Servo Motor Control Protocol V3.

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manual, product description and relevant laws, regulations, policies and
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responsible for his own behavior and all consequences arising therefrom.
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installation and modification of the user.

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in any form is not permitted without permission. The final interpretation right of
the disclaimer belongs to MYACTUATOR.

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 Catalogue
1. Communication Bus Parameters and Message Format......................................................7
1.1.CAN Bus...........................................................................................................................7
1.1.1. Parameters...........................................................................................................7
1.1.2. Message format...................................................................................................7
1.2.RS485 bus........................................................................................................................7
1.2.1. Parameters...........................................................................................................7
1.2.2. Message format...................................................................................................7
2. Single motor command description.........................................................................................8
2.1. Read PID parameter command (0x30).......................................................................8
2.1.1. Instruction description.........................................................................................8
2.1.2. Send data field definition....................................................................................8
2.1.3. Reply data field definition...................................................................................8
2.1.4. Communication example....................................................................................9
2.2. Write PID parameters to RAM command (0x31).....................................................10
2.2.1. Instruction description.......................................................................................10
2.2.2. Send data field definition..................................................................................11
2.2.3. Reply data field definition.................................................................................11
2.2.4. Communication example..................................................................................11
2.3. Write PID parameters to ROM command (0x32).....................................................12
2.3.1. Instruction description.......................................................................................13
2.3.2. Send data field definition..................................................................................13
2.3.3. Reply data field definition.................................................................................13
2.3.4. Communication example..................................................................................13
2.4. Read acceleration command (0x42)..........................................................................15
2.4.1. Instruction description.......................................................................................15
2.4.2. Send data field definition..................................................................................15
2.4.3. Reply data field definition.................................................................................15
2.4.4. Communication example..................................................................................16
2.5. Write acceleration to RAM and ROM command (0x43)..........................................16
2.5.1. Instruction description.......................................................................................16
2.5.2. Send data field definition..................................................................................16
2.5.3. Reply data field definition.................................................................................17
2.5.4. Function Index Description..............................................................................17
2.5.5 Communication example...................................................................................17
2.6. Read multi-turn encoder position data command (0x60)........................................20
2.6.1. Instruction description.......................................................................................20
2.6.2. Send data field definition..................................................................................20
2.6.3. Reply data field definition.................................................................................21
2.6.4. Communication example..................................................................................21

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2.7. Read multi-turn encoder original position data command (0x61)..........................22
2.7.1. Instruction description.......................................................................................22
2.7.2. Send data field definition..................................................................................22
2.7.3. Reply data field definition.................................................................................23
2.7.4. Communication example..................................................................................23
2.8. Read multi-turn encoder zero offset data command (0x62)...................................24
2.8.1. Instruction description.......................................................................................24
2.8.2. Send data field definition..................................................................................24
2.8.3. Reply data field definition.................................................................................24
2.8.4. Communication example..................................................................................25
2.9. Write encoder multi-turn value to ROM as motor zero command (0x63).............26
2.9.1. Instruction description.......................................................................................26
2.9.2. Send data field definition..................................................................................26
2.9.3. Reply data field definition.................................................................................26
2.9.4. Communication example..................................................................................26
2.10. Write the current multi-turn position of the encoder to the ROM as the motor
zero command (0x64)..........................................................................................................27
2.10.1. Instruction description.....................................................................................27
2.10.2. Send data field definition................................................................................28
2.10.3. Reply data field definition...............................................................................28
2.10.4. Communication example................................................................................28
2.11. Read multi-turn angle command (0x92)..................................................................29
2.11.1. Instruction description.....................................................................................29
2.11.2. Send data field definition................................................................................29
2.11.3. Reply data field definition...............................................................................30
2.11.4. Communication example................................................................................30
2.12. Read Motor Status 1 and Error Flag Command (0x9A).......................................31
2.12.1. Instruction description.....................................................................................31
2.12.2. Send data field definition................................................................................31
2.12.3. Reply data field definition...............................................................................32
2.12.4. Communication example................................................................................33
2.13. Read Motor Status 2 Command (0x9C)..................................................................34
2.13.1. Instruction description.....................................................................................34
2.13.2. Send data field definition................................................................................34
2.13.3. Reply data field definition...............................................................................34
2.13.4. Communication example................................................................................35
2.14. Read Motor Status 3 Command (0x9D)..................................................................36
2.14.1. Instruction description.....................................................................................36
2.14.2. Send data field definition................................................................................36
2.14.3. Reply data field definition...............................................................................36
2.14.4. Communication example................................................................................37
2.15. Motor shutdown command (0x80)...........................................................................38
2.15.1. Instruction description.....................................................................................38
2.15.2. Send data field definition................................................................................38

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 2.15.3. Reply data field definition...............................................................................38
2.15.4. Communication example................................................................................38
2.16. Motor stop command (0x81).....................................................................................38
2.16.1. Instruction description.....................................................................................38
2.16.2. Send data field definition................................................................................39
2.16.3. Reply data field definition...............................................................................39
2.16.4. Communication example................................................................................39
2.17. Torque closed-loop control command (0xA1).........................................................39
2.17.1. Instruction description.....................................................................................39
2.17.2. Send data field definition................................................................................39
2.17.3. Reply data field definition...............................................................................40
2.17.4. Communication example................................................................................40
2.18. Speed Closed-loop Control Command (0xA2).......................................................43
2.18.1. Instruction description.....................................................................................43
2.18.2. Send data field definition................................................................................43
2.18.3. Reply data field definition...............................................................................43
2.18.4. Communication example................................................................................44
2.19. Position tracking control command (0xA3).............................................................46
2.19.1. Instruction description.....................................................................................46
2.19.2. Send data field definition................................................................................47
2.19.3. Reply data field definition...............................................................................47
2.19.4. Communication example................................................................................48
2.20. Absolute position closed-loop control command (0xA4).......................................49
2.20.1. Instruction description.....................................................................................49
2.20.2. Send data field definition................................................................................49
2.20.3. Reply data field definition...............................................................................49
2.20.4. Communication example................................................................................50
2.21. Position tracking control command with speed limit (0xA5).................................53
2.21.1. Instruction description.....................................................................................53
2.21.2. Send data field definition................................................................................54
2.21.3. Reply data field definition...............................................................................54
2.21.4. Communication example................................................................................55
2.22. Incremental position closed-loop control command (0xA8).................................56
2.22.1. Instruction description.....................................................................................56
2.22.2. Send data field definition................................................................................57
2.22.3. Reply data field definition...............................................................................57
2.22.4. Communication example................................................................................58
2.23. System operating mode acquisition (0x70)............................................................60
2.23.1. Instruction description.....................................................................................60
2.23.2. Send data field definition................................................................................60
2.23.3. Reply data field definition...............................................................................61
2.23.4. Communication example................................................................................61
2.24. Motor power acquisition (0x71)................................................................................62
2.24.1. Instruction description.....................................................................................62

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 2.24.2. Send data field definition................................................................................62
2.24.3. Reply data field definition...............................................................................62
2.24.4. Communication example................................................................................63
2.25. System reset command (0x76)................................................................................64
2.25.1. Instruction description.....................................................................................64
2.25.2. Send data field definition................................................................................64
2.25.3. Reply data field definition...............................................................................64
2.25.4. Communication example................................................................................64
2.26. System brake release command (0x77).................................................................65
2.26.1. Instruction description.....................................................................................65
2.26.2. Send data field definition................................................................................65
2.26.3. Reply data field definition...............................................................................65
2.26.4. Communication example................................................................................65
2.27. System brake lock command (0x78).......................................................................66
2.27.1. Instruction description.....................................................................................66
2.27.2. Send data field definition................................................................................66
2.27.3. Reply data field definition...............................................................................66
2.27.4. Communication example................................................................................66
2.28. System runtime read command (0xB1)...................................................................66
2.28.1. Instruction description.....................................................................................66
2.28.2. Send data field definition................................................................................66
2.28.3. Reply data field definition...............................................................................67
2.28.4. Communication example................................................................................67
2.29. System software version date read command (0xB2)..........................................68
2.29.1. Instruction description.....................................................................................68
2.29.2. Send data field definition................................................................................68
2.29.3. Reply data field definition...............................................................................68
2.29.4. Communication example................................................................................69
2.30. Communication interruption protection time setting command (0xB3)...............70
2.30.1. Instruction description.....................................................................................70
2.30.2. Send data field definition................................................................................70
2.30.3. Reply data field definition...............................................................................70
2.30.4. Communication example................................................................................70
2.31. Communication baud rate setting command (0xB4).............................................72
2.31.1. Instruction description.....................................................................................72
2.31.2. Send data field definition................................................................................73
2.31.3. Reply data field definition...............................................................................73
2.31.4. Communication example................................................................................73
2.32. Motor model reading command (0xB5)...................................................................74
2.32.1. Instruction description.....................................................................................74
2.32.2. Send data field definition................................................................................74
2.32.3. Reply data field definition...............................................................................75
2.32.4. Communication example................................................................................75
2.33. Function control command (0x20)...........................................................................76

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 2.33.1. Instruction description.....................................................................................76
2.33.2. Send data field definition................................................................................76
2.33.3. Reply data field definition...............................................................................76
2.33.4. Function Index Description............................................................................77
2.33.5. Communication example................................................................................77
3. Multi-motor command (0x280 + command).........................................................................79
3.1. Instruction description..................................................................................................79
3.2. Communication example.............................................................................................79
4. CANID setting command (0x79)............................................................................................81
4.1. Instruction description..................................................................................................81
4.2. Send data field definition.............................................................................................81
4.3. Reply data field definition............................................................................................82
4.4. Communication example.............................................................................................82
5. Motion Mode Control Command_CAN (0x400 + ID)..........................................................83
5.1. Instruction Description.................................................................................................83
5.2. Send data field definition.............................................................................................83
5.3. Reply data field definition............................................................................................84
5.4. Communication example.............................................................................................85
6. RS485-ID setting command (0x79).......................................................................................86
6.1. Instruction Description.................................................................................................86
6.2. Send Data Field Definition...........................................................................................86
6.3. Reply data field definition............................................................................................87
6.4. Communication example.............................................................................................87
7.Indicator Light Description.......................................................................................................88
7.1 Status Description..........................................................................................................88
7.2 Failure Description Form..............................................................................................88
8. Version revision information...................................................................................................89

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 1. Communication Bus Parameters and Message Format

1.1.CAN Bus
1.1.1. Parameters
Bus interface: CAN
Baud rate: 1Mbps

1.1.2. Message format

Identifier: Single motor command sending: 0x140 + ID(1~32)
Multi-motor command sending: 0x280
Reply: 0x240 + ID (1~32)
Frame format: data frame
Frame Type: Standard Frame
DLC: 8 bytes

1.2.RS485 bus
1.2.1. Parameters
Bus interface: RS485
Baudrate:115200bps，500Kbps，1Mbps，1.5Mbps，2Mbps.

1.2.2. Message format

Type Data Bytes Description

Defination

Frame header 0x3E 1 Communication frame header, used for identification.

Device address, corresponding to the ID number of

ID 1~32 1
each motor.

The length of the data field. In the standard

Data Length Data Length 1
protocol, the length is fixed to 8 bytes.

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 According The content of the data field in the standard

Data field Data content to the protocol is exactly the same as that of the CAN.

length

Check CRC Check 2 CRC16 check, low order first, high order last.

2. Single motor command description

2.1. Read PID parameter command (0x30)

2.1.1. Instruction description
This command can read the parameters of current, speed, position loop KP
and KI at one time, and the data type is uint8_t. The system sets the
maximum range of PI parameters according to the motor model, and then
divides it equally according to the maximum range of uint8_t of 256 units.
Users only need to adjust 0-256 units.

2.1.2. Send data field definition

Data field Description Data

DATA[0] Command byte 0x30

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.1.3. Reply data field definition

Data field Description Data

DATA[0] Command byte 0x30

DATA[1] NULL 0x00

Current loop KP
DATA[2] DATA[2] = (uint8_t)(CurrKP)
parameters

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 Current loop KI
DATA[3] DATA[3] = (uint8_t)(CurrKI)
parameters

Speed loop KP
DATA[4] DATA[4] = (uint8_t)(SpdKP)
parameters

Speed loop KI
DATA[5] DATA[5] = (uint8_t)(SpdKI)
parameters

Position loop KP
DATA[6] DATA[6] = (uint8_t)(PosKP)
parameters

Position loop KI
DATA[7] DATA[7] = (uint8_t)(PosKI)
parameters

2.1.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x30 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485:
Frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
Header

0x3E 0x01 0x08 0x30 0x00 0x00 0x00 0x00 0x00 0x00 0x30 CRC16L CRC16H

Description: Send command to read PID parameters.

Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x30 0x00 0x55 0x19 0x55 0x19 0x55 0x19

RS485:
Frame ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

Heade

9
 r

0x3E 0x01 0x08 0x30 0x00 0x55 0x19 0x55 0x19 0x55 0x19 CRC16L CRC16H

Description:
Data[2] represents the current loop KP parameter, 0x55 decimal represents
85, assuming that the maximum value of the current loop set by the system is
3, then the actual value of 1 unit is 3/256 = 0.01171875, and 85 units
represent the actual value 85*0.01171875 = 0.99609375, which is the actual
value of the KP parameter of the current loop inside the system.

Data[3] represents the current loop KI parameter, 0x19 decimal represents 25,
assuming that the maximum value of the current loop set by the system is 0.1,
then the actual value of 1 unit is 0.1/256 = 0.00039062, and 25 units
represent the actual value of 25* 0.00039062 = 0.0097656, which is the actual
value of the KI parameter of the current loop inside the system.

Data[4] represents the KP parameter of the speed loop, and 0x55 in decimal
represents 85. Assuming that the maximum value of the speed loop set by the
system is 0.1, the actual value of 1 unit is 0.1/256 = 0.00039062, and 85 units
represent the actual value of 85* 0.00039062 = 0.0332027, this is the actual
value of the KP parameter of the internal speed loop of the system.

Data[5] represents the speed loop KI parameter, 0x19 decimal represents 25,
assuming that the maximum speed loop set by the system is 0.01, then the
actual value of 1 unit is 0.01/256 = 0.00003906, and 25 units means the
actual value is 25* 0.00003906 = 0.0009765, this is the actual value of the KI
parameter of the speed loop inside the system.

Data[6] represents the KP parameter of the position loop, 0x55 in decimal

means 85, assuming that the maximum value of the position loop set by the
system is 0.1, then the actual value of 1 unit is 0.1/256 = 0.00039062, and 85
units means the actual value is 85* 0.00039062 = 0.0332027, this is the
actual value of the KP parameter of the internal position loop of the system.

Data[7] represents the position loop KI parameter, 0x19 decimal represents

25, assuming that the maximum value of the position loop set by the system is
0.01, then the actual value of 1 unit is 0.01/256 = 0.00003906, and 25 units
means the actual value is 25* 0.00003906 = 0.0009765, which is the actual
value of the KI parameter of the internal position loop of the system.

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 2.2. Write PID parameters to RAM command (0x31)
2.2.1. Instruction description
This command can write the parameters of current, speed, position loop KP
and KI to RAM at one time, and it will not be saved after power off. The data
type is uint8_t. The system sets the maximum range of PI parameters
according to the motor model, and then divides it equally according to the
maximum range of uint8_t of 256 units. Users only need to adjust 0-256 units.

2.2.2. Send data field definition

Data field Description Data

DATA[0] Command byte 0x31

DATA[1] NULL 0x00

Current loop KP
DATA[2] DATA[2] = (uint8_t)(CurrKP)
parameter

Current loop KI
DATA[3] DATA[3] = (uint8_t)(CurrKI)
parameter

Speed loop KP
DATA[4] DATA[4] = (uint8_t)(SpdKP)
parameter

Speed loop KI
DATA[5] DATA[5] = (uint8_t)(SpdKI)
parameter

Position loop KP
DATA[6] DATA[6] = (uint8_t)(PosKP)
parameter

Position loop KI
DATA[7] DATA[7] = (uint8_t)(PosKI)
parameter

2.2.3. Reply data field definition

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 The content of the reply data is the same as the sent data.

2.2.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x31 0x00 0x55 0x19 0x55 0x19 0x55 0x19

RS485:
Frame ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

header

0x3E 0x01 0x08 0x31 0x00 0x55 0x19 0x55 0x19 0x55 0x19 CRC16L CRC16H

Description:
Data[2] represents the current loop KP parameter, 0x55 decimal represents
85, assuming that the maximum current loop set by the system is 3, then the
actual value of 1 unit is 3/256 = 0.01171875, and 85 units represent the actual
value of 85* 0.01171875 = 0.99609375, which is the actual value of the KP
parameter of the current loop inside the system.

Data[3] represents the current loop KI parameter, 0x19 decimal represents 25,
assuming that the maximum value of the current loop set by the system is 0.1,
then the actual value of 1 unit is 0.1/256 = 0.00039062, and 25 units
represent the actual value of 25* 0.00039062 = 0.0097656, which is the actual
value of the KI parameter of the current loop inside the system.

Data[4] represents the KP parameter of the speed loop, and 0x55 in decimal
represents 85. Assuming that the maximum value of the speed loop set by the
system is 0.1, the actual value of 1 unit is 0.1/256 = 0.00039062, and 85 units
represent the actual value of 85* 0.00039062 = 0.0332027, this is the actual
value of the KP parameter of the internal speed loop of the system.

Data[5] represents the speed loop KI parameter, 0x19 decimal represents 25,
assuming that the maximum speed loop set by the system is 0.01, then the
actual value of 1 unit is 0.01/256 = 0.00003906, and 25 units means the
actual value is 25* 0.00003906 = 0.0009765, this is the actual value of the KI
parameter of the speed loop inside the system.

Data[6] represents the KP parameter of the position loop, 0x55 in decimal

means 85, assuming that the maximum value of the position loop set by the

12
 system is 0.1, then the actual value of 1 unit is 0.1/256 = 0.00039062, and 85
units means the actual value is 85* 0.00039062 = 0.0332027, this is the
actual value of the KP parameter of the internal position loop of the system.

Data[7] represents the position loop KI parameter, 0x19 decimal represents

25, assuming that the maximum value of the position loop set by the system is
0.01, then the actual value of 1 unit is 0.01/256 = 0.00003906, and 25 units
means the actual value is 25* 0.00003906 = 0.0009765, which is the actual
value of the KI parameter of the internal position loop of the system.

Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x31 0x00 0x55 0x19 0x55 0x19 0x55 0x19

RS485:
Frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x31 0x00 0x55 0x19 0x55 0x19 0x55 0x19 CRC16L CRC16H

2.3. Write PID parameters to ROM command (0x32)

2.3.1. Instruction description

This command can write the parameters of current, speed, position loop KP
and KI to ROM at one time, which can be saved after power off. The data type
is uint8_t. The system sets the maximum range of PI parameters according to
the motor model, and then divides it equally according to the maximum range
of uint8_t of 256 units. Users only need to adjust 0-256 units.

2.3.2. Send data field definition

Data Field Description Data

DATA[0] command byte 0x32

DATA[1] NULL 0x00

Current loop KP
DATA[2] DATA[2] = (uint8_t)(CurrKP)
parameters

DATA[3] Current loop KI DATA[3] = (uint8_t)(CurrKI)

13
 parameters

Speed loop KP
DATA[4] DATA[4] = (uint8_t)(SpdKP)
parameters

Speed loop KI
DATA[5] DATA[5] = (uint8_t)(SpdKI)
parameters

Position loop KP
DATA[6] DATA[6] = (uint8_t)(PosKP)
parameters

Position loop KI
DATA[7] DATA[7] = (uint8_t)(PosKI)
parameters

2.3.3. Reply data field definition

The content of the reply data is the same as the sent data.

2.3.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x32 0x00 0x55 0x19 0x55 0x19 0x55 0x19

RS485：
frame
ID length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x32 0x00 0x55 0x19 0x55 0x19 0x55 0x19 CRC16L CRC16H

Description:
Data[2] represents the current loop KP parameter, 0x55 decimal represents
85, assuming that the maximum value of the current loop set by the system is
3, then the actual value of 1 unit is 3/256 = 0.01171875, and 85 units
represent the actual value 85*0.01171875 = 0.99609375, which is the actual
value of the KP parameter of the current loop inside the system.

Data[3] represents the current loop KI parameter, 0x19 decimal represents 25,
assuming that the maximum value of the current loop set by the system is 0.1,
then the actual value of 1 unit is 0.1/256 = 0.00039062, and 25 units
represent the actual value of 25* 0.00039062 = 0.0097656, which is the actual

14
value of the KI parameter of the current loop inside the system.

Data[4] represents the KP parameter of the speed loop, and 0x55 in decimal
represents 85. Assuming that the maximum value of the speed loop set by the
system is 0.1, the actual value of 1 unit is 0.1/256 = 0.00039062, and 85 units
represent the actual value of 85* 0.00039062 = 0.0332027, this is the actual
value of the KP parameter of the internal speed loop of the system.

Data[5] represents the speed loop KI parameter, 0x19 decimal represents 25,
assuming that the maximum speed loop set by the system is 0.01, then the
actual value of 1 unit is 0.01/256 = 0.00003906, and 25 units means the
actual value is 25* 0.00003906 = 0.0009765, this is the actual value of the KI
parameter of the speed loop inside the system.

Data[6] represents the KP parameter of the position loop, 0x55 in decimal

means 85, assuming that the maximum value of the position loop set by the
system is 0.1, then the actual value of 1 unit is 0.1/256 = 0.00039062, and 85
units means the actual value is 85* 0.00039062 = 0.0332027, this is the
actual value of the KP parameter of the internal position loop of the system.

Data[7] represents the position loop KI parameter, 0x19 decimal represents

25, assuming that the maximum value of the position loop set by the system is
0.01, then the actual value of 1 unit is 0.01/256 = 0.00003906, and 25 units
means the actual value is 25* 0.00003906 = 0.0009765, which is the actual
value of the KI parameter of the internal position loop of the system.

Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x32 0x00 0x55 0x19 0x55 0x19 0x55 0x19

RS485：
frame
ID length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x32 0x00 0x55 0x19 0x55 0x19 0x55 0x19 CRC16L CRC16H

2.4. Read acceleration command (0x42)

2.4.1. Instruction description
The host sends this command to read the acceleration parameters of the
current motor

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2.4.2. Send data field definition
data field Description Data

DATA[0] command byte 0x42

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.4.3. Reply data field definition

The acceleration parameter is included in the drive response data.
Acceleration data Accel is int32_t type, the unit is 1dps/s, and the parameter
range is 50-60000.
data field Description Data

DATA[0] command byte 0x42

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

Acceleration low byte

DATA[4] DATA[4] = (uint8_t)(Accel)
1

DATA[5] acceleration byte 2 DATA[5] = (uint8_t)(Accel>>8)

DATA[6] acceleration byte 3 DATA[6] = (uint8_t)(Accel>>16)

DATA[7] acceleration byte 4 DATA[7] = (uint8_t)(Accel>>24)

2.4.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x42 0x00 0x00 0x00 0x00 0x00 0x00 0x00

16
RS485：
frame
ID length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x42 0x00 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description:
Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the highest bit)
32-bit data is 0x00002710, which means 10000 in decimal. It means that the
acceleration of the motor position loop is 10000dps/s.

2.5. Write acceleration to RAM and ROM command (0x43)

2.5.1. Instruction description
The host sends this command to write the acceleration and deceleration into
RAM and ROM, which can be saved after power off. Acceleration data Accel
is of uint32_t type, the unit is 1dps/s, and the parameter range is 100-60000.
The command contains the acceleration and deceleration values in the
position and velocity planning, which are determined by the index value. For
details, see the index description table in 2.5.4.
2.5.2. Send data field definition
data field Description data

DATA[0] command byte 0x43

DATA[1] function inde DATA[1] = (uint8_t)index

DATA[2] NULL 0x00

DATA[3] NULL 0x00

Acceleration low byte

DATA[4] DATA[4] = (uint8_t)(Accel)
1

DATA[5] acceleration byte 2 DATA[5] = (uint8_t)(Accel>>8)

DATA[6] acceleration byte 3 DATA[6] = (uint8_t)(Accel>>16)

DATA[7] acceleration byte 4 DATA[7] = (uint8_t)(Accel>>24)

2.5.3. Reply data field definition

The motor will reply to the host after receiving the command, and the reply
command is the same as the received command.

2.5.4. Function Index Description

Index value Command name Function description

17
0x00 position planning Acceleration value from initial velocity to maximum

acceleration velocity in position planning

0x01 Position planning Deceleration value from maximum speed to stop in

deceleration position planning

0x02 speed planning The acceleration value from the current speed to the

acceleration target speed, including the acceleration in the forward

and reverse directions

0x03 speed planning In the same direction, the deceleration value from the

deceleration current speed to the target speed

2.5.5 Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x43 0x00 0x00 0x00 0x10 0x27 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x43 0x00 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description:
Data[1] is 0x00, indicating the position planning acceleration value. Data[4] to
data[7] form one (Data[4] is the lowest bit, Data[7] is the highest bit) 32-bit
data is 0x00002710, which means 10000 in decimal. Indicates that the
position planning acceleration of 10000dps/s is written to the motor driver, and
the value can be saved after the power is turned off.

Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x43 0x00 0x00 0x00 0x10 0x27 0x00 0x00

18
RS485：
frame ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

header

0x3E 0x01 0x08 0x43 0x00 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description:The motor replies to the host after receiving the command, and
the reply command is the same as the received command.

Example 2:
Send command:
CAN:
ID 号 Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x43 0x01 0x00 0x00 0x10 0x27 0x00 0x00

RS485:
帧头 ID 号 长度 D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

0x3E 0x01 0x08 0x43 0x01 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description: Data[1] is 0x01, indicating the deceleration value of position

planning. Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the
highest bit) 32-bit data is 0x00002710, which means 10000 in decimal.
Indicates that the position planning deceleration of 10000dps/s is written to
the motor driver, and the value can be saved after the power is turned off.

Reply command:
CAN:
ID 号 Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x43 0x01 0x00 0x00 0x10 0x27 0x00 0x00

RS485:
帧头 ID 号 长度 D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

0x3E 0x01 0x08 0x43 0x01 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description: The motor replies to the host computer after receiving the
command, and the reply command is the same as the received command.

Example 3:
Send command:
CAN:
ID 号 Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x43 0x02 0x00 0x00 0x10 0x27 0x00 0x00

19
RS485:
帧头 ID 号 长度 D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

0x3E 0x01 0x08 0x43 0x02 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description: Data[1] is 0x02, which indicates the acceleration value of speed

planning. Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the
highest bit) 32-bit data is 0x00002710, which means 10000 in decimal.
Indicates that the speed planning acceleration of 10000dps/s is written to the
motor driver, and the value can be saved after power off.

Reply command:
CAN:
ID 号 Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x43 0x02 0x00 0x00 0x10 0x27 0x00 0x00

RS485:
帧头 ID 号 长度 D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

0x3E 0x01 0x08 0x43 0x02 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description: The motor replies to the host after receiving the command, and
the reply command is the same as the received command.

Example 4:
Send command:
CAN:
ID 号 Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x43 0x03 0x00 0x00 0x10 0x27 0x00 0x00

RS485:
帧头 ID 号 长度 D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

0x3E 0x01 0x08 0x43 0x03 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description: Data[1] is 0x03, indicating the speed planning deceleration

value. Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the
highest bit) 32-bit data is 0x00002710, which means 10000 in decimal.
Indicates that the speed planning deceleration of 10000dps/s is written to the
motor driver, and the value can be saved after the power is turned off.

Reply command:
CAN:

20
ID 号 Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x43 0x03 0x00 0x00 0x10 0x27 0x00 0x00

RS485:
帧头 ID 号 长度 D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

0x3E 0x01 0x08 0x43 0x03 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description: The motor replies to the host after receiving the command, and
the reply command is the same as the received command.

2.6. Read multi-turn encoder position data command (0x60)

2.6.1. Instruction description
The host sends this command to read the multi-turn position of the encoder,
which represents the rotation angle of the motor output shaft, including the
multi-turn angle.

2.6.2. Send data field definition

data field Description data

DATA[0] command byte 0x60

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.6.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
contains the following parameters. Encoder multi-turn position encoder
(int32_t type, value range of multi-turn encoder, 4 bytes of valid data), which is
the value after subtracting the encoder's multi-turn zero offset (initial position)
from the original position of the encoder.
data field Description data

21
 DATA[0] command byte 0x60

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

Encoder position low

DATA[4] DATA[4] = (uint8_t)(encoder)
byte 1

encoder position byte

DATA[5] DATA[5] = (uint8_t)(encoder>>8)
2

encoder position byte

DATA[6] DATA[6] = (uint8_t)(encoder>>16)
3

encoder position byte

DATA[7] DATA[7] = (uint8_t)(encoder>>24)
4

2.6.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x60 0x00 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description: The host sends this command to read the multi-turn position of
the encoder.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x60 0x00 0x00 0x00 0x10 0x27 0x00 0x00

RS485：
frame ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

22
header

0x3E 0x01 0x08 0x60 0x00 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description: Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is
the highest bit) 32-bit data is 0x00002710, which means 10000 in decimal.
The multi-turn encoder value representing the current relative multi-turn zero
offset (initial position) of the motor is 10000 pulses.

2.7. Read multi-turn encoder original position data command

(0x61)

2.7.1. Instruction description

The host sends this command to read the multi-turn encoder home position, ie
the multi-turn encoder value without the zero offset (home position).

2.7.2. Send data field definition

data field Description data

DATA[0] command byte 0x61

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.7.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
contains the following parameters. Encoder multi-turn raw position
encoderRaw (int32_t type, value range, valid data 4 bytes).

23
 data field Description data

DATA[0] command byte 0x61

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] Encoder original position byte1 DATA[4] = (uint8_t)(encoderRaw)

Encoder original position byte DATA[5] = (uint8_t)

DATA[5]
2 (encoderRaw>>8)

DATA[6] = (uint8_t)
DATA[6] Encoder original position byte3
(encoderRaw>>16)

DATA[7] = (uint8_t)
DATA[7] Encoder original position byte4
(encoderRaw>>24)

2.7.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x61 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x61 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
The host sends this command to read the original position of the encoder
multi-turn.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x61 0x00 0x00 0x00 0x10 0x27 0x00 0x00

RS485：

24
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x61 0x00 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description:
Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the highest bit)
32-bit data is 0x00002710, which means 10000 in decimal. Indicates that the
current multi-turn encoder value of the motor is 10000 pulses, excluding the
zero offset (initial position).

2.8. Read multi-turn encoder zero offset data command (0x62)

2.8.1. Instruction description
The host sends this command to read the multi-turn zero offset value (initial
position) of the encoder.

2.8.2. Send data field definition

data field Description data

DATA[0] command byte 0x62

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.8.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
contains the following parameters. Encoder multi-turn zero offset
encoderOffset (int32_t type, value range, valid data 4 bytes).
data field Description data

DATA[0] command byte 0x62

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

25
 DATA[4] Encoder Offset Byte 1 DATA[4] = (uint8_t)(encoderOffset)

DATA[5] = (uint8_t)
DATA[5] Encoder Offset Byte2
(encoderOffset>>8)

DATA[6] = (uint8_t)
DATA[6] Encoder Offset Byte3
(encoderOffset>>16)

DATA[7] = (uint8_t)
DATA[7] Encoder Offset Byte4
(encoderOffset>>24)

2.8.4. Communication example

Example 1:
Send command:

CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x62 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

header

0x3E 0x01 0x08 0x62 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
The host sends this command to read the multi-turn zero offset value of the
encoder.

Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x62 0x00 0x00 0x00 0x10 0x27 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x62 0x00 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

26
Description:
Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the highest
bit) 32-bit data is 0x00002710, which means 10000 in decimal. Indicates that
the current multi-turn encoder zero offset value of the motor is 10000 pulses.

2.9. Write encoder multi-turn value to ROM as motor zero

command (0x63)
2.9.1. Instruction description
The host sends this command to set the zero offset (initial position) of the
encoder, where the encoder multi-turn value to be written, encoderOffset, is of
type int32_t, (value range, 4 bytes of valid data).
Note: After writing the position of the new zero point, the motor needs to be
restarted to be effective. Because of the change of the zero offset, the new
zero offset (initial position) should be used as a reference when setting the
target position.

2.9.2. Send data field definition

data field Description data

DATA[0] command byte 0x63

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

Encoder zero bias low byte

DATA[4] DATA[4] = (uint8_t)(encoderOffset)
1

Encoder Offset DATA[5] = (uint8_t)

DATA[5]
Byte2 (encoderOffset>>8)

Encoder Offset DATA[6] = (uint8_t)

DATA[6]
Byte3 (encoderOffset>>8)

Encoder Offset DATA[7] = (uint8_t)

DATA[7]
Byte4 (encoderOffset>>8)

2.9.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data

27
is the same as the command sent by the host.

2.9.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x63 0x00 0x00 0x00 0x10 0x27 0x00 0x00

RS485：
frame ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

header

0x3E 0x01 0x08 0x63 0x00 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description:
Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the highest bit)
32-bit data is 0x00002710, which means 10000 in decimal. It means to write
10000 pulses as multi-turn encoder zero offset.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x63 0x00 0x00 0x00 0x10 0x27 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x63 0x00 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description:
The motor replies to the host after receiving the command, and the frame
data is the same as the command sent by the host.

2.10. Write the current multi-turn position of the encoder to

the ROM as the motor zero command (0x64)

2.10.1. Instruction description

28
Write the current encoder position of the motor as the multi-turn encoder zero
offset (initial position) into the ROM
Note: After writing the new zero point position, the motor needs to be restarted
to be effective. Because of the change of the zero offset, the new zero offset
(initial position) should be used as a reference when setting the target
position.

2.10.2. Send data field definition

data field Description data

DATA[0] command byte 0x64

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.10.3. Reply data field definition

The motor replies to the host after receiving the command, and the
encoderOffset in the data is the set zero offset value.
data field Description data

DATA[0] command byte 0x64

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

Encoder zero bias low

DATA[4] DATA[4] = (uint8_t)(encoderOffset)
byte1

DATA[5] = (uint8_t)
DATA[5] Encoder Offset Byte2
(encoderOffset>>8)

DATA[6] = (uint8_t)
DATA[6] Encoder Offset Byte3
(encoderOffset>>16)

DATA[7] Encoder Offset Byte4 DATA[7] = (uint8_t)

29
 (encoderOffset>>24)

2.10.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x64 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x64 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
After sending the 0x64 command, the motor will write the current multi-turn
encoder value as the zero offset (initial position) into the ROM.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x64 0x00 0x00 0x00 0x10 0x27 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x64 0x00 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description:
Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the highest bit)
32-bit data is 0x00002710, which means 10000 in decimal. Indicates that the
multi-turn zero offset value (initial position) written to the motor is 10,000
pulses.

2.11. Read multi-turn angle command (0x92)

2.11.1. Instruction description
The host sends this command to read the current multi-turn absolute angle
value of the motor.

30
2.11.2. Send data field definition
data field Description data

DATA[0] command byte 0x92

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.11.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
contains the following parameters.
1. Motor angle motorAngle, (int32_t type, value range, valid data 4 bytes), unit
0.01°/LSB.
data field Description data

DATA[0] command byte 0x92

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] angle low byte 1 DATA[4] = (uint8_t)(motorAngle)

angle bytes2 DATA[5] = (uint8_t)

DATA[5]
(motorAngle>>8)

angle bytes3 DATA[6] = (uint8_t)

DATA[6]
(motorAngle>>16)

angle bytes4 DATA[7] = (uint8_t)

DATA[7]
(motorAngle>>24)

2.11.4. Communication example

Example 1:
Send command:

31
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x92 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x92 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
After sending the 0x92 command, it will return the absolute angle of the motor
output shaft.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x92 0x00 0x00 0x00 0xA0 0x8C 0x00 0x00

RS485：
frame ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

header

0x3E 0x01 0x08 0x92 0x00 0x00 0x00 0xA0 0x8C 0x00 0x00 CRC16L CRC16H

Description:
Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the highest bit)
The 32-bit data is 0x00008CA0, which means the decimal is 36000, which is
reduced by 100 times in units of 0.01°/LSB That is 36000*0.01=360°.
Indicates that the motor output shaft moves 360° in the positive direction
relative to the zero position.

2.12. Read Motor Status 1 and Error Flag Command (0x9A)

2.12.1. Instruction description
This command reads the current motor temperature, voltage and error status
flags

2.12.2. Send data field definition

32
 data field Description data

DATA[0] command byte 0x9A

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.12.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
contains the following parameters:
1. Motor temperature temperature (int8_t type, unit 1℃/LSB).
2. Brake control command: Indicates the state of the brake control command,
1 represents the brake release command, and 0 represents the brake lock
command.
2. Voltage (uint16_t type, unit 0.1V/LSB).
3. Error flag errorState (of type uint16_t, each bit represents a different motor
state)
data field Description data

DATA[0] command byte 0x9A

DATA[1] Motor temperature DATA[1] = (uint8_t)(temperature)

DATA[2] NULL 0x00

Brake release
DATA[3] DATA[3] = (uint8_t)(RlyCtrlRslt)
command

DATA[4] voltage low byte DATA[4] = (uint8_t)(voltage)

DATA[5] voltage high byte DATA[5] = (uint8_t)(voltage>>8)

Error Status Low Byte

DATA[6] DATA[6] = (uint8_t)(errorState)
1

DATA[7] error status byte 2 DATA[7] = (uint8_t)(errorState>>8)

Remark:
1. System abnormal state value System_errorState state table 1 is as follows:
System_errorState Status Description

0x0002 Motor stall

33
 0x0004 low pressure

0x0008 overvoltage

0x0010 overcurrent

0x0040 Power overrun

0x0100 speeding

0x0200

0x0400

0x0800

0x1000 Motor temperature over temperature

0x2000 Encoder calibration error

2.12.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x9A 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x9A 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
After sending the 0x9A command, the temperature, voltage and error status
flags of the motor will be returned.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x9A 0x32 0x00 0x01 0xE5 0x01 0x04 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x9A 0x32 0x00 0x01 0xE5 0x01 0x04 0x00 CRC16L CRC16H

34
Description:
Data[1] = 0x32 is 50 in decimal, which means the motor temperature is 50
degrees at the moment.

Data[3] indicates that the brake indicates the state of the brake control
command, 1 represents the brake release command, and 0 represents the
brake lock command. So 0x01 indicates that the current brake release
command has been executed.

Data[4] and Data[5] (Data[4] is the low bit, Data[5] is the high bit) form
0x01E5, the decimal is 485, which is reduced by 10 times according to the
unit of 0.1V/LSB, 485*0.1=48.5V, representing The current motor supply
voltage is 48.5V.
Data[6] and Data[7] (Data[6] is low and Data[7] is high) form 0x0004, which
indicates a low-voltage error according to the error description in the
System_errorState table.

2.13. Read Motor Status 2 Command (0x9C)

2.13.1. Instruction description
This command reads the temperature, speed and encoder position of the
current motor.

2.13.2. Send data field definition

data field Description data

DATA[0] command byte 0x9C

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.13.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
contains the following parameters.

35
1. Motor temperature temperature (int8_t type, 1℃/LSB).
2. The torque current value iq of the motor (int16_t type, 0.01A/LSB).
3. Motor output shaft speed (int16_t type, 1dps/LSB).
4. Motor output shaft angle (int16_t type, 1degree/LSB, maximum range
±32767degree).
data field Description data

DATA[0] command byte 0x9C

DATA[1] Motor temperature DATA[1] = (uint8_t)(temperature)

Torque current low

DATA[2] DATA[2] = (uint8_t)(iq)
byte

Torque current high

DATA[3] DATA[3] = (uint8_t)(iq>>8)
byte

DATA[4] Motor speed low byte DATA[4] = (uint8_t)(speed)

Motor speed high

DATA[5] DATA[5] = (uint8_t)(speed>>8)
byte

DATA[6] Motor angle low byte DATA[6] = (uint8_t)(degree)

DATA[7] Motor angle high byte DATA[7] = (uint8_t)(degree>>8)

2.13.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x9C 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x9C 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
This command reads the current temperature, speed and encoder position of
the motor.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

36
0x241 0x9C 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x9C 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00 CRC16L CRC16H

Description:
Data[1] = 0x32 is 50 in decimal, which means the motor temperature is 50
degrees at the moment. The composite data of Data[2] and Data[3] 0x0064 is
100 in decimal, and it is 100*0.01=1A when scaled down by 100 times, which
means that the actual current of the current motor is 1A. The composite data
0x01F4 of Data[4] and Data[5] is 500 in decimal, which means the motor
output shaft speed is 500dps. There is a reduction ratio relationship between
the motor output shaft speed and the motor speed. If the reduction ratio is 6,
then the motor speed is 6 times higher than the output shaft speed. The
composite data of Data[6] and Data[7] 0x002D is 45 in decimal, which means
that the motor output shaft moves 45 degrees in the positive direction relative
to the zero position. The position of the motor output shaft is related to the
number of lines of the motor encoder and the reduction ratio. For example, if
the number of lines of the motor encoder is 65536 and the reduction ratio is 6,
then 360 degrees of the motor output shaft corresponds to 65536*6 = 393216
pulses.

2.14. Read Motor Status 3 Command (0x9D)

2.14.1. Instruction description
This command reads the current motor temperature and phase current data

2.14.2. Send data field definition

data field Description data

DATA[0] command byte 0x9D

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

37
 DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.14.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
contains the following data:
1. Motor temperature temperature (int8_t type, 1℃/LSB)
2. Phase A current data, the data type is int16_t, and the corresponding actual
phase current is 0.01ALSB.
3.B-phase current data, the data type is int16_t type, and the corresponding
actual phase current is 0.01ALSB.
4. C-phase current data, the data type is int16_t type, and the corresponding
actual phase current is 0.01ALSB.
data field Description data

DATA[0] command byte 0x9D

DATA[1] Motor temperature DATA[1] = (uint8_t)(temperature)

Phase A current low

DATA[2] DATA[2] = (uint8_t)(iA)
byte

Phase A current high

DATA[3] DATA[3] = (uint8_t)(iA>>8)
byte

Phase B current low

DATA[4] DATA[4] = (uint8_t)(iB)
byte

Phase B current high

DATA[5] DATA[5] = (uint8_t)(iB>>8)
byte

Phase C current low

DATA[6] DATA[6] = (uint8_t)(iC)
byte

Phase C current high

DATA[7] DATA[7] = (uint8_t)(iC>>8)
byte

2.14.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

38
0x141 0x9D 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x9D 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
This command reads the current motor temperature and phase current data.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x9D 0x32 0xC2 0x0B 0x10 0xFA 0xC0 0xF9

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x9D 0x32 0xC2 0x0B 0x10 0xFA 0xC0 0xF9 CRC16L CRC16H

Description:
Data[1] = 0x32 is 50 in decimal, which means the motor temperature is 50
degrees at the moment. The composite data 0x0BC2 of Data[2] and Data[3] is
3010 in decimal, and it is 3010*0.01=30.1A when scaled down by 100 times,
which means that the actual current of the current phase A of the motor is
30.1A. The composite data 0xFA10 of Data[4] and Data[5] is -1520 in decimal,
and it is -1520*0.01=-15.2A when scaled down by 100 times, which means
that the actual current of the current phase B of the motor is -15.2A. The
composite data 0xF9C0 of Data[6] and Data[7] is -1600 in decimal, and it is -
1600*0.01=-16A when scaled down by 100 times, which means that the
actual current of the current phase C of the motor is -16A.

2.15. Motor shutdown command (0x80)

2.15.1. Instruction description
Turns off the motor output and also clears the motor running state, not in any
closed loop mode.

39
2.15.2. Send data field definition
data field Description data

DATA[0] command byte 0x80

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.15.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
is the same as that sent by the host.
2.15.4. Communication example

2.16. Motor stop command (0x81)

2.16.1. Instruction description
Stop the motor, the closed-loop mode where the motor is still running, just
stop the motor speed.

2.16.2. Send data field definition

data field Description data

DATA[0] command byte 0x81

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.16.3. Reply data field definition

40
The motor replies to the host after receiving the command, and the frame data
is the same as that sent by the host

2.16.4. Communication example

2.17. Torque closed-loop control command (0xA1)

2.17.1. Instruction description
This command is a control command, which can be run when the motor is not
faulty. The host sends this command to control the torque and current output
of the motor. The control value iqControl is of type int16_t and the unit is
0.01A/LSB.

2.17.2. Send data field definition

data field Description data

DATA[0] command byte 0xA1

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

Torque current control

DATA[4] DATA[4] = (uint8_t )(iqControl)
value low byte

Torque current control

DATA[5] DATA[5] = (uint8_t )(iqControl>>8)
value high byte

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.17.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
contains the following parameters.
5. Motor temperature temperature (int8_t type, 1℃/LSB).
6. The torque current value iq of the motor (int16_t type, 0.01A/LSB).
7. Motor output shaft speed (int16_t type, 1dps/LSB).
8. Motor output shaft angle (int16_t type, 1degree/LSB, maximum range
±32767degree).
data field Description data

DATA[0] command byte 0xA1

41
 DATA[1] Motor temperature DATA[1] = (uint8_t)(temperature)

Torque current low

DATA[2] DATA[2] = (uint8_t)(iq)
byte

Torque current high

DATA[3] DATA[3] = (uint8_t)(iq>>8)
byte

DATA[4] Motor speed low byte DATA[4] = (uint8_t)(speed)

Motor speed high

DATA[5] DATA[5] = (uint8_t)(speed>>8)
byte

DATA[6] Motor angle low byte DATA[6] = (uint8_t)(degree)

DATA[7] Motor angle high byte DATA[7] = (uint8_t)(degree>>8)

2.17.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xA1 0x00 0x00 0x00 0x64 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xA1 0x00 0x00 0x00 0x64 0x00 0x00 0x00 CRC16L CRC16H

Description:
Data[4] and data[5] represent the data size, Data[4] (0x64) is the low bit, and
Data[5] (0x00) is the high bit. So the actual data is 0x0064, which means
decimal 100, which is 100*0.01=1A when reduced by 0.01A/LSB. Driving will
be performed with 1A as the target current.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xA1 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00

42
RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xA1 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00 CRC16L CRC16H

Description:
Data[1] = 0x32 is 50 in decimal, which means the motor temperature is 50
degrees at the moment. The composite data of Data[2] and Data[3] 0x0064 is
100 in decimal, and it is 100*0.01=1A when scaled down by 100 times, which
means that the actual current of the current motor is 1A. The composite data
0x01F4 of Data[4] and Data[5] is 500 in decimal, which means the motor
output shaft speed is 500dps. There is a reduction ratio relationship between
the motor output shaft speed and the motor speed. If the reduction ratio is 6,
then the motor speed is 6 times higher than the output shaft speed. The
composite data of Data[6] and Data[7] 0x002D is 45 in decimal, which means
that the motor output shaft moves 45 degrees in the positive direction relative
to the zero position. The position of the motor output shaft is related to the
number of lines of the motor encoder and the reduction ratio. For example, if
the number of lines of the motor encoder is 65536 and the reduction ratio is 6,
then 360 degrees of the motor output shaft corresponds to 65536*6 = 393216
pulses.
Example 2:
Send command:

CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xA1 0x00 0x00 0x00 0x9C 0xFF 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xA1 0x00 0x00 0x00 0x9C 0xFF 0x00 0x00 CRC16L CRC16H

Description:
Data[4] and data[5] represent the data size, Data[4] (0x9C) is the low bit,
Data[5] (0xFF) is the high bit. So the actual data is 0xFF9C, which means
decimal -100, which is -100*0.01=-1A when reduced by 0.01A/LSB. The drive

43
will be performed with -1A as the target current.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xA1 0x32 0x9C 0xFF 0x0C 0xFE 0xD3 0xFF

RS485：
frame ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

header

0x3E 0x01 0x08 0xA1 0x32 0x9C 0xFF 0x0C 0xFE 0xD3 0xFF CRC16L CRC16H

Description:
Data[1] = 0x32 is 50 in decimal, which means the motor temperature is 50
degrees at the moment. The composite data of Data[2] and Data[3] 0xFF9C is
-100 in decimal, and it is -100*0.01=-1A when scaled down by 100 times,
which means that the actual current of the current motor is -1A. The
composite data 0xFE0C of Data[4] and Data[5] is -500 in decimal, which
means the motor output shaft speed is -500dps. There is a reduction ratio
relationship between the motor output shaft speed and the motor speed. If the
reduction ratio is 6, then the motor speed is 6 times higher than the output
shaft speed. The composite data of Data[6] and Data[7] 0xFFD3 is -45 in
decimal, which means that the motor output shaft moves in the opposite
direction by -45 degrees relative to the zero position. The position of the motor
output shaft is related to the number of motor encoder lines and the reduction
ratio. For example, if the number of motor encoder lines is 65536 and the
reduction ratio is 6, then 360 degrees of the motor output shaft corresponds to
65536*6 = 393216 pulses.

2.18. Speed Closed-loop Control Command (0xA2)

2.18.1. Instruction description
This command is a control command, which can be run when the motor is not
faulty. The host sends this command to control the speed of the motor output
shaft. The control value speedControl is int32_t type, and the corresponding
actual speed is 0.01dps/LSB.

2.18.2. Send data field definition

data field Description data

DATA[0] command byte 0xA2

DATA[1] NULL 0x00

44
 DATA[2] NULL 0x00

DATA[3] NULL 0x00

speed control low

DATA[4] DATA[4] = (uint8_t)(speedControl)
byte

DATA[5] = (uint8_t)
DATA[5] speed control
(speedControl>>8)

DATA[6] = (uint8_t)
DATA[6] speed control
(speedControl>>16)

speed control high DATA[7] = (uint8_t)

DATA[7]
byte (speedControl>>24)

Remark:
1. The maximum torque current of the motor under this command is limited by
the Max Torque Current value in the host computer.
2. In this control mode, the maximum acceleration of the motor is limited by
the Max Acceleration value in the host computer.

2.18.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
contains the following parameters.
1. Motor temperature temperature (int8_t type, 1℃/LSB).
2. The torque current value iq of the motor (int16_t type, 0.01A/LSB).
3. Motor output shaft speed (int16_t type, 1dps/LSB).
4. Motor output shaft angle (int16_t type, 1degree/LSB, maximum range
±32767degree).
data field Description data

DATA[0] command byte 0xA2

DATA[1] Motor temperature DATA[1] = (uint8_t)(temperature)

Torque current low

DATA[2] DATA[2] = (uint8_t)(iq)
byte

Torque current high

DATA[3] DATA[3] = (uint8_t)(iq>>8)
byte

DATA[4] Motor speed low byte DATA[4] = (uint8_t)(speed)

Motor speed high

DATA[5] DATA[5] = (uint8_t)(speed>>8)
byte

45
 DATA[6] Motor angle low byte DATA[6] = (uint8_t)(degree)

DATA[7] Motor angle high byte DATA[7] = (uint8_t)(degree>>8)

2.18.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xA2 0x00 0x00 0x00 0x10 0x27 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xA2 0x00 0x00 0x00 0x10 0x27 0x00 0x00 CRC16L CRC16H

Description:
Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the highest
bit) 32-bit data is 0x00002710, which means 10000 in decimal. The sending
command is reduced by 100 times according to 0.01dps/LSB, that is,
10000*0.01=100dps. The drive operates at the target speed of 100dps of the
motor output shaft.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xA2 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xA2 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00 CRC16L CRC16H

Description:
Data[1] = 0x32 is 50 in decimal, which means the motor temperature is 50
degrees at the moment. The composite data of Data[2] and Data[3] 0x0064 is
100 in decimal, and it is 100*0.01=1A when scaled down by 100 times, which
means that the actual current of the current motor is 1A. The composite data
0x01F4 of Data[4] and Data[5] is 500 in decimal, which means the motor

46
output shaft speed is 500dps. There is a reduction ratio relationship between
the motor output shaft speed and the motor speed. If the reduction ratio is 6,
then the motor speed is 6 times higher than the output shaft speed. The
composite data of Data[6] and Data[7] 0x002D is 45 in decimal, which means
that the motor output shaft moves 45 degrees in the positive direction relative
to the zero position. The position of the motor output shaft is related to the
number of lines of the motor encoder and the reduction ratio. For example, if
the number of lines of the motor encoder is 65536 and the reduction ratio is 6,
then 360 degrees of the motor output shaft corresponds to 65536*6 = 393216
pulses.
Example 2:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xA2 0x00 0x00 0x00 0xF0 0xD8 0xFF 0xFF

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xA2 0x00 0x00 0x00 0xF0 0xD8 0xFF 0xFF CRC16L CRC16H

Description:
Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the highest bit)
32-bit data is 0xFFFFD8F0, which means -10000 in decimal. The sending
command is reduced by 100 times according to 0.01dps/LSB, that is -
10000*0.01=-100dps. The drive runs at the target speed of the motor output
shaft -100dps.

Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xA2 0x32 0x9C 0xFF 0x0C 0xFE 0xD3 0xFF

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xA2 0x32 0x9C 0xFF 0x0C 0xFE 0xD3 0xFF CRC16L CRC16H

47
Description:
Data[1] = 0x32 is 50 in decimal, which means the motor temperature is 50
degrees at the moment. The composite data of Data[2] and Data[3] 0xFF9C is
-100 in decimal, and it is -100*0.01=-1A when scaled down by 100 times,
which means that the actual current of the current motor is -1A. The
composite data 0xFE0C of Data[4] and Data[5] is -500 in decimal, which
means the motor output shaft speed is -500dps. There is a reduction ratio
relationship between the motor output shaft speed and the motor speed. If the
reduction ratio is 6, then the motor speed is 6 times higher than the output
shaft speed. The composite data of Data[6] and Data[7] 0xFFD3 is -45 in
decimal, which means that the motor output shaft moves in the opposite
direction by -45 degrees relative to the zero position. The position of the motor
output shaft is related to the number of motor encoder lines and the reduction
ratio. For example, if the number of motor encoder lines is 65536 and the
reduction ratio is 6, then 360 degrees of the motor output shaft corresponds to
65536*6 = 393216 pulses.

2.19. Position tracking control command (0xA3)

2.19.1. Instruction description
This command is a control command, which can be run when the motor is not
faulty. The host sends this command to control the position of the motor
(multi-turn angle). The control value angleControl is int32_t type, and the
corresponding actual position is 0.01degree/LSB, that is, 36000 represents
360°, and the rotation direction of the motor is determined by the difference
between the target position and the current position . The A3 command is
used for direct position tracking. After the motor receives the target position, it
is compared with the current position and then output to the subsequent stage
after passing through the PI controller. See the following control block
diagram:

Location Tracking Mode Block Diagram

If the customer has realized the trajectory planning in the control, it can be
achieved by sending different target positions in a fixed cycle through the A3
command. At the same time, the speed and acceleration of the motor during
the movement process also depend on the speed and acceleration of the
trajectory planning.

48
2.19.2. Send data field definition
Data Field Description Data

DATA[0] Command byte 0xA3

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

Position control low

DATA[4] DATA[4] = (uint8_t)(angleControl)
byte

DATA[5] = (uint8_t)
DATA[5] position control
(angleControl>>8)

DATA[6] = (uint8_t)
DATA[6] position control
(angleControl>>16)

Position control high DATA[7] = (uint8_t)

DATA[7]
byte (angleControl>>24)

2.19.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
contains the following parameters.
1. Motor temperature temperature (int8_t type, 1℃/LSB).
2. The torque current value iq of the motor (int16_t type, 0.01A/LSB).
3. Motor output shaft speed (int16_t type, 1dps/LSB).
4. Motor output shaft angle (int16_t type, 1degree/LSB, maximum range
±32767degree).
Data Field Description Data

DATA[0] Command byte 0xA3

DATA[1] Motor temperature DATA[1] = (uint8_t)(temperature)

Torque current low

DATA[2] DATA[2] = (uint8_t)(iq)
byte

Torque current high

DATA[3] DATA[3] = (uint8_t)(iq>>8)
byte

DATA[4] Motor speed low byte DATA[4] = (uint8_t)(speed)

DATA[5] Motor speed high DATA[5] = (uint8_t)(speed>>8)

49
 byte

DATA[6] Motor angle low byte DATA[6] = (uint8_t)(degree)

DATA[7] Motor angle high byte DATA[7] = (uint8_t)(degree>>8)

2.19.4. Communication example

Example 1:
Send command:
CAN:
ID 号 Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xA3 0x00 0x00 0x00 0x64 0x00 0x00 0x00

RS485:
帧头 ID 号 长度 D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

0x3E 0x01 0x08 0xA3 0x00 0x00 0x00 0x64 0x00 0x00 0x00 CRC16L CRC16H

Description: Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is
the highest bit) 32-bit data is 0x00000064, which means 100 in decimal. The
sending command is reduced by 100 times according to 0.01degree/LSB, that
is, 100*0.01=1°. The motor will move the output shaft by 1° in the positive
direction relative to the zero position. The position interval sent by the client in
the adjacent control cycle should be appropriate, otherwise it will generate a
large speed and acceleration.

Reply command:
CAN:
ID No. Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xA3 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00

RS485:
frame ID No. Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

header

0x3E 0x01 0x08 0xA3 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00 CRC16L CRC16H

Description: Data[1] = 0x32 is 50 in decimal, which means the motor

temperature is 50 degrees at the moment. The composite data of Data[2] and
Data[3] 0x0064 is 100 in decimal, and it is 100*0.01=1A when scaled down by
100 times, which means that the actual current of the current motor is 1A. The
composite data 0x01F4 of Data[4] and Data[5] is 500 in decimal, which means
the motor output shaft speed is 500dps. There is a reduction ratio relationship
between the motor output shaft speed and the motor speed. If the reduction

50
ratio is 6, then the motor speed is 6 times higher than the output shaft speed.
The composite data of Data[6] and Data[7] 0x002D is 45 in decimal, which
means that the motor output shaft moves 45 degrees in the positive direction
relative to the zero position. The position of the motor output shaft is related to
the number of motor encoder lines and the reduction ratio. For example, if the
number of motor encoder lines is 16384 and the reduction ratio is 6, then 360
degrees of the motor output shaft corresponds to 16384*6 = 98304 pulses.

2.20. Absolute position closed-loop control command (0xA4)

2.20.1. Instruction description
This command is a control command, which can be run when the motor is not
faulty. The host sends this command to control the position of the motor
(multi-turn angle). The control value angleControl is int32_t type, and the
corresponding actual position is 0.01degree/LSB, that is, 36000 represents
360°, and the rotation direction of the motor is determined by the difference
between the target position and the current position . The control value
maxSpeed limits the maximum speed of the motor output shaft rotation, which
is of type uint16_t, corresponding to the actual speed of 1dps/LSB.

2.20.2. Send data field definition

Data Field Description Data

DATA[0] Command byte 0xA4

DATA[1] NULL 0x00

DATA[2] Speed limit low byte DATA[2] = (uint8_t)(maxSpeed)

DATA[3] speed limit high byte DATA[3] = (uint8_t)(maxSpeed>>8)

DATA[4] position control low byte DATA[4] = (uint8_t)(angleControl)

DATA[5] position control DATA[5] = (uint8_t)(angleControl>>8)

DATA[6] position control DATA[6] = (uint8_t)(angleControl>>16)

position control high

DATA[7] DATA[7] = (uint8_t)(angleControl>>24)
byte

2.20.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
contains the following parameters.
5. Motor temperature temperature (int8_t type, 1℃/LSB).
6. The torque current value iq of the motor (int16_t type, 0.01A/LSB).
7. Motor output shaft speed (int16_t type, 1dps/LSB).

51
 8. Motor output shaft angle (int16_t type, 1degree/LSB, maximum range
±32767degree).
Data Field Description Data

DATA[0] Command byte 0xA4

DATA[1] Motor temperature DATA[1] = (uint8_t)(temperature)

DATA[2] Torque current low byte DATA[2] = (uint8_t)(iq)

DATA[3] Torque current high byte DATA[3] = (uint8_t)(iq>>8)

DATA[4] Motor speed low byte DATA[4] = (uint8_t)(speed)

DATA[5] Motor speed high byte DATA[5] = (uint8_t)(speed>>8)

DATA[6] Motor angle low byte DATA[6] = (uint8_t)(degree)

DATA[7] Motor angle high byte DATA[7] = (uint8_t)(degree>>8)

2.20.4. Communication example

Example 1:
Send command:
CAN:
ID No. Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xA4 0x00 0xF4 0x01 0xA0 0x8C 0x00 0x00

RS485:
Frame ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

Header No.

0x3E 0x01 0x08 0xA4 0x00 0xF4 0x01 0xA0 0x8C 0x00 0x00 CRC16L CRC16H

Description: Data[2] and Data[3] form one (Data[2] is the low bit, Data[3] is
the high bit) 16-bit data is 0x01F4, which means the decimal 500dps motor
output shaft speed. The drive will run the position loop at this speed as the
maximum speed. Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7]
is the highest bit) 32-bit data is 0x00008CA0, which means 36000 in decimal.
The sending command is reduced by 100 times according to 0.01degree/LSB,
that is, 36000*0.01=360°. The motor will move 360° in the positive direction
with the output shaft relative to the zero position.

52
Reply command:
CAN:
ID No. Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xA4 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00

RS485:
Frame ID No. Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

Heade

0x3E 0x01 0x08 0xA4 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00 CRC16L CRC16H

Description: Data[1] = 0x32 is 50 in decimal, which means the motor

temperature is 50 degrees at the moment. The composite data of Data[2] and
Data[3] 0x0064 is 100 in decimal, and it is 100*0.01=1A when scaled down by
100 times, which means that the actual current of the current motor is 1A. The
composite data 0x01F4 of Data[4] and Data[5] is 500 in decimal, which means
the motor output shaft speed is 500dps. There is a reduction ratio relationship
between the motor output shaft speed and the motor speed. If the reduction
ratio is 6, then the motor speed is 6 times higher than the output shaft speed.
The composite data of Data[6] and Data[7] 0x002D is 45 in decimal, which
means that the motor output shaft moves 45 degrees in the positive direction
relative to the zero position. The position of the motor output shaft is related to
the number of motor encoder lines and the reduction ratio. For example, if the
number of motor encoder lines is 16384 and the reduction ratio is 6, then 360
degrees of the motor output shaft corresponds to 16384*6 = 98304 pulses.

Example 2:
Send command:
CAN:

53
ID No. Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xA4 0x00 0xF4 0x01 0x60 0x73 0xFF 0xFF

RS485:
Frame ID No. Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

Heade

0x3E 0x01 0x08 0xA4 0x00 0xF4 0x01 0x60 0x73 0xFF 0xFF CRC16L CRC16H

Description: Data[2] and Data[3] form one (Data[2] is low, Data[3] is high) 16-
bit data is 0x01F4, indicating decimal Control 500dps motor output shaft
speed. The drive will run the position loop at this speed as the maximum
speed. Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the
highest bit) 32-bit data is 0xFFFF7360, which means -36000 in decimal. The
sending command is reduced by 100 times according to 0.01degree/LSB, ie -
36000*0.01=-360°. The motor will move -360° in the opposite direction with
the output shaft relative to the zero position.
Reply command:
CAN:
ID No. Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xA4 0x32 0x9C 0xFF 0x0C 0xFE 0xD3 0xFF

RS485:
Frame ID No. Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

Heade

0x3E 0x01 0x08 0xA4 0x32 0x9C 0xFF 0x0C 0xFE 0xD3 0xFF CRC16L CRC16H

Description: Data[1] = 0x32 is 50 in decimal, which means the motor

temperature is 50 degrees at the moment. The composite data of Data[2] and
Data[3] 0xFF9C is -100 in decimal, and it is -100*0.01=-1A when scaled down
by 100 times, which means that the actual current of the current motor is -1A.
The composite data 0xFE0C of Data[4] and Data[5] is -500 in decimal, which

54
means the motor output shaft speed is -500dps. There is a reduction ratio
relationship between the motor output shaft speed and the motor speed. If the
reduction ratio is 6, then the motor speed is 6 times higher than the output
shaft speed. The composite data of Data[6] and Data[7] 0xFFD3 is -45 in
decimal, which means that the motor output shaft moves in the opposite
direction by -45 degrees relative to the zero position. The position of the motor
output shaft is related to the number of motor encoder lines and the reduction
ratio. For example, if the number of motor encoder lines is 16384 and the
reduction ratio is 6, then 360 degrees of the motor output shaft corresponds to
16384*6 = 98304 pulses.

2.21. Position tracking control command with speed limit

(0xA5)
2.21.1. Instruction description
This command is a control command, which can be run when the motor is not
faulty. The host sends this command to control the position of the motor
(multi-turn angle). The control value angleControl is int32_t type, and the
corresponding actual position is 0.01degree/LSB, that is, 36000 represents
360°, and the rotation direction of the motor is determined by the difference
between the target position and the current position . The control value
maxSpeed limits the maximum speed of the motor output shaft rotation, which
is of type uint16_t, corresponding to the actual speed of 1dps/LSB. The A5
command is used for direct position tracking. After the motor receives the
target position, it is compared with the current position and then output to the
subsequent stage after passing through the PI controller. See the following
control block diagram:

55
 Block Diagram of Position Tracking Mode with Speed Limit

If the customer has realized the trajectory planning in the control, it can be
achieved by sending different target positions in a fixed cycle through the A5
command. At the same time, the speed of the motor during the movement is
limited by the set maximum speed.
2.21.2. Send data field definition
Data Field Description Data

DATA[0] Command byte 0xA5

DATA[1] NULL 0x00

DATA[2] speed limit low byte DATA[2] = (uint8_t)(maxSpeed)

DATA[3] speed limit high byte DATA[3] = (uint8_t)(maxSpeed>>8)

DATA[4] position control low byte DATA[4] = (uint8_t)(angleControl)

DATA[5] Position control DATA[5] = (uint8_t)(angleControl>>8)

DATA[6] Position control DATA[6] = (uint8_t)(angleControl>>16)

position control high

DATA[7] DATA[7] = (uint8_t)(angleControl>>24)
byte

2.21.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
contains the following parameters.
9. Motor temperature temperature (int8_t type, 1℃/LSB).
10. The torque current value iq of the motor (int16_t type, 0.01A/LSB).
11. Motor output shaft speed (int16_t type, 1dps/LSB).
Motor output shaft angle (int16_t type, 1degree/LSB, maximum range
±32767degree).

56
12. Motor output shaft angle (int16_t type, 1degree/LSB, maximum range
±32767degree).

Data Field Description Data

DATA[0] Command byte 0xA5
DATA[1] Motor temperature DATA[1] = (uint8_t)(temperature)
DATA[2] Torque current low byte DATA[2] = (uint8_t)(iq)
DATA[3] Torque current high byte DATA[3] = (uint8_t)(iq>>8)
DATA[4] Motor speed low byte DATA[4] = (uint8_t)(speed)
DATA[5] Motor speed high byte DATA[5] = (uint8_t)(speed>>8)
DATA[6] Motor angle low byte DATA[6] = (uint8_t)(degree)
DATA[7] Motor angle high byte DATA[7] = (uint8_t)(degree>>8)

2.21.4. Communication example

Example 1:
Send command:
CAN:
ID No. Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xA5 0x00 0xF4 0x01 0x64 0x00 0x00 0x00

RS485:
Frame ID No. Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

Heade

0x3E 0x01 0x08 0xA5 0x00 0xF4 0x01 0x64 0x00 0x00 0x00 CRC16L CRC16H

Description: Data[2] and Data[3] form one (Data[2] is the low bit, Data[3] is
the high bit) 16-bit data is 0x01F4, which means the decimal 500dps motor
output shaft speed. It means that the speed of the motor will not exceed the
absolute value of 500dps when executing the A5 command. Data[4] to data[7]
form one (Data[4] is the lowest bit, Data[7] is the highest bit) 32-bit data is

57
 0x00000064, which means 100 in decimal. The sending command is reduced
by 100 times according to 0.01degree/LSB, that is, 100*0.01=1°. The motor
will move the output shaft by 1° in the positive direction relative to the zero
position.

Reply command:
CAN:
ID No. Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xA5 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00

RS485:
Frame ID No. Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

header

0x3E 0x01 0x08 0xA5 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00 CRC16L CRC16H

Description: Data[1] = 0x32 is 50 in decimal, which means the motor

temperature is 50 degrees at the moment. The composite data of Data[2] and
Data[3] 0x0064 is 100 in decimal, and it is 100*0.01=1A when scaled down by
100 times, which means that the actual current of the current motor is 1A. The
composite data 0x01F4 of Data[4] and Data[5] is 500 in decimal, which means
the motor output shaft speed is 500dps. There is a reduction ratio relationship
between the motor output shaft speed and the motor speed. If the reduction
ratio is 6, then the motor speed is 6 times higher than the output shaft speed.
The composite data of Data[6] and Data[7] 0x002D is 45 in decimal, which
means that the motor output shaft moves 45 degrees in the positive direction
relative to the zero position. The position of the motor output shaft is related to
the number of motor encoder lines and the reduction ratio. For example, if the
number of motor encoder lines is 16384 and the reduction ratio is 6, then 360
degrees of the motor output shaft corresponds to 16384*6 = 98304 pulses.

58
2.22. Incremental position closed-loop control command

(0xA8)
2.22.1. Instruction description
This command is a control command, which can be run when the motor is not
faulty. The host sends this command to control the incremental position (multi-
turn angle) of the motor, and run the input position increment with the current
position as the starting point. The control value angleControl is of type int32_t,
and the corresponding actual position is 0.01degree/LSB, that is, 36000
represents 360°, and the rotation direction of the motor is determined by the
incremental position symbol.
The control value maxSpeed limits the maximum speed of the motor output
shaft rotation, which is of type uint16_t, corresponding to the actual speed of
1dps/LSB.

2.22.2. Send data field definition

data field Description data

DATA[0] command byte 0xA8

DATA[1] NULL 0x00

DATA[2] speed limit low byte DATA[2] = (uint8_t)(maxSpeed)

DATA[3] speed limit high byte DATA[3] = (uint8_t)(maxSpeed>>8)

DATA[4] position control low byte DATA[4] = (uint8_t)(angleControl)

DATA[5] = (uint8_t)
DATA[5] position control
(angleControl>>8)

DATA[6] = (uint8_t)
DATA[6] position control
(angleControl>>16)

DATA[7] = (uint8_t)
DATA[7] position control high byte
(angleControl>>24)

2.22.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
contains the following parameters.
5. Motor temperature temperature (int8_t type, 1℃/LSB).
6. The torque current value iq of the motor (int16_t type, 0.01A/LSB).

59
7. Motor output shaft speed (int16_t type, 1dps/LSB).
8. Motor output shaft angle (int16_t type, 1degree/LSB, maximum range
±32767degree).
data field Description data

DATA[0] command byte 0xA8

DATA[1] Motor temperature DATA[1] = (uint8_t)(temperature)

Torque current low

DATA[2] DATA[2] = (uint8_t)(iq)
byte

Torque current high

DATA[3] DATA[3] = (uint8_t)(iq>>8)
byte

DATA[4] Motor speed low byte DATA[4] = (uint8_t)(speed)

Motor speed high

DATA[5] DATA[5] = (uint8_t)(speed>>8)
byte

DATA[6] Motor angle low byte DATA[6] = (uint8_t)(degree)

DATA[7] Motor angle high byte DATA[7] = (uint8_t)(degree>>8)

2.22.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xA8 0x00 0xF4 0x01 0xA0 0x8C 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xA8 0x00 0xF4 0x01 0xA0 0x8C 0x00 0x00 CRC16L CRC16H

Description:
Data[2] and Data[3] form one (Data[2] is the low bit, Data[3] is the high bit)
16-bit data is 0x01F4, which means the decimal 500dps motor output shaft
speed. The drive will run the position loop at this speed as the maximum
speed. Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the
highest bit) 32-bit data is 0x00008CA0, which means 36000 in decimal. The
sending command is reduced by 100 times according to 0.01degree/LSB, that
is, 36000*0.01=360°. The motor will move 360° in the positive direction with

60
the output shaft relative to the current position.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xA8 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xA8 0x32 0x64 0x00 0xF4 0x01 0x2D 0x00 CRC16L CRC16H

Description:
Data[1] = 0x32 is 50 in decimal, which means the motor temperature is 50
degrees at the moment. The composite data of Data[2] and Data[3] 0x0064 is
100 in decimal, and it is 100*0.01=1A when scaled down by 100 times, which
means that the actual current of the current motor is 1A. The composite data
0x01F4 of Data[4] and Data[5] is 500 in decimal, which means the motor
output shaft speed is 500dps. There is a reduction ratio relationship between
the motor output shaft speed and the motor speed. If the reduction ratio is 6,
then the motor speed is 6 times higher than the output shaft speed. The
composite data of Data[6] and Data[7] 0x002D is 45 in decimal, which means
that the motor output shaft moves 45 degrees in the positive direction relative
to the zero position. The position of the motor output shaft is related to the
number of lines of the motor encoder and the reduction ratio. For example, if
the number of lines of the motor encoder is 65536 and the reduction ratio is 6,
then 360 degrees of the motor output shaft corresponds to 65536*6 = 393216
pulses.
Example 2:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xA8 0x00 0xF4 0x01 0x60 0x73 0xFF 0xFF

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xA8 0x00 0xF4 0x01 0x60 0x73 0xFF 0xFF CRC16L CRC16H

Description:

61
 Data[2] and Data[3] form one (Data[2] is the low bit, Data[3] is the high bit)
16-bit data is 0x01F4, which means the decimal 500dps motor output shaft
speed. The drive will run the position loop at this speed as the maximum
speed. Data[4] to data[7] form one (Data[4] is the lowest bit, Data[7] is the
highest bit) 32-bit data is 0xFFFF7360, which means -36000 in decimal. The
sending command is reduced by 100 times according to 0.01degree/LSB, ie -
36000*0.01=-360°. The motor will move -360° in the opposite direction
relative to the current position with the output shaft.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xA8 0x32 0x9C 0xFF 0x0C 0xFE 0xD3 0xFF

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xA8 0x32 0x9C 0xFF 0x0C 0xFE 0xD3 0xFF CRC16L CRC16H

Description:
Data[1] = 0x32 is 50 in decimal, which means the motor temperature is 50
degrees at the moment. The composite data of Data[2] and Data[3] 0xFF9C is
-100 in decimal, and it is -100*0.01=-1A when scaled down by 100 times,
which means that the actual current of the current motor is -1A. The
composite data 0xFE0C of Data[4] and Data[5] is -500 in decimal, which
means the motor output shaft speed is -500dps. There is a reduction ratio
relationship between the motor output shaft speed and the motor speed. If the
reduction ratio is 6, then the motor speed is 6 times higher than the output
shaft speed. The composite data of Data[6] and Data[7] 0xFFD3 is -45 in
decimal, which means that the motor output shaft moves in the opposite
direction by -45 degrees relative to the zero position. The position of the motor
output shaft is related to the number of lines of the motor encoder and the
reduction ratio. For example, if the number of lines of the motor encoder is
65536 and the reduction ratio is 6, then 360 degrees of the motor output shaft
corresponds to 65536*6 = 393216 pulses.

2.23. System operating mode acquisition (0x70)

2.23.1. Instruction description
This command reads the current motor running mode.

62
2.23.2. Send data field definition
data field Description data

DATA[0] command byte 0x70

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.23.3. Reply data field definition

The motor replies to the host after receiving the command, and the drive reply
data contains the running state of the parameter runmode, which is of type
uint8_t.
The motor operation mode has the following 4 states:
1. Current loop mode (0x01).
2. Speed loop mode (0x02).
3. Position loop mode (0x03).
data field Description data

DATA[0] command byte 0x70

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

Motor operating
DATA[7] DATA[7] = (uint8_t)(runmode)
mode

2.23.4. Communication example

Example 1:
Send command:
CAN:

63
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
This command reads the current motor running mode.

Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x03

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x03 CRC16L CRC16H

Description:
Data[7] = 0x03, according to the definition of the reply frame, it means that
the current system is in the position loop mode.

2.24. Motor power acquisition (0x71)

2.24.1. Instruction description
This command reads the current motor power.

2.24.2. Send data field definition

data field Description data

DATA[0] command byte 0x71

DATA[1] NULL 0x00

64
 DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.24.3. Reply data field definition

The motor replies to the host after receiving the command, and the drive reply
data contains the motor power parameter motorpower, which is of type
uint16_t, the unit is watt, and the unit is 0.1w/LSB.
data field Description data

DATA[0] command byte 0x71

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

Motor running power low

DATA[6] DATA[6] = (uint8_t)(motorpower)
byte

Motor running power high DATA[7] = (uint8_t)

DATA[7]
byte (motorpower>>8)

2.24.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x71 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

65
header

0x3E 0x01 0x08 0x71 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
This command reads the current motor power.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x71 0x00 0x00 0x00 0x00 0x00 0xD0 0x07

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x71 0x00 0x00 0x00 0x00 0x00 0xD0 0x07 CRC16L CRC16H

Description:
The composition of Data[6] and Data[7] = 0x07D0, decimal 2000, reduced by
10 times according to the unit of 0.1W/LSB, 2000*0.1=200W. Indicates that
the current power of the motor is 200W.

2.25. System reset command (0x76)

2.25.1. Instruction description
This command is used to reset the system program.

2.25.2. Send data field definition

data field Description data

DATA[0] command byte 0x76

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.25.3. Reply data field definition

66
The motor will reset after receiving the command and will not return to the
command.

2.25.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x76 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0x76 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
After sending the command, the system is reset and the program runs again.

2.26. System brake release command (0x77)

2.26.1. Instruction description
This command is used to open the system brake. The system will release the
holding brake, and the motor will be in a movable state without being
restricted by the holding brake.

2.26.2. Send data field definition

data field Description data

DATA[0] command byte 0x77

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

67
 DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.26.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
is the same as the command sent by the host.
2.26.4. Communication example

2.27. System brake lock command (0x78)

2.27.1. Instruction description
This command is used to close the system holding brake. The holding brake
locks the motor and the motor can no longer run. The holding brake is also in
this state after the system is powered off.

2.27.2. Send data field definition

data field Description data

DATA[0] command byte 0x78

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.27.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
is the same as the command sent by the host.

68
2.27.4. Communication example

2.28. System runtime read command (0xB1)

2.28.1. Instruction description
This command is used to obtain the system running time in ms.
2.28.2. Send data field definition
data field Description data

DATA[0] command byte 0xB1

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.28.3. Reply data field definition

The motor replies to the host after receiving the command, and the drive reply
data contains the system running time SysRunTime, which is uint32_t type,
and the unit is ms.
data field Description data

DATA[0] command byte 0xB1

DATA[0] NULL 0x00

DATA[0] NULL 0x00

DATA[0] NULL 0x00

SysRunTime low
DATA[4] DATA[4] = (uint8_t)(SysRunTime)
byte1

DATA[5] = (uint8_t)
DATA[5] SysRunTime byte2
(SysRunTime>>8)

DATA[6] = (uint8_t)
DATA[6] SysRunTime byte3
(SysRunTime>>16)

69
 DATA[7] = (uint8_t)
DATA[7] SysRunTime byte4
(SysRunTime>>24)

2.28.4. Communication example

Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xB1 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xB1 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
This command reads the running time of the current system.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xB1 0x00 0x00 0x00 0x00 0x00 0x00 0x10

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xB1 0x00 0x00 0x00 0x00 0x00 0x00 0x10 CRC16L CRC16H

Description:
Data[4] to Data[7] (Data[4] is low and Data[7] is high) = 0x10000000, decimal
268435456, indicating that the system has run for 268435456ms after
restarting or resetting, about 74 Hour.

2.29. System software version date read command (0xB2)

2.29.1. Instruction description
This command is used to get the update date of the system software version.

70
2.29.2. Send data field definition
data field Description data

DATA[0] command byte 0xB2

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.29.3. Reply data field definition

The motor will reply to the host after receiving the command. The driver reply
data contains the latest version date of the system software, VersionDate,
which is of type uint32_t. The date format is in the format of year, month, and
day, such as 20211126.
data field Description data

DATA[0] command byte 0xB2

DATA[0] NULL 0x00

DATA[0] NULL 0x00

DATA[0] NULL 0x00

VersionDate low
DATA[4] DATA[4] = (uint8_t)(&VersionDate)
byte1

DATA[5] = (uint8_t)
DATA[5] VersionDate byte2
(VersionDate>>8)

DATA[6] = (uint8_t)
DATA[6] VersionDate byte3
(VersionDate>>16)

DATA[7] = (uint8_t)
DATA[7] VersionDate byte4
(VersionDate>>24)

2.29.4. Communication example

Example 1:
Send command:

71
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xB2 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xB2 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
This command reads the current software version date.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xB2 0x00 0x00 0x00 0x2E 0x89 0x34 0x01

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xB2 0x00 0x00 0x00 0x2E 0x89 0x34 0x01 CRC16L CRC16H

Description:
Data[4] to Data[7] (Data[4] is low and Data[7] is high) = 0x0134892E, decimal
20220206, indicating that the software version date is February 6, 2022.

2.30. Communication interruption protection time setting

command (0xB3)
2.30.1. Instruction description
This command is used to set the communication interruption protection time in
ms. If the communication is interrupted for more than the set time, it will cut off
the output brake lock. To run again, you need to establish stable and
continuous communication first. Writing 0 means that the communication
interruption protection function is not enabled.

72
2.30.2. Send data field definition
data field Description data

DATA[0] command byte 0xB3

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

CanRecvTime_MS low DATA[4] = (uint8_t)

DATA[4]
byte1 (CanRecvTime_MS)

CanRecvTime_MS DATA[5] = (uint8_t)

DATA[5]
byte2 (CanRecvTime_MS>>8)

CanRecvTime_MS DATA[6] = (uint8_t)

DATA[6]
byte3 (CanRecvTime_MS>>16)

CanRecvTime_MS DATA[7] = (uint8_t)

DATA[7]
byte4 (CanRecvTime_MS>>24)

2.30.3. Reply data field definition

The motor replies to the host after receiving the command, and the frame data
is the same as the command sent by the host.
2.30.4. Communication example
Example 1:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xB3 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xB3 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Note:
The data values are all 0, which means that the communication interruption
protection function is not enabled. If the communication is interrupted, the
motor will continue to execute the current command.

73
Reply command:

CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xB3 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xB3 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
The frame data is the same as the command sent by the host.
Example 2:
Send command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xB3 0x00 0x00 0x00 0xE8 0x03 0x00 0x00

RS485：
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xB3 0x00 0x00 0x00 0xE8 0x03 0x00 0x00 CRC16L CRC16H

Description:
Data[4] to Data[7] (Data[4] is low and Data[7] is high) constitute data
0x000003E8, decimal is 1000ms. Indicates that the communication
interruption protection time is set to 1000ms, which is stored in the ROM and
saved after power failure. Then, if the communication interval exceeds
1000ms, the communication interruption protection will be triggered, and the
output lock brake will be cut off. When the communication interval is restored
to within 1000ms, normal operation can be resumed.
Reply command:
CAN:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xB3 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485：

74
frame
ID Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
header

0x3E 0x01 0x08 0xB3 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description:
The frame data is the same as the command sent by the host.

2.31. Communication baud rate setting command (0xB4)

2.31.1. Instruction description
This instruction can set the communication baudrate of CAN and RS485 bus.
The parameters will be saved in ROM after setting, and will be saved after
power off, and will run at the modified baudrate when powered on again.

Baudrate:
RS485: 0 represents 115200bps baud rate,
1 stands for 500Kbps baud rate,
2 stands for 1Mbps baud rate,
3 represents 1.5Mbps baud rate,
4 represents 2Mbps baud rate;
CAN: 0 means 500Kbps baud rate,
1 stands for 1Mbps baud rate;

2.31.2. Send data field definition

Data Field Description Data

DATA[0] command byte 0xB4

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] baudrate DATA[7] = (uint8_t)baudrate

75
2.31.3. Reply data field definition
Since the communication baud rate is modified, the reply command is random
and need not be processed.

2.31.4. Communication example

Example 1:
Send command:
CAN:
Data[0
ID NO. Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]
]

0x141 0xB4 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485:

Frame ID Leng CRC16L

D0 D1 D2 D3 D4 D5 D6 D7
Header NO. th CRC16H
0xB 0x0 0x0 0x0 0x0 0x0 0x0 0x0 CRC16L
0x3E 0x01 0x08
4 0 0 0 0 0 0 0 CRC16H

Description: Data[7] = 0, which means the baud rate of RS485 is changed to

115200bps, and the baud rate of CAN is changed to 500Kbps.

Example 2:
Send command:
CAN:
Data[0
ID NO. Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]
]

0x141 0xB4 0x00 0x00 0x00 0x00 0x00 0x00 0x01

RS485:

Frame Lengt
ID NO. D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
Header h

0x3E 0x01 0x08 0xB4 0x00 0x00 0x00 0x00 0x00 0x00 0x01 CRC16L CRC16H

Description: Data[7] = 1, which means the RS485 baud rate is changed to

500Kbps, and the CAN baud rate is changed to 1Mbps.

76
Example 3:
Send command:
CAN:
Data[0
ID NO. Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]
]

0x141 0xB4 0x00 0x00 0x00 0x00 0x00 0x00 0x02

RS485:

Frame Lengt
ID NO. D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H
Header h

0x3E 0x01 0x08 0xB4 0x00 0x00 0x00 0x00 0x00 0x00 0x02 CRC16L CRC16H

Description: Data[7] = 2, which means the RS485 baud rate is changed to

1Mbps, and CAN is invalid.

2.32. Motor model reading command (0xB5)

2.32.1. Instruction description

This command is used to read the motor model, and the read data is ACSII
code, which can be converted into the corresponding actual symbol by
checking the ACSII code table.

2.32.2. Send data field definition

Data Field Description Data

DATA[0] 命令字节 0xB5

DATA[1] NULL 0x00

DATA[2] NULL 0x00

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] NULL 0x00

2.32.3. Reply data field definition

Data Field Description Data

77
 DATA[0] Command byte 0xB5

DATA[1] Motor model 1 Type1(ACSII)

DATA[2] Motor model 2 Type2(ACSII)

DATA[3] Motor model 3 Type3(ACSII)

DATA[4] Motor model 4 Type4(ACSII)

DATA[5] Motor model 5 Type5(ACSII)

DATA[6] Motor model 6 Type6(ACSII)

DATA[7] Motor model 7 Type7(ACSII)

2.32.4. Communication example

Example 1:
Send command:
CAN:
ID No. Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0xB5 0x00 0x00 0x00 0x00 0x00 0x00 0x00

RS485:
Frame ID No. Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

header

0x3E 0x01 0x08 0xB5 0x00 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description: Send the command to read the motor model.

Reply command:
CAN:
ID No. Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0xB5 0x58 0x38 0x53 0x32 0x56 0x31 0x30

RS485:
Frame ID No. Length D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

header

0x3E 0x01 0x08 0xB5 0x58 0x38 0x53 0x32 0x56 0x31 0x30 CRC16L CRC16H

Description: This command replies with 7 ACSII codes, and the 7 characters
corresponding to the motor model are obtained by looking up the table: RMD-

78
X8 S2 V10.

2.33. Function control command (0x20)

2.33.1. Instruction description

This instruction is used to use some specific functions. It is a compound

function instruction, which can contain multiple function control instructions.

2.33.2. Send data field definition

Data Field Description Data

DATA[0] command byte 0x20

DATA[1] function index DATA[1] = (uint8_t)index

DATA[2] NULL 0x00

DATA[3] NULL 0x00

Input parameter low

DATA[4] DATA[4] = (uint8_t)(Value)
byte 1

Input parameter low

DATA[5] DATA[5] = (uint8_t)(Value>>8)
byte 2

Input parameter low

DATA[6] DATA[6] = (uint8_t)(Value>>16)
byte 3

Input parameter low

DATA[7] DATA[7] = (uint8_t)(Value>>24)
byte 4

2.33.3. Reply data field definition

The motor replies to the host computer after receiving the command, and the
frame data is the same as the command sent by the host computer.

2.33.4. Function Index Description

Index value Command name Function description

0x01 Clear multi-turn Clear motor multi-turn value, update zero point and

value save. It will take effect after restarting.

79
0x02 CANID filter Enable The Value “1” means that the CANID filter is enabled,

which can improve the efficiency of motor sending

and receiving in CAN communication;

The Value “0” represents the disabled CANID filter,

which needs to be disabled when the multi-motor

control command 0x280 is required;

This value will be saved in FLASH, and the written

value will be recorded after power off.

2.33.5. Communication example

Example 1:

Send command:

CAN:
ID 号 Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x20 0x01 0x00 0x00 0x00 0x00 0x00 0x00

RS485:
帧头 ID 号 长度 D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

0x3E 0x01 0x08 0x20 0x01 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description: Data[1] = 0x01, according to the index value table, the

representative function is to clear the multi-turn value.

Command Reply:
CAN:
ID 号 Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

80
0x241 0x20 0x01 0x00 0x00 0x00 0x00 0x00 0x00

RS485:
帧头 ID 号 长度 D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

0x3E 0x01 0x08 0x20 0x01 0x00 0x00 0x00 0x00 0x00 0x00 CRC16L CRC16H

Description: the frame data is the same as the command sent by the host.

Example 2:

Send command:

CAN:
ID 号 Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x141 0x20 0x02 0x00 0x00 0x01 0x00 0x00 0x00

RS485:
帧头 ID 号 长度 D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

0x3E 0x01 0x08 0x20 0x02 0x00 0x00 0x01 0x00 0x00 0x00 CRC16L CRC16H

Description: Data[1] = 0x01, according to the index value table, the

representative function is to enable the CANID filter. Note that the 0x280
multi-motor command cannot be used after enabling, and the CANID filter
needs to be disabled before using the 0x280 command again.

Command Reply:
CAN:
ID 号 Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x20 0x02 0x00 0x00 0x01 0x00 0x00 0x00

RS485:
帧头 ID 号 长度 D0 D1 D2 D3 D4 D5 D6 D7 CRC16L CRC16H

81
0x3E 0x01 0x08 0x20 0x02 0x00 0x00 0x01 0x00 0x00 0x00 CRC16L CRC16H

Description: The frame data is the same as the command sent by the host
computer.

3. Multi-motor command (0x280 + command)

3.1. Instruction description

The ID number is 280, which means that multiple motors correspond to the
same command at the same time. The content and function of the instruction
are the same as those of the single-motor instruction. For details, please refer
to the single-motor instruction.

3.2. Communication example

Suppose there are 4 motors on the CAN bus, and the ID numbers are 141,
142, 143, and 144 respectively.

Example 1:
Send command:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x280 0x80 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Description:
4 motors receive the 0x80 motor shutdown command at the same time (see
2.30 for details), and then all 4 motors immediately execute the motor
shutdown command.
Reply command:
4 motors reply at the same time, and the reply ID is their own ID number
respectively. The reply sequence depends on the respective delays on the
bus.
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x80 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Description:
The motor whose ID number is 0x241 returns the corresponding command.
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x242 0x80 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Description:
The motor whose ID number is 0x242 returns the corresponding command.
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

82
0x243 0x80 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Description:
The motor whose ID number is 0x243 returns the corresponding command.
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x244 0x80 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Description:
The motor whose ID number is 0x244 returns the corresponding command.

Example 2:
Send command:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x280 0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Description:
4 motors receive the 0x60 read multi-turn encoder position data command at
the same time (see 2.21 for details), and then the 4 motors reply to their
respective multi-turn encoder position data.
Reply command:
4 motors reply at the same time, and the reply ID is their own ID number
respectively. The reply sequence depends on the respective delays on the
bus.
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x241 0x60 0x00 0x00 0x00 0x10 0x27 0x00 0x00

Description:
The motor reply data with ID number 0x241 consists of Data[4] to data[7]
(Data[4] is the lowest bit, Data[7] is the highest bit). The 32-bit data is
0x00002710, which means the decimal is 10000. The multi-turn encoder
value representing the current relative multi-turn zero offset (initial position) of
the motor is 10000 pulses.
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x242 0x60 0x00 0x00 0x00 0x20 0x4E 0x00 0x00

Description:
The motor reply data with ID number 0x242 consists of Data[4] to data[7]
(Data[4] is the lowest bit, Data[7] is the highest bit). The 32-bit data is
0x00004E20, which means 20000 in decimal. The multi-turn encoder value
representing the current relative multi-turn zero offset (initial position) of the
motor is 20000 pulses.
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x243 0x60 0x00 0x00 0x00 0x30 0x75 0x00 0x00

Description:

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The motor reply data with ID number 0x243 consists of Data[4] to data[7]
(Data[4] is the lowest bit, Data[7] is the highest bit). The 32-bit data is
0x00007530, which means 30000 in decimal. The multi-turn encoder value
representing the current relative multi-turn zero offset (initial position) of the
motor is 30000 pulses.
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x244 0x60 0x00 0x00 0x00 0x40 0x9C 0x00 0x00

Description:
The motor reply data with ID number 0x244 consists of Data[4] to data[7]
(Data[4] is the lowest bit, Data[7] is the highest bit). The 32-bit data is
0x00009C40, which means 40000 in decimal. The multi-turn encoder value
representing the current relative multi-turn zero offset (initial position) of the
motor is 40000 pulses.

4. CANID setting command (0x79)

4.1. Instruction description

This command is used to set and read CAN ID.
The host sends this command to set and read the CAN ID, the parameters
are as follows.
1. The read and write flag bit wReadWriteFlag is bool type, 1 read 0 write.
2. CANID, size range (#1~#32), uint16_t type (synchronized with the upper
computer function), device identifier 0x140 + ID (1~32).

4.2. Send data field definition

data field Description data

DATA[0] command byte 0x79

DATA[1] NULL 0x00

DATA[2] read and write flags DATA[2] = wReadWriteFlag

DATA[3] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] NULL 0x00

DATA[7] CANID DATA[7] = CANID(1~32)

4.3. Reply data field definition

1. The motor replies to the host after receiving the command, which is divided
into the following two situations:

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2. Set CANID, the range is 1-32, and return to the original command.
3. Read CANID, the return parameters are as follows.
data field Description data

DATA[0] command byte 0x79

DATA[0] NULL 0x00

DATA[0] read and write flags DATA[2] = wReadWriteFlag

DATA[0] NULL 0x00

DATA[4] NULL 0x00

DATA[5] NULL 0x00

DATA[6] CANID low byte1 DATA[6] = (uint8_t *)(CANID)

DATA[7] CANID byte2 DATA[7] = (uint8_t)(CANID>>8)

4.4. Communication example

Example 1:

Send command:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x300 0x79 0x00 0x00 0x00 0x00 0x00 0x00 0x02

Description:
Data[2] = 0 means write CANID. Data[7] = 1 means that the motor CANID is
set to 2, that is, the send ID is 0x142, and the reply ID is 0x242.

Reply command:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x300 0x79 0x00 0x00 0x00 0x00 0x00 0x00 0x02

Description:
Same as sending command.

Example 2:

Send command:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x300 0x79 0x00 0x01 0x00 0x00 0x00 0x00 0x00

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Description:
Data[2] = 1 means reading CANID.

Reply command:
ID Data[0] Data[1] Data[2] Data[3] Data[4] Data[5] Data[6] Data[7]

0x300 0x79 0x00 0x01 0x00 0x00 0x00 0x42 0x02

Description:
Data[6] and Data[7] form 0x242, which means that the motor send ID is
0x142, and the reply ID is 0x242.

5. Motion Mode Control Command_CAN (0x400 + ID)

5.1. Instruction Description

The command consists of 5 input parameters:
p_des (desired position),
v_des(desired velocity),
t_ff (feedforward torque),
kp (position deviation coefficient),
kd (speed deviation coefficient).
Each parameter has a preset range size:
p_des: -12.5 to 12.5 in rad;
v_des: -45 to 45, in rad/s;
t_ff: -24 to 24, unit N-m;
kp: 0 to 500;
kd: 0 to 5;

Function expression: IqRef = [kp*(p_des - p_fd_actual position) + kd*(v_des -

v_fb_actual speed) + t_ff]*KT_torque coefficient; IqRef is the output current of
the last given motor.

5.2. Send data field definition

Data Data Data Data
Data definition
field partition combination range
0-3bit p_des Upper 8-bit 16-bit
DATA[0] p_des[8-15]
4-7bit data range

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 0-3bit p_des Lower 8-bit
DATA[1] p_des[0-7]
4-7bit data

0-3bit v_des Upper 8-bit

DATA[2] v_des[4-11]
4-7bit data 12-bit
range
v_des Lower 8-bit
0-3bit v_des[0-3]
DATA[3] data
4-7bit kp[8-11] kp Upper 4-bit data
12-bit
0-3bit
DATA[4] kp[0-7] kp Lower 8-bit data range
4-7bit

0-3bit
DATA[5] kd[4-11] kd Upper 8-bit data 12-bit
4-7bit
range
0-3bit kd[0-3] kd Lower 4-bit data
DATA[6] t_ff Upper 4-bit
4-7bit t_ff[8-11]
data
12-bit
0-3bit t_ff Lower 8-bit range
DATA[7] t_ff[0-7]
4-7bit data

5.3. Reply data field definition

Data Data Data Data
Data definition
field partition combination range
0-3bit p_des Upper 8-bit
DATA[0] p_des[8-15]
4-7bit data
16-bit
0-3bit range
p_des Lower 8-bit
DATA[1] p_des[0-7]
4-7bit data

0-3bit v_des Upper 8-bit

DATA[2] v_des[4-11]
4-7bit data 12-bit
range
v_des Lower 4-bit
0-3bit v_des[0-3]
data
DATA[3]
t_ff Upper 4-bit
4-7bit kp[8-11]
data
12-bit
0-3bit t_ff Lower 8-bit range
DATA[4] t_ff[0-7]
4-7bit data

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 0-3bit
DATA[5] NULL NULL
4-7bit NULL

0-3bit NULL NULL

DATA[6]
4-7bit NULL NULL

0-3bit NULL
DATA[7] NULL NULL
4-7bit

5.4. Communication example

Example 1:

Send command: ID number 0x401

D Data
Data Data Data Data calculation
at definitio
field partition range instructions
a n
0x
0-3bit
DATA[0 0x E
p_des
] E6 0x
4-7bit value is (-)12.5rad~ p_des=(58981/65535
6
0xE665 12.5rad )*25 + (-12.5)
0x
0-3bit decimal is total 25rad = 9.99 rad
DATA[1 0x 6
(58981)
] 65 0x
4-7bit
5
0x
0-3bit v_des
DATA[2 0x 8 (-)45rad/
value is v_des=(2094/4095)*9
] 82 0x s~4 5rad/s
4-7bit 0x82E 0 + (-45)
2 total
decimal is = 1.021 rad/s
0x 90rad/s
0-3bit (2094)
DATA[3 0x E
] E0 0x
4-7bit
0 kp value
0x is 0x52 0~500 kp=(82/4095)*500 +
0-3bit
DATA[4 0x 5 decimal is total 500 0
] 52 0x (82)
4-7bit
2
DATA[5 0x 0x kd value 0~5 kd=(819/4095)*5 + 0
0-3bit
] 33 3 is 0x333 total 5
4-7bit 0x decimal is
3 (819)

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 0x
0-3bit
DATA[6 0x 3
] 3B 0x
4-7bit
B t_ff value
(-)24N- t_ff=(2901/4095)*48
0x is 0xB55
0-3bit m~24N-m + (-24)
DATA[7 0x 5 decimal is
totol 48N-m = 10.004 N-m
] 55 0x (2901)
4-7bit
5

Reply command: ID No. 0x501

D Data
Data Data Data Data calculation
at definitio
field partition range instructions
a n
0x
0-3bit
DATA[0 0x E
p_des
] E6 0x
4-7bit value is (-)12.5rad~ p_des=(58981/65535
6
0xE665 12.5rad )*25 + (-12.5)
0x
0-3bit decimal is total 25rad = 9.99 rad
DATA[1 0x 6
(58981)
] 65 0x
4-7bit
5
0x
0-3bit v_des
DATA[2 0x 8 (-)45rad/
value is v_des=(2094/4095)*9
] 82 0x s~4 5rad/s
4-7bit 0x82E 0 + (-45)
2 total
decimal is = 1.021 rad/s
0x 90rad/s
0-3bit (2094)
DATA[3 0x E
] EB 0x
4-7bit (-)24N-
B t_ff value t_ff=(2901/4095)*48
m~24N
0x is 0xB55 + (-24)
0-3bit -m
DATA[4 0x 5 decimal is = 10.004 N-m
total 48N-m
] 52 0x (2901)
4-7bit
2
DATA[5 0-3bit
] 4-7bit
DATA[6 0-3bit
] 4-7bit
DATA[7 0-3bit
] 4-7bit

6. RS485-ID setting command (0x79)

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6.1. Instruction Description
This command is used to set and read RS485 ID. Communication ID uses
0xCD, all devices on the bus will receive and process this command,
When modifying, you need to pay attention to whether multiple devices are
connected, so that the IDs of multiple devices may be modified to the same at
the same time.
The host sends this command to set and read the RS485 ID, the parameters
are as follows.
3. The read and write flag bit wReadWriteFlag is bool type, 1 read 0 write.
4. RS485-ID, size range (#1~#32), uint16_t type (synchronized with the upper
computer function), device identifier ID (1~32).

6.2. Send Data Field Definition

Data field Explanation Data
DATA[0] command byte 0x79
DATA[1] NULL 0x00
DATA[2] read and write flags DATA[2] = wReadWriteFlag
DATA[3] NULL 0x00
DATA[4] NULL 0x00
DATA[5] NULL 0x00
DATA[6] NULL 0x00
DATA[7] RS485ID DATA[7] = RS485ID(1~32)

6.3. Reply data field definition

4. The motor replies to the host after receiving the command, which is divided
into the following two situations:
5. Set RS485ID, the range is 1-32, and return to the original command.
6. Read RS485ID, the return parameters are as follows.
Data field Explanation Data
DATA[0] command byte 0x79
DATA[1] NULL 0x00
DATA[2] read and write flags DATA[2] = wReadWriteFlag
DATA[3] NULL 0x00
DATA[4] NULL 0x00
DATA[5] NULL 0x00
DATA[6] RS485 Low byte 1 DATA[6] = (uint8_t *)(RS485ID)
DATA[7] RS485 ID 2 DATA[7] = (uint8_t)(RS485ID>>8)

6.4. Communication example

Example 1:

90
Send command:
Frame ID Leng CRC16L
D0 D1 D2 D3 D4 D5 D6 D7
Header No. th CRC16H
0x7 0x0 0x0 0x0 0x0 0x0 0x0 0x0 CRC16L
0x3E 0xCD 0x08
9 0 0 0 0 0 0 2 CRC16H
Description: Data[2] = 0 means write RS485ID. Data[7] = 1 means to set the
motor RS485ID to 2.

Reply command:
Frame ID Leng CRC16L
D0 D1 D2 D3 D4 D5 D6 D7
Header No. th CRC16H
0x7 0x0 0x0 0x0 0x0 0x0 0x0 0x0 CRC16L
0x3E 0xCD 0x08
9 0 0 0 0 0 0 2 CRC16H
Description: Same as sending command.

Example 2:
Send command:
Frame ID Leng CRC16L
D0 D1 D2 D3 D4 D5 D6 D7
Header No. th CRC16H
0x7 0x0 0x0 0x0 0x0 0x0 0x0 0x0 CRC16L
0x3E 0xCD 0x08
9 0 1 0 0 0 0 0 CRC16H

Description: Data[2] = 1 means to read RS485ID.

Reply command:
Frame ID Leng CRC16L
D0 D1 D2 D3 D4 D5 D6 D7
Header No. th CRC16H
0x7 0x0 0x0 0x0 0x0 0x0 0x0 0x0 CRC16L
0x3E 0xCD 0x08
9 0 1 0 0 0 0 2 CRC16H

7.Indicator Light Description

7.1 Status Description

·When the indicator light is solid on, it means the motor is running normally;
·Slow flashing indicates that the motor has a secondary error. If the recovery
condition is reached, it will automatically return to normal operation, and the
indicator light will be solid on for a long time;
·Flickering quickly indicates that the motor has a first-level error, and the
motor cannot recover from the error. It is necessary to check the motor fault
and restart before it can continue to run;

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7.2 Failure Description Form
Fault Name Description Error Level

Hardware over-current If the motor current exceeds the limit

value, there may be short circuit, phase Level 1

loss, loss of control, motor damage, etc.

Stall error After the current reaches the stall

current, the speed is very low and

Level 1
continues for a period of time. Indicates

that the motor load is too large.

Under-voltage error The power input is lower than the set

Level 2
undervoltage value

Over-voltage error The power input is higher than the set

Level 2
overvoltage value

Phase-current over- The software detects that the motor

current current exceeds the limit value, and

Level 1
there may be short circuit, phase loss,

loss of control, motor damage, etc.

Power overrun error If the input current of the power supply

exceeds the limit value, there may be a

Level 2
situation where the load is too large or

the speed is too high.

Calibration parameter Failed to write parameters causing

Level 1
read error parameter loss.

Over-speed error The motor running speed exceeds the

limit value, there may be overpressure Level 2

and drag use.

Motor over- If the motor temperature exceeds the Level 2

temperature error set value, there may be short circuit,

parameter error, and long-term overload

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 use.

Encoder calibration The encoder calibration result deviates

Level 2
error too much from the standard value.

8. Version revision information

Version V3.1:

1) Version revision content:

a. Revise the definition of reply data in 5.0 operation control command;
2) Version revision date: 2022.6.23

Version V3.2:

1) Version revision content:

a. Add the description of indicator lights;
2) Version revision date: 2022.7.27

Version V3.3:

1) Version revision content:

a. Add function control command 0x20 a function: add CAN filter disable
control function;
2) Version revision date: 2022.7.31

Version V3.4:
1) Version revision content:
a. Add position tracking instruction 0xA3;
b. In the 0x43 command, add the settings of 4 values of acceleration and
deceleration for position planning and speed planning;
2) Version revision date: 2022.8.17

Version V3.5:
1) Version revision content:
a. Increase the position tracking command 0xA5 with speed limit;
b. Added function control command 0x20: error status sending and multi-turn
value power-down save selection function;
c. Add the 0xB5 command to read the motor model;
2) Version revision date: 2022.9.05

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