” here. When there
are several CAN analyzers with same type inserted in computer, for example, there are two
CAN analyzers, index numbers 0 and 1 respectively represent the two cards. When there is
only one CAN analyzer, the index number can only select 0.
Set the same value of baud rate with host computer RS485_BaudRate. If the
RS485_BaudRate is set to 2, please set baud rate to 500K KHz. Other options are default.
Click "OK", then there will be heartbeat message feedback, as shown below:
③Send data
If there is heartbeat message feedback, select “Data Send” in the CAN window, then
“-CAN-Data Send” window will pop up as shown below:
21
The frame ID is hexadecimal. For example, if the ID is 10 (decimal), then the frame ID
input is 00 00 00 0A, and other parameters are default. Write and send command in the
data window, through the CAN bus, canpro will receive a feedback.
Eg: Send: 00 DA 00 19 00 00 00 3F
Return: 00 DB 00 19 00 00 00 3F
That means the host and the slave can communicate normally. As shown below:
22
3. Position mode
Note: for each command sent, you need to check if Canpro received the data. Please send
next command after receiving the data.
(1) If the driver need to operate in position control mode, set the working mode to position
mode first.
Send 00 DA 00 19 00 00 00 3F, Return 00 DB 00 19 00 00 00 3F.
(2)Set the ACC/DEC time of the motor.
Send 00 DA 00 12 00 00 0A 0A, that is 10*100ms, Return 00 DB 00 12 00 00 0A 0A.
(3) Set the max speed or uniform speed that the motor is allowed to run. The maximum
speed setting is limited to 1000 RPM.
Eg: Send 00 DA 00 14 00 00 01 11, that is 100RPM, Return 00 DB 00 14 00 00 01 11.
(4) Set the position mode control word.
Eg: Send 00 DA 00 17 00 00 00 5F. Set the driver to a relative position, Return 00 DB 00
17 00 00 00 5F.
(5) Enable the motor.
Send 00 DA 0 0 10 00 00 00 1F, start immediately, the motor is in the lock axis state.
Return 00 DB 00 10 00 00 00 1F.
(6) Send a position command.
Eg: Send 00 DA 00 16 00 01 E2 40 which the command already contains the direction
symbol. That is, the sign of the data following the address 0x0016 is the forward and
reverse of the motor position command. Return 00 DB 00 16 00 01 E2 40.
Note: Set the position mode to the opposite direction, set the target position to a negative
number, and use the complement of the target position (invert +1).
Eg: 00 01 E2 40（hex）= 123456(decimal）
Inverse +1: FF FE 1D BF+1=FF FE 1D C0 = -123456(decimal)
Reverse command sent: 00 DA 00 16 FF FE 1D C0
After the above six steps, the entire process of position control is completed. If you want to
23
do the next operation, you can repeat the above steps directly. If you do not need to change
the motor acceleration and deceleration time, uniform speed, position control word,
working mode, directly send the position command again, repeat the sixth step directly.
Canpro can save the command, and it can be used by opening it directly from the text next
time. Input command will be sent in the data frame, "every time interval" is the time interval
of each sending, unit is millisecond, the value is preferably bigger than 70. "Name (optional)"
is the name of the command sent. Click "Add to Send List" and the data will be added to the
"Send List". The following takes the position mode command as an example, as shown below:
Add the rest of the commands in the position mode to the list. As shown below:
Click "Save File" to save the command of position mode . Then you use click "Load from File"
to find the save command file and you can use it directly next time. As shown below:
24
To understand Canpro better, click "Help" on the menu bar will pop up a help document. As
shown below:
4. Speed mode
(1) If the driver need to operate in speed control mode, set the working mode to speed
mode first.
(2) Set the acceleration/deceleration time of the motor.
Eg: Send 00 DA 00 13 00 00 0A 0B, the acceleration time is 10*100ms，and the
deceleration time is 11*100ms, Return 00 DB 00 13 00 00 0A 0B.
(3) Set the target speed. The maximum target speed is 1000 RPM.
Eg: Send 00 DA 00 11 00 00 05 55, Return 00 DB 00 11 00 00 05 55.
(4) Enable the motor.
25
Send 00 DA 00 10 00 00 00 1F, start immediately, the motor is in the lock axis state. If the
driver has preset the speed command, the motor will start at the preset speed immediately
after the motor is enabled. Return 00 DB 00 10 00 00 00 1F.
(5) Stop the motor.
Send 00 DA 00 10 00 00 00 0F, the motor stops immediately and the motor is offline. Receive
00 DB 00 10 00 00 00 0F. Or send 00 DA 00 30 00 00 00 1F, the motor stops immediately, the
motor is not offline and in the lock axis state. Return 00 DB 00 30 00 00 00 1F.
After the above five steps, all the settings of the speed mode have been completed. If you
want to change the speed of the motor running in the middle, simply change the target
speed. To change other settings, set them as appropriate.
Note:
(1) Driver internal speed conversion: actual speed = set value / 8192 * 3000RPM
(2) Set the motor to reverse and set the speed to a negative number.
Eg: Target speed is 1000RPM, the setting value is 2730 (decimal) = 00000AAA
(hexadecimal)
Target speed is -1000RPM and the setting value is FFFFF556.
(3) The maximum speed limit for the hub motor is 1000RPM.
(4) Set the feed forward gain to 0 or 1 according to requirements.
If the feed forward gain is 0, the communication is disconnected, and the motor rotates
as usual in the speed mode.
The feed forward gain is 1, the communication is disconnected, the motor will lock the axis,
and the speed must be sent every 500ms under normal working conditions, otherwise the
motor will also lock the axis.
5. Modify rated current of the driver online

For example, set current 10A, that is, 10000mA. Send 00 DA 00 2d 00 00 27 10.
6. Torque mode
(1) If the driver needs to work in torque mode, set the working mode to torque mode first.
(2) Set the torque value.
Eg: If setting 2500, which is 8A. Send 00 DA 00 08 00 00 09 C4, Return 00 DB 00 08 00
00 07 C4.
(3) Start the motor, the motor will rotate at the highest speed set inside the driver.
(4) Stop the motor and the motor is offline.
Send 00 DA 00 10 00 00 00 0F, Return 00 DB 00 10 00 00 00 0F. Or send00 DA 00 30 00
00 00 1F, the motor stops immediately, the motor is not offline and in the lock axis state.
Return 00 DB 00 30 00 00 00 1F.
7. Heatbeat message
(1) After completing the setting on the software, if the heartbeat message time is 0, it will
not be uploaded. If the heartbeat message time is 500, the driver will upload the heartbeat
26
message automatically at intervals of 500 milliseconds. The following are heartbeat

messages for position, speed, and current.
(2) If the driver alarms, the alarm code will be forced to upload automatically. The following
example is an encoder failure.
8.2 RS232 Communication Protocol
8.2.1 RS232 communication protocol
Function Data Add. High 8 bits Low 8 bits Data checksum

Remark
Description (A1) (A2) (A3) (A1+A2+A3)
Write motor enable

Motor start 0x00 0x00 0x01 0x01
(PC control mode is valid)
Write motor disable

Motor stop 0x00 0x00 0x00 0x00
(PC control mode is valid)
Speed mode
Control mode given command source
selection --- PC 0x02 0x00 0xc4 0xc6
selection
digital input
27
Position mode
selection - Control mode given command source
0x02 0x00 0xc0 0xc2
external pulse selection
input
Position mode
Control mode given command source
selection - PC 0x02 0x00 0xd0 0xd2
selection
digital input
Torque mode - Control mode given command source

0x02 0x00 0xc1 0xc3
PC digital input selection
It is recommended to modify according
Speed Take lower 8 to the actual conditions based on the

0x40 _____ _____
proportional gain bits (A1+A2+A3) factory default parameters.
Under the default parameter setting, if
the motor vibrates, please reduce the
value of the speed ratio, and increase
Speed integral Take lower 8 the speed integral value appropriately

0x41 _____ _____
gain bits (A1+A2+A3) when motor is not vibrating. If you
reduce speed proportional gain, but
the motor still vibrates, then reduce
the position proportional gain value. In
Speed Take lower 8 the case of non-vibration, increase the
0x42 _____ _____
differential gain bits (A1+A2+A3) speed proportional gain value slowly
and reduce the speed integral gain
value. Under the condition of satisfying
the rigidity, increasing the speed
Position Take lower 8 differential gain value appropriately

0x1a _____ _____
proportional gain bits (A1+A2+A3) can reduce the motor vibration, and
increasing the excessive differential
gain value will cause high frequency
noise.
Position Take lower 8

0x1b _____ _____
differential gain bits (A1+A2+A3)
Position feed Take lower 8

0x1c _____ _____
forward gain bits (A1+A2+A3)
28
Speed mode
acceleration deceleration
(valid for PC
Take lower 8
digital input) --- 0x0a
bits (A1+A2+A3)
ACC and DEC _____ _____
setting
Position debug
mode position
Take lower 8 The upper 16 bits of the 32-bit data
given high 16 0x50 _____ _____
bits (A1+A2+A3) input
bits----PC---positi
on
Position debug
mode position
Take lower 8 The lower 16 bits of the 32-bit data
given lower 16 0x05 _____ _____
bits (A1+A2+A3) input
bits -------
PC-------position
Torque debug The input torque 2500 actually

Take lower 8
mode PC input 0x08 _____ _____ corresponds to 8A, and can be set to
bits (A1+A2+A3)
torque -7500--+7500
Speed debug
The set digital 16384 corresponds to
mode-----PC 0x06 _____ _____ _____
actual speed 6000RPM
digital input
Looking for Z
When running, send this command,
signal
0x53 0x00 0x00 0x53 the motor will find the Z signal position
mechanical
automatically
origin
Clear fault 0x4a 0x00 0x00 0x4a Clear current fault
Absolute
0x51 0x00 0x00 0x51 Absolute position
position/relative
position
switching control 0x51 0x00 0x01 0x52 Relative position
in position mode
Speed limit value
in position
mode(The actual Take lower 8 The set digital 16384 corresponds to
0x1d _____ _____
speed at a given bits (A1+A2+A3) the actual speed 6000RPM
position is
reached under
29
the position
command)
Modify the rated Take lower 8

0x2d _____ _____ Set the value unit to mA
current bits (A1+A2+A3)
Read monitoring
Send 0x80 0x00 0x80, the driver will return the corresponding monitoring information
parameters
Take lower 8
0x80 0x00 Status_word Status_word is the custom parameter
bits (A1+A2+A3)
Internal Control (PC):

80 00 01 81
Send：80 00 80
80 00 81 01
Return：80 00 01 81 E1 00 19 FA E2 00 18 FA E4 02 8B 71 E6 00
Motor starting state
00
E1 Bus voltage address
E6 E7 21 8A 92 E8 00 00 E8 E9 1B 24 28
E2 Output current address
E4 Output speed address
Send：80 00 80
E6 Position given high 16-bit address
Return：80 00 81 01 E1 00 19 FA E2 00 18 FA E4 02 8B 71 E6 00
Fault status E7 Position given low 16-bit address
00
E8 Position feedback high 16-bit address
E6 E7 21 8A 92 E8 00 00 E8 E9 1B 24 28
E9 Position feedback low 16-bit address
The fault information corresponding to each bit of Status_word is as follows

(high effective):
Status_ov_i = Status_word^1, over-current
Status_ov_u = Status_word^2, over-voltage
Status_err_enc = Status_word^3, encoder error
Status_ov_q = Status_word^5, under-voltage
Status_ov_load = Status_word^6, overload
Take lower 8 bits

Bus voltage 0xe1 _____ _____ (tolerance ±2V)
(A1+A2+A3)
Take lower 8 bits The actual current by 100 times

Output current 0xe2 _____ _____
(A1+A2+A3) reduced
The returned digital 16384
Output rotate Take lower 8 bits
0xe4 _____ _____ corresponds to the actual
speed (A1+A2+A3)
speed 6000RPM
30
Position given Take lower 8 bits The position is given as 32-bit

0xe6 _____ _____
high 16 bits (A1+A2+A3) data, and the actual value is
recombined according to the
Position given Take lower 8 bits
0xe7 _____ _____ upper 16 bits and the lower 16
high 16 bits (A1+A2+A3)
bits.
Position
Take lower 8 bits The position feedback is 32-bit
feedback high 16 0xe8 _____ _____
(A1+A2+A3) data, and the actual value is
bits
recombined according to the
Position
Take lower 8 bits upper 16 bits and the lower 16
feedback low 16 0xe9 _____ _____
(A1+A2+A3) bits.
bits
Individually readable monitoring parameter
Parameter Address Command Format Remark
Internal Control (PC):

Send 0x60 0x00 0x00 0x60
Return 60 60 80 00 00 80 Stop state
60 60 80 00 01 81 Startup state
60 60 80 00 02 82 Overcurrent
60 60 80 00 04 84 Overvoltage
60 60 80 00 08 88 Encoder error
60 60 80 00 10 10 Overheat
60 60 80 00 20 A0 Undervoltage
60 60 80 00 40 C0 Overload
Alarm status 0x60
Send 0x60 0x00 0x00 0x60
Return 60 60 80 00 80 00
60 60 80 00 81 01
60 60 80 00 82 02
60 60 80 00 84 04
60 60 80 00 88 08
60 60 80 00 90 10
60 60 80 00 A0 20
60 60 80 00 C0 40
Send 0x61 0x00 0x00 0x61 Voltage = 0x19 corresponds to
Bus voltage 0x61
Return 61 61 E1 00 19 FA 25V
Send 0x62 0x00 0x00 0x62 Current = 0x0A corresponds to
Output current 0x62
Return 62 62 E2 00 0A EC 10mA
Send 0x63 0x00 0x00 0x63 Actual speed = set value / 8192
Motor speed 0x63
Return 63 63 E4 01 12 F7 * 3000RPM
31
0x01 0x12 corresponds to 274

Speed = 274 / 8192 * 3000 =
100rpm
Send 0x64 0x00 0x00 0x64 After E6 is the position high 16
Return 64 64 E6 00 00 E6 E7 27 10 1E bits 0x00 0x00
Position given 0x64 After E7, the position is lower
16 bits 0x27 0x10 = 10000
counts
Send 0x65 0x00 0x00 0x65 After E8 is position feedback
Return 65 65 E8 00 00 E8 E9 27 09 19 high 16 bits
Position feedback 0x65
After E9 is position feedback
low 16 bits
Description:
(1) The data command format received by the controller is: address + data 8 bits + data low
8 position + data checksum (take the lower 8 bits of the first 3 data sums), If the host
computer send it correctly in this format, the driver immediately returns the two
addresses of the command to the host computer, indicating that the driver has
successfully received the command. For example: the host computer sends: 0x09 0x32
0x32 0x6d the driver returns to the host: 0x09 0x09 This indicate the driver has finished
receiving command.
(2) When selecting the position debug mode, the host computer sends a control command
through the serial port. The setting sequence is: set the driver to the position debug
mode (send 0x02 0x00 0xd0 0xd2) ---------- set its acceleration and deceleration -----------
motor start (0x00 0x00 0x01 0x01)------------ Position given the upper 16 bits ------------
position given the lower 16 bits.
(3) If all parameters have been set when the driver is debugging parameters, such as the
acceleration and deceleration, control mode, speed limit (the factory has defaulted to a
suitable value). In this situation, only need to set the motor to start, then send position
to the positioning.
Step: Motor start (0x00 0x00 0x01 0x01) ------------ Position given high 16 bits ------------
position given lower 16 bits.
(4) The input length given by the position is a 32-bit data, which needs to be decomposed
into high 16 bits and low 16 bits when transmitting. Moreover, the 16-bit data is also
decomposed into high-eight and low-eight bits meanwhile. The data splitting is done by
the data format generator in the file. As long as the user writes the data to be sent on it,
it can be automatically split into the format used for communication.
(5) Use of the data format generator. For example, set the acceleration and deceleration to
50, and enter it in the 16-bit data generation box: Address: 09 Acceleration write 50
Deceleration write 50 then display. At this time, the data format is generated 0x09 0x32
0x32 0x6d and then the host computer sends this command to set the acceleration and
32
deceleration in the position debug mode.

(6) Set the 32-bit position given command. The 32-bit data corresponds to the pulses
number. For example, when the numerator denominator is set to 1 in the set electronic
gear. When the encoder lines number is 2500, the pulses number required for one
rotation of the motor is 10000. When the position reference is written as 10000, the
driver starts at the mechanical zero point and the motor rotates once. When 100000 is
written, the motor rotates 10 turns. If 0 is written, the motor rotates to the position just
start.
(7) About the position mode, whether the send position command is an absolute position or
a relative position. When the send command is 0x52 0x00 0x00 0x52, the send position
is absolute position. When the send command is 0x52 0x00 0x01 0x53, the position is
relative position.
(8) In position mode, the maximum stable speed limit of the output motor is determined by
VLimit. The send command is (0x1d set value high 8 bits set value lower 8 bits checksum),
where the limit speed corresponds to the set value = (required set limit speed / 6000) *
16384, the obtained data is rounded off. For example, if the motor require 3000 RPM,
the set value is 8192. If 1RPM is required, the set value is 3 (rounded).
(9) About finding the mechanical Z signal origin, after the parameter configuration is
completed and after sending the origin operation (0x53 0x00 0x00 0x53), then send the
motor start (0x00 0x00 0x01 0x01). The motor will rotate slowly until find the Z signal
origin, and then it will not move. The hub motor has no origin signal.
(10)About monitoring command. The command to send a monitor command is ( 0x80 0x00
0x80 ). After receiving the command, the driver will return the following data: fault
information, bus voltage, output current (amplified by 100 times, the actual display
current need to be divided by 100, for example, the receipt is 123, actual current is
1.23A), and the output speed ( The output speed is digital, and the conversion
relationship is actual speed = (digital speed / 16384 ) * 6000), the current position given
value is high 16 bits, the current position given value is low 16 bits, and the current
position feedback value is high 16 bits. The current position feedback value is low16 bits.
Please refer to the above table for the corresponding relationship. The format returned is
4 data per frame. The format is: Address Data high 8 Bits Data low 8 bits Checksum (take
the low 8 bits).
(11)Parameters that need to take effect after a power failure restart: Control mode
conversion (PC/PLC), CAN ID change.
PC control monitoring return information example description:

Internal alarm code Add 00 00 00 00 to alarm code in internal control mode
External control code Add 00 00 80 00 to alarm code in external control mode
Internal control (PC control):
Send: 80 00 80
Return: 80 00 01 81 E1 00 19 FA E2 00 18 FA E4 02 8B 71 E6 00 00
E6 E7 E7 27 10 1E E8 00 00 E8 E9 27 10 20
Stop status: 80 00 00 80 Status_word 00 00 00 00
Startup state: 80 00 01 81 Status_word 00 00 00 01
33
Overcurrent: 80 00 02 82 Status_word 00 00 00 10
Overvoltage: 80 00 04 84 Status_word 00 00 01 00
Encoder error: 80 00 08 88 Status_word 00 00 10 00
(Position error is too large)
Overheat: 80 00 10 90 Status_word 00 01 00 00
Undervoltage: 80 00 20 A0 Status_word 00 10 00 00
Overload: 80 00 40 C0 Status_word 01 00 00 00
External control (PLC control):
Stop status: 80 00 80 00 Status_word 00 00 00 00
Startup state: 80 00 81 01 Status_word 00 00 00 01
Overcurrent: 80 00 82 02 Status_word 00 00 00 10
Overvoltage: 80 00 84 04 Status_word 00 00 01 00
Encoder error: 80 00 88 08 Status_word 00 00 10 00
(Position error is too large)
Overheat: 80 00 90 10 Status_word 00 01 00 00
Undervoltage: 80 00 A0 20 Status_word 00 10 00 00
Overload: 80 00 C0 40 Status_word 01 00 00 00
(12)About the rated current modification. Send command (0x2d set value high 8 bits set
value low 8 bits checksum);
The set value unit is mA, e.g. setting 8000mA, send (0x2d 0x1f 0x40 0x8c).
(13)About torque debug mode - PC input. The set sequence is: set the driver in torque debug
mode - PC input
(send 0x02 0x00 0xc1 0xc3)--Set the torque value---Start (0x00 0x00 0x01 0x01)--Stop
(0x00 0x00 0x00 0x00)
8.2.2 RS232 Communication application example
The following command data is hexadecimal, and the host computer sets the control mode
PC control.
1. Control step in position mode is as follow:

1. Position mode: 02 00 D0 D2
2. Position mode limit speed( speed choose one among three):
(1)30RPM：1D 00 52 6F
(2)60RPM：1D 00 A4 C1
(3)120RPM: 1D 01 48 66
Calculation: set value = 60/6000*16384=164=0XA4
Checksum: 0x1D+0x00+0xA4 take low 8 bits, and the last command is 1D 00 A4 C1
3. Enable, lock motor shaft: 00 00 01 01
4. Position given
(1)50 00 00 50 position given 10000 high 16 bits
05 27 10 3C position given 10000 low 16 bits
(2)50 FF FF 4E position given -10000 high 16 bits
05 D8 F0 CD position given -10000 low 16 bits
Calculation: 10000=0X00002710 send high 16 bits and low 16 bits separately
34
high 16-bit command checksum: 0x50+0x00+0x00=0X50

The command sent: 50 00 00 50
low 16-bit command checksum: 0x05+0x27+0x10=0X3C
The command sent: 05 27 10 3C
Negative position calculation:
e.g. -10000=0xFFFFD8F0, i.e. 0x00002710 Inverse and add one.
5. The speed limit can be modified during a given position.
2. Control step in speed mode is as follow:

1. PC speed mode: 02 00 C4 C6
2. Set the acceleration/deceleration time: 0A 14 14 32 The former 0x14 is the
acceleration time 20*100mS, and the latter 0x14 is the deceleration time 20*100mS.
3. Set the rotate speed (RPM) reference as follows:
Rotate Speed(RPM) Command Remark
50 06 00 88 8E
-50 06 FF 78 7D
100 06 01 11 18
-100 06 FE EF F3
200 06 02 22 2A
-200 06 FD DE E1
Calculation: 100RPM/3000*8192=273, the hexadecimal of 273 is 111.
Data = (actual speed / 3000 * 8192) then transferred to hexadecimal.
4. Enable motor: 00 00 01 01
According to the demand, the feedforward gain of hub motor's position ring will be
set to 1 by default. In speed mode, you need to send 80 00 80 in 1 second, otherwise
the motor axis will be locked. When the current feed gain is set to 0, the motor axis
will not be locked if not sending 80 00 80. (The value of the feed forward gain can be
set to 0 or 1)
5. Shutdown motor: 00 00 00 00
3. Example of current modification is as follow:

Current(mA) Command Remark
500 2d 01 f4 22
1000 2d 03 e8 18
3000 2d 0b b8 f0
5000 2d 13 88 c8
8000 2d 1f 40 8c
4. Torque mode
1. PC torque mode: 02 00 C1 C3
2. Set the torque value as follow:
35
Set value Corresponding Command Remark

Current (A)
0 0 08 00 00 08
200 0.64 08 00 C8 D0
500 1.6 08 01 F4 FD
1000 3.2 08 03 E8 F3
2500 8 08 09 C4 D5
3. Start motor: 00 00 01 01
4. Stop motor: 00 00 00 00
5. Alarm clearing: 4A 00 00 4A
For more detailed technical support needs, please contact the manufacturer's technical
support Phone: 13164768688(Mr. Zhang) and Email: [email protected].
36

ZLAC706-CAN Specification 1 - 3 Special For Hub Motor - 1 PDF

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ZLAC706-CAN Low Voltage Servo Driver Manual V1.

3(Special for Hub Motor)

ZhongLing Technology Co.,Ltd TEL：0755-29799302 FAX:0755-29124283 Web: www.zlingkj.com

Version Update Instructions

Create/modify Date Modifier Version NO. Remark

Increase the function to change current and

2019-4-16 PC V1.3 Increase read alarm status, voltage, current,

ZhongLing Technology Co.,Ltd TEL：0755-29799302 FAX:0755-29124283 Web: www.zlingkj.com

PREFACE ................................................................................. 错误！未定义书签。

ZhongLing Technology Co.,Ltd TEL：0755-29799302 FAX:0755-29124283 Web: www.zlingkj.com

Thanks for choosing the easy-use low voltage servo driver.

Marks and warning signal:

Attention: Indicates that this operation error may result in equipment

Open package and Check

The servo driver must be used with a matching servo motor.

Please installed the driver on a non-flammable metal frame, to prevent the

Please make wiring work by professional electrical engineer.

Please set the emergency stop circuit outside the controller.

Do not connect the power input cable to output U, V, W terminals.

Do not connect the electromagnetic contactor or electromagnetic switch to the

Maintenance and Inspection

Before wiring, please confirm whether the input power is off.

Repeat tracking error: 1Pulse.

4.1 Power/Motor Interface(P3)

Fig 4-1 Power/motor interface terminal diagram

4.2 Encoder Interface(P2)

Fig 4-2 Encoder interface terminal diagram

4.3 Control Interface(p1)

Pulse negative Pulse signal: Pulse rising edge is

Fig 4-3 Control interface terminal diagram

4.3.1 Control signal input example

Fig 4-4 Wiring diagram of differential mode control signal interface

Fig 4-5 Single-ended mode control signal interface wiring diagram

4.4 OUT/IN Interface

Encoder A phase 4 EA- Encoder A phase

11 FAULT Alarm signal output 12 COM Output power ground

Fig 4-7 Analog quantity external potentiometer diagram

4.5 Communication Interface

1 CANH CANH high signal

2 CANL CANL low signal

3 GND Signal ground

4 RX RS232 signal received

1 CANH CANH high signal

2 CANL CANL low signal

3 GND Signal ground

5.1 Basic Control

7. INDICATOR LIGHT AND FAULT DIAGNOSIS

8.1 CAN Bus Protocol

8.1.1 CAN bus protocol

Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7

(3)Position mode related parameter mapping list:

Internal Variable Set Value Message(ID=1) Remark

(4) Speed mode related parameter mapping list:

Speed Control Mode

0x0013 speed mode 10*100MS Send 00 DA 00 13 00 00 0A 0A ACC time from 0 to the

PID Parameter mapping list

Internal Variable Name Set Value Message(ID=1) Remark

0x0023 Speed loop 5000 Send 00 DA 00 23 00 00 13 88

0x0026 current loop Kp 500 Send 00 DA 00 26 00 00 01 F4