CyberGear Micro Motor User Manual
CyberGear Micro Motor User Manual
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Precautions
- Please use this product within the operating parameters specified in this document. Failure to do so may cause serious damage to the product.
- Do not switch the control mode while the joint is running. If a switch is required, send a stop command first, then perform the switching.
- Before use, please check that all components are in good condition. If any components are missing or damaged, contact technical support promptly.
- Do not disassemble the motor arbitrarily to avoid irrecoverable faults.
- Ensure there is no short circuit when connecting the motor, and that all interfaces are correctly connected as required.
1. Motor Specifications
1.1 Overall and installation dimensions
1.2 Standard operating condition
Parameter | Specification |
Rated Voltage | 24 VDC |
Operating Voltage Range | 16V – 28 VDC |
Rated Load (CW) | 4 N·m |
Rotation Direction | CW / CCW (viewed from the shaft extension end) |
Mounting Orientation | Shaft horizontal or vertical |
Standard Operating Temperature | 25 ± 5℃ |
Operating Temperature Range | -20℃ ～ 50℃ |
Standard Operating Humidity | 65% |
Operating Humidity Range | 5% ～ 85%, non-condensing |
Storage Temperature Range | -30℃ ～ 70℃ |
Insulation Class | Class B |
1.3 Electrical Characteristics
Parameter | Specification |
No-load Speed | 296 rpm ±10% |
No-load Current | 0.5 Arms |
Rated Load | 4 N·m |
Rated Load Speed | 240 rpm ±10% |
Rated Load Current (Peak) | 6.5A ±10% |
Peak Load | 12 N·m |
Peak Current (Peak) | 23A ±10% |
Insulation Resistance / Stator Winding | DC 500V, 100 MΩ |
Dielectric Strength / Stator to Housing | 600 VAC, 1s, 2mA |
Motor Back EMF | 0.054 - 0.057 Vrms/rpm |
Line Resistance | 0.45Ω ±10% |
Torque Constant | 0.87 N·m / Arms |
Motor Inductance | 187 - 339 μH |
1.3.1 Torque-Speed Curve
1.3.2 Maximum Overload Curve
Test Data
Load (N·m) | Operating time (s) |
12.00 | 28 |
11.00 | 45 |
10.00 | 60 |
9.00 | 90 |
8.00 | 160 |
7.00 | 320 |
6.00 | 700 |
5.00 | 1800 |
4.50 | 2500 |
4.00 | rated |
1.4 Mechanical Characteristics
Parameter | Specification |
Weight | 317g ±3g |
Number of Poles | 28 poles |
Number of Phases | 3 phases |
Drive Mode | FOC |
Gear Ratio | 7.75 : 1 |
2. Driver Product Information
2.1 Driver Appearance Overview & Product Specifications
- 24V power supply and CAN communication integrated terminal;
- Hardware version and laser-engraved QR code;
- MCU download port;
- CAN communication test points;
- Indicator lights;
- Mounting holes;
- "C, A, B" are the three-phase winding soldering points.
Product Specification：
Specification Item | Value |
Rated Operating Voltage | 24VDC |
Maximum Allowable Voltage | 28VDC |
Rated Operating Current | 6.5A |
Maximum Allowable Current | 23A |
Standby Power Consumption | ≤18mA |
CAN Bus Bit Rate | 1Mbps |
Dimensions | Φ58mm |
Operating Ambient Temperature | -20℃ to 50℃ |
Max. Allowable PCB Temperature | 80℃ |
Encoder Resolution | 14bit (single-turn absolute) |
2.2 Driver Interface Definition
2.2.1 Driver Interface Diagram
2.2.2 Recommended Brands and Models for Driver Interface
No. | Board-End Model | Brand/Manufacturer | Cable-End Model | Brand/Manufacturer |
1 | XT30PB(2+2)-M.G.B | AMASS | XT30(2+2)-F.G.B | AMASS |
2 | 2.0mm-2P Pad | / | 2.0mm-2P Probe | / |
3 | 2.54mm-4P Pad | / | 2.54mm-4P Probe | / |
2.2.3 Driver Interface Pin Definition
1. Power and CAN Communication Port
- CAN Communication Test Pad
- Firmware Download Port
No. | Interface Function | Pin | Description |
1 | Power & CAN Communication | 1 | Power Positive (+) |
2 | Power Negative (-) | ||
3 | CAN Low (CAN_L) | ||
4 | CAN High (CAN_H) | ||
2 | CAN Communication Test Point | 1 | CAN Low (CAN_L) |
2 | CAN High (CAN_H) | ||
3 | Programming Port | 1 | SWDIO (Data) |
2 | SWCLK (Clock) | ||
3 | 3V3 (Positive 3.3V) | ||
4 | GND (Ground) |
2.3 Driver Indicator Light Definition
LED Definition
Indicator Light | Description |
Power Indicator (Red when on) | Power indicator, used to indicate the 3.3V power status of the MCU. When the main power input is 24V, if this light is red, it proves that the entire network power supply is normal. If the indicator does not light up when 24V is applied, the power must be disconnected immediately. |
Signal Indicator (Blue when on) | When the signal light flashes, it proves that the MCU is operating normally and the driver chip is operating normally. |
2.4 Main Components and Specifications
No. | Component | Specification | Qty | Unit |
1 | MCU Chip | GD32F303RET6 | 1 | PCS |
2 | Gate Driver Chip | 6EDL7141 | 1 | PCS |
3 | Magnetic Encoder Chip | AS5047P | 1 | PCS |
4 | Thermistor | NXFT15XH103FEAB021 / NC18XH103F03RB | 2 | PCS |
5 | Power MOSFET | JMGG031V06A | 6 | PCS |
3. Driver Communication Protocol and User Guide
The motor communication uses a CAN 2.0 communication interface with a baud rate of 1 Mbps and adopts the extended frame format, as shown below:
Data Field | 29-bit ID | 8-Byte Data Area | ||
Size | Bit 28 ~ Bit 24 | Bit 23 ~ Bit 8 | Bit 7 ~ Bit 0 | Byte 0 ~ Byte 7 |
Description | Communication Type | Data Area 2 | Target Address | Data Area 1 |
The control modes supported by the motor include:
- Motion Control Mode: Set five motion control parameters for the motor.
- Current Mode: Set the specified Iq current for the motor.
- Speed Mode: Set the specified operating speed for the motor.
- Position Mode: Set the specified position for the motor, and the motor will run to that specified position.
3.1 Communication Protocol Type Description
3.1.1 Get Device ID (Communication Type 0) ; Get the device ID and 64-bit MCU unique identifier.
Command Frame:
Data Field | 29-bit ID | 8-Byte Data Area | ||
Size | Bit 28 ~ Bit 24 | Bit 23 ~ Bit 8 | Bit 7 ~ Bit 0 | Byte 0 ~ Byte 7 |
Description | 0 | Bit 15 ~ 8: Host CAN_ID | Target Motor CAN_ID | 0 |
Response Frame:
Data Field | 29-bit ID | 8-Byte Data Area |
Size | Bit 28 ~ Bit 24 | Bit 23 ~ 8 |
Description | 0 | Target Motor CAN_ID |
3.1.2 Motion Control Mode Motor Control Command (Communication Type 1) is used to send control commands to the motor
Data Field | 29-bit ID | 8-Byte Data Area | ||
Size | Bit 28 ~ Bit 24 | Bit 23 ~ 8 | Bit 7 ~ 0 | Byte0~Byte7 |
Description | 1 | Byte 2: Torque (0~65535) corresponds to (-12Nm~12Nm) | Target Motor CAN_ID | Byte 0~1: Target Angle [0~65535] corresponds to (-4π~4π)
Byte 2~3: Target Angular Velocity [0~65535] corresponds to (-30rad/s~30rad/s)
Byte 4~5: Kp [0~65535] corresponds to (0.0~500.0)
Byte 6~7: Kd [0~65535] corresponds to (0.0~5.0) |
Response Frame: Response motor feedback frame (see Communication Type 2)
3.1.3 Motor Feedback Data (Communication Type 2) is used to feedback the motor operating status to the host
Data Field | 29-bit ID | 8-Byte Data Area | ||
Size | Bit 28 ~ Bit 24 | Bit 23 ~ Bit 8 | Bit 7 ~ 0 | Byte0~Byte7 |
Description | 2 | Bit8~Bit15: Current motor CAN ID
bit21~bit16: Fault information (0 = no fault, 1 = fault present)
• bit21: Not calibrated
• bit20: HALL encoder fault
• bit19: Magnetic encoder fault
• bit18: Overtemperature
• bit17: Overcurrent
• bit16: Undervoltage fault
bit22~bit23: Mode status
• 0: Reset mode
• 1: Cali mode (calibration)
• 2: Motor mode (running) | Target Motor CAN_ID | Byte 0~1: Target Angle [0~65535] corresponds to (-4π~4π)
Byte 2~3: Target Angular Velocity [0~65535] corresponds to (-30rad/s~30rad/s)
Byte4~5: Current torque[0~65535] corresponds to (-12 Nm ~ 12 Nm)
Byte6~7: Current temperature: Temp (°C) × 10 |
3.1.4 Motor Enable Operation (Communication Type 3)
Data Field | 29-bit ID | 8-Byte Data Area | ||
Size | Bit 28 ~ 24 | Bit 23 ~ 8 | Bit 7 ~ 0 | Byte0~Byte7 |
Description | 3 | bit15 ~ 8: Used to identify the master CAN_ID | Target Motor CAN_ID |
Response frame: Acknowledges the motor feedback frame (see Communication Type 2)
3.1.5 Motor Stop Operation (Communication Type 4)
Data Field | 29-bit ID | 8-Byte Data Area | ||
Size | Bit 28 ~ 24 | Bit 23 ~ 8 | Bit 7 ~ 0 | Byte0~Byte7 |
Description | 4 | bit15 ~ 8: Used to identify the master CAN_ID | Target Motor CAN_ID | During normal operation, the data area must be cleared to 0;
When Byte[0] = 1: Clear fault; |
Response frame: Acknowledges the motor feedback frame (see Communication Type 2)
3.1.6 Set Motor Mechanical Zero Position (Communication Type 6) will set the current motor position as the mechanical zero position (lost after power-off).
Data Field | 29-bit ID | 8-Byte Data Area | ||
Size | Bit 28 ~ 24 | Bit 23 ~ 8 | Bit 7 ~ 0 | Byte0~Byte7 |
Description | 6 | bit15 ~ 8: Used to identify the master CAN_ID | Target Motor CAN_ID | Byte[0]=1 |
Response frame: Acknowledges the motor feedback frame (see Communication Type 2)
3.1.7 Set Motor CAN_ID (Communication Type 7) changes the current motor CAN_ID, effective immediately.
Data Field | 29-bit ID | 8-Byte Data Area | ||
Size | Bit 28 ~ 24 | Bit 23 ~ 8 | Bit 7 ~ 0 | Byte0~Byte7 |
Description | 7 | Bit 15 ~ Bit 8: Used to identify the Host CAN_ID
Bit 16 ~ Bit 23: Preset CAN_ID | Target Motor CAN_ID |
Response frame: Acknowledges the motor broadcast frame (see Communication Type 0)
3.1.8 Single Parameter Read (Communication Type 17)
Data Field | 29-bit ID | 8-Byte Data Area | ||
Size | Bit 28 ~ 24 | Bit 23 ~ 8 | Bit 7 ~ 0 | Byte0~Byte7 |
Description | 17 | Bit 15 ~ 8: Used to identify the Host CAN_ID | Target Motor CAN_ID | Byte 0 ~ Byte 1: Index, parameter list
Byte 2 ~ Byte 3: 00
Byte 4 ~ Byte 7: 00 |
Response Frame:
Data Field | 29-bit ID | 8-Byte Data Area | ||
Size | Bit 28 ~ 24 | Bit 23 ~ 8 | Bit 7 ~ 0 | Byte0~Byte7 |
Description | 17 | Bit 15 ~ Bit 8: Used to identify the Host CAN_ID | Target Motor CAN_ID | Byte 0 ~ Byte 1: Index, see parameter list in section 4.1.11
Byte 2 ~ Byte 3: 00
Byte 4 ~ Byte 7: Parameter data, 1-byte data is in Byte4 |
3.1.9 Single Parameter Write (Communication Type 18) (Lost after power-off)
Data Field | 29-bit ID | 8-Byte Data Area | ||
Size | Bit 28 ~ 24 | Bit 23 ~ 8 | Bit 7 ~ 0 | Byte0~Byte7 |
Description | 18 | Bit 15 ~ 8: Used to identify the Host CAN_ID | Target Motor CAN_ID | Byte 0 ~ 1: Index, parameter list
Byte 2 ~ 3: 00
Byte 4 ~ 7: Parameter Data |
Response frame: Acknowledges the motor feedback frame (see Communication Type 2)
3.1.10 Fault Feedback Frame (Communication Type 21)
Data Field | 29-bit ID | 8-Byte Data Area | ||
Size | Bit 28 ~ 24 | Bit 23 ~ 8 | Bit 7 ~ 0 | Byte0~Byte7 |
Description | 21 | Bit 15 ~ 8: Used to identify the Host CAN_ID | Motor CAN_ID | Byte 0 ~ 3: Fault value (non-zero: fault present, 0: normal)
Bit 16: Phase A current sampling overcurrent
Bit 15 ~ 8: Overload fault
Bit 7: Encoder uncalibrated
Bit 5: Phase C current sampling overcurrent
Bit 4: Phase B current sampling overcurrent
Bit 3: Overvoltage fault
Bit 2: Undervoltage fault
Bit 1: Driver chip fault
Bit 0: Motor overtemperature fault, default 80°C
Byte 4 ~ 7: Warning value
Bit 0: Motor overtemperature warning, default 75°C |
3.1.11 Baud Rate Modification (Communication Type 22)
Note: Modifiable in version 1.2.1.5. Please follow the documented procedure carefully. Incorrect operation may result in issues such as inability to connect to the motor or failure to upgrade.
Data Field | 29-bit ID | 8-Byte Data Area | ||
Size | Bit 28 ~ 24 | Bit 23 ~ 8 | Bit 7 ~ 0 | Byte0~Byte7 |
Description | 22 | Bit 15 ~ 8: Used to identify the Host CAN_ID | Target Motor CAN_ID | Byte 0: Motor baud rate
1：1Mbps
2：500kbps
3：250kbps
4：125kbps |
Response Frame: Response motor broadcast frame (see Communication Type 0)
3.1.12 List of Readable/Writable Single Parameters (7019-7020 are readable in firmware version 1.2.1.5)
Parameter Index | Parameter Name | Description | Type | Bytes | Unit/Notes | R/W Access |
0X7005 | run_mode | 0: Motion Control Mode
1: Position Mode
2: Speed Mode
3: Current Mode | uint8 | 1 | W/R | |
0X7006 | iq_ref | Current mode Iq command | float | 4 | -23 ~ 23A | W/R |
0X700A | spd_ref | Speed mode speed command | float | 4 | -30 ~ 30 rad/s | W/R |
0X700B | imit_torque | Torque limit | float | 4 | 0 ~ 12 Nm | W/R |
0X7010 | cur_kp | Current loop Kp | float | 4 | Default: 0.125 | W/R |
0X7011 | cur_ki | Current loop Ki | float | 4 | Default: 0.0158 | W/R |
0X7014 | cur_filt_gain | Current filter gain (filt_gain) | float | 4 | 0 ~ 1.0, Default: 0.1 | W/R |
0X7016 | loc_ref | Position mode angle command | float | 4 | rad | W/R |
0X7017 | limit_spd | Position mode speed limit | float | 4 | 0 ~ 30 rad/s | W/R |
0X7018 | limit_cur | Speed/Position mode current limit | float | 4 | 0 ~ 23A | W/R |
0x7019 | mechPos | Load-end mechanical angle (cumulative turns) | float | 4 | rad | R |
0x701A | iqf | Filtered iq value | float | 4 | -23 ~ 23A | R |
0x701B | mechVel | Load-end speed | float | 4 | -30 ~ 30 rad/s | R |
0x701C | VBUS | Bus voltage | float | 4 | V | R |
0x701D | rotation | Number of turns | int16 | 2 | turns | W/R |
0x701E | loc_kp | Position loop Kp | float | 4 | Default: 30 | W/R |
0x701F | spd_kp | Speed loop Kp | float | 4 | Default: 1 | W/R |
0x7020 | spd_ki | Speed loop Ki | float | 4 | Default: 0.002 | W/R |
3.2 Control Mode Instructions
3.2.1 Program Example
3.2.2 Motion Control Mode
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On this page
- CyberGear Micro Motor User Manual
- Precautions
- 1. Motor Specifications
- 1.1 Overall and installation dimensions
- 1.2 Standard operating condition
- 1.3 Electrical Characteristics
- 1.3.1 Torque-Speed Curve
- 1.3.2 Maximum Overload Curve
- 1.4 Mechanical Characteristics
- 2. Driver Product Information
- 2.1 Driver Appearance Overview & Product Specifications
- 2.2 Driver Interface Definition
- 2.2.1 Driver Interface Diagram
- 2.3 Driver Indicator Light Definition
- 2.4 Main Components and Specifications
- 3. Driver Communication Protocol and User Guide
- 3.1 Communication Protocol Type Description
- 3.1.1 Get Device ID (Communication Type 0) ; Get the device ID and 64-bit MCU unique identifier.
- 3.1.2 Motion Control Mode Motor Control Command (Communication Type 1) is used to send control commands to the motor
- 3.1.3 Motor Feedback Data (Communication Type 2) is used to feedback the motor operating status to the host
- 3.1.4 Motor Enable Operation (Communication Type 3)
- 3.1.5 Motor Stop Operation (Communication Type 4)
- 3.1.6 Set Motor Mechanical Zero Position (Communication Type 6) will set the current motor position as the mechanical zero position (lost after power-off).
- 3.1.7 Set Motor CAN_ID (Communication Type 7) changes the current motor CAN_ID, effective immediately.
- 3.1.8 Single Parameter Read (Communication Type 17)
- 3.1.9 Single Parameter Write (Communication Type 18) (Lost after power-off)
- 3.1.10 Fault Feedback Frame (Communication Type 21)
- 3.1.11 Baud Rate Modification (Communication Type 22)
- 3.1.12 List of Readable/Writable Single Parameters (7019-7020 are readable in firmware version 1.2.1.5)
- 3.2 Control Mode Instructions
- 3.2.1 Program Example
- 3.2.2 Motion Control Mode