Driver for GIM43 series motors with MIT CAN and PWM

Product Code: 2580043
Availability: 49997

Price: $84.50
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Description

2580043 Driver for GIM43 series motors with MIT CAN and PWM

MIT driver for GIM4305 and GIM4310.

Drawing

Specifications:

Item	Data and Specification
Rated Voltage	0-26V, support 6S Lipo battery
Rated Current	3A
Max Voltage	30V
Peak Current	6A
Encoder	14 bit
PWM	Control the motor rotation according to the configuration mode (position/speed/torque), with 5V output, The neutral postion is 1.45ms to 1.55ms. over 1.55ms runs clockwise, below 1.45ms runs anti-clockwise.
RS485	Driver parameter adjustment interface, firmware upgrade interface. RS485 baud rate is 19200, 8-bit data, no check, 1stop bit All RS485 commands end with 0x0D 0A (with Enter key value) All data written through the RS485 interface are stored in the chip at once.
CAN	Bus control interface, compatible with MIT control protocol
ENCODER2	The second encoder interface is used to set up the absolute position

1 RS485 Communication Menu and Control

m - MotorRun
b - MotorRunBackward
r - RestMode
p - ProgramRunMode
p - Position Mode
s - Speed Mode
c - Current Mode
t - Custom Mode
e - Exit to Menu

c - CalibrateEncoder
s - Setup

Configuration Options
prefix parameter                       min   max    current value
b    Current Bandwidth (Hz)      100   2000   1000.0
P (P of Position) 1     100 50.0 (For PWM control only)
d (D of Position) 0     100    50.0 (For PWM control only)
x    MAX(Position) 1 5      2.0
i    CAN ID 0     127    1
m    CAN Master ID 0     127    100
l    Current Limit (A) 0.0   6.0    4.0
t    CAN Timeout (cycles)(0 = none) 0     100000 0
To change a value, type 'prefix''value''ENTER'
i.e. 'b1000''ENTER'

z - SetZeroPosition
f - UpdateFirmware
e - ExitToMenu

For example: Send 's' + 'enter' (0x0D 0A) to goto Setting menu. Every command ends with 'enter' (0x0D 0A).

2 The driver connection PINS specifications.

3 PWM Control

4 CAN control:

CANBUS protocol and commands, these commands are compatible with MIT Cheetah CAN

CAN data frame length 8 byte.

CAN Baudrate: 1Mbps

Default CAN ID: 1 (you can set the motor driver ID by RS485)

1） Control the motor

0xff 0xff 0xff 0xff 0xff 0xff 0xff 0xfc // Start the motor

0xff 0xff 0xff 0xff 0xff 0xff 0xff 0xfd // Stop the motor

2) Set the motor position zero point

0xff 0xff 0xff 0xff 0xff 0xff 0xff 0xfe

3）Switch the motor operation mode

0xff 0xff 0xff 0xff 0xff 0xff 0xff 0xf9 //Switch to torque mode

0xff 0xff 0xff 0xff 0xff 0xff 0xff 0xfA //switch to speed mode

0xff 0xff 0xff 0xff 0xff 0xff 0xff 0xfB //Switches to position mode

4) Running data samples of Continuous data in position mode:

Send 00000001 8 00 00 80 F8 88 86 63 E8
Receive 00000064 6 01 FF FF 80 07 AB

Send 00000001 8 00 00 80 F8 88 86 63 E8
Receive 00000064 6 01 D4 7E 49 67 3C

Send 00000001 8 00 00 80 F8 88 86 63 E8
Receive 00000064 6 01 8F 12 38 77 AC

Send 00000001 8 00 00 80 F8 88 86 63 E8
Receive 00000064 6 01 3E BA 32 67 DA

Send 00000001 8 FF FF 7D 08 88 86 63 E8
Receive 00000064 6 01 00 1F 80 08 23

Send 00000001 8 FF FF 7D 08 88 86 63 E8
Receive 00000064 6 01 17 B5 AC 98 D8

Send 00000001 8 FF FF 7D 08 88 86 63 E8
Receive 00000064 6 01 44 40 C0 C9 38

Send 00000001 8 FF FF 7D 08 88 86 63 E8
Receive 00000064 6 01 7C 2D CB 57 F7

Send 00000001 8 FF FF 7D 08 88 86 63 E8
Receive 00000064 6 01 B8 E6 CF 28 31

Notes:

CAN Send: Identifier： 0x00 Standard Frame Frame Format: DATA DLC: 8 bytes

	DATA[0]	DATA[1]	DATA[2]	DATA[3]		DATA[4]	DATA[5]	DATA[6]		DATA[7]
Data bit	7-0	7-0	7-0	7-0	7-4	3-0	7-0	7-4	3-0	7-0
Content	high 8 bits	low 8 bits	high 8 bits	low 4 bits	high 4 bits	low 8 bits	high 8 bits	low 4 bits	high 4 bits	low 4 bits
	Motor position		Motor speed		KP		KD		torque
Value	rad		rad/s						Nm

Motor CAN feedback

CAN Receive: Identifier： 0x00 + Driver ID Standard Frame Frame Format: DATA DLC: 8 bytes

	DATA[0]	DATA[1]	DATA[2]	DATA[3]	DATA[4]		DATA[5]
Data bit	7-0	7-0	7-0	7-0	7-4	3-0	7-0
Content	8 bits	high 8 bits	low 8 bits	High 8 bits	low 4 bits	high 4 bits	low 8 bits
Content	Driver ID	Motor position		Motor speed		Motor torque
Value		rad		rad/s		Nm