Xiaomi CyberGear Host Computer User Manual

CyberGear Host Computer User Manual

Xiaomi CyberGear Micro Motor Module Host Computer User Manual

1.Motor wiring diagram

1.1 Main wiring diagram

1.2 USB-to-CAN module wiring diagram

2. Debugger User Guide

2.1 Hardware Configuration

The joint motor uses CAN communication, with two communication lines. It is connected to the debugger via a CAN-to-USB tool. The debugger requires the CH340 driver to be installed in advance and operates in AT mode by default.

Please note that our debugger is developed specifically for a particular CAN-to-USB tool. Therefore, you must use our recommended serial port tool for debugging. If you wish to port it to other debugger platforms, please refer to Chapter 3 of the manual for development.

The recommended CAN-to-USB tool is the USB-CAN module from YourCee. The corresponding serial protocol uses a frame header of 41 54 and a frame tail of 0D 0A.

2.2 Debugger Interface and Description

Mainly includes:

A. Module Selection

Device Module
Configuration Module
Analysis Module
Help Module

B. Submodule Selection

Device Module includes:

Connect or disconnect motor device
Motor device information
Motor encoder calibration
Modify motor CAN ID
Set motor mechanical zero position
Motor program upgrade

Configuration Module includes:

Parameter table – view and modify motor parameters
Upload parameters – upload parameters from motor to parameter table
Download parameters – download parameters from parameter table to motor
Export parameters – download parameter table data to local storage
Restore factory settings – restore parameter table to factory defaults
Clear warning – clear motor errors (e.g., overtemperature, etc.)

Analysis Module includes:

Oscilloscope – view parameter variation curves over time
Frequency – adjust data refresh rate
Channel – select which data to display
Start/Stop plotting
Export waveform data to local storage

Help Module includes:

User Manual – open the instruction manual
About – view software information

C. Motor Information Query

Device information
Parameter table information

D. Data Bar

Log Information
Communication Log

E. Operation & Debugging Area

Select Device
Quick Operation Area – quickly control motor forward/reverse
Motion Control Area – control motor operation in various modes

F. Submodule Display Area

2.3 Motor Settings

2.3.1 Motor Connection Settings

Connect the CAN-to-USB tool (install the CH340 driver; it operates in AT mode by default), select the Device Module, click the connection submodule, and choose the corresponding serial port to connect.

2.3.2 Basic Settings

Modify the motor ID number.
Motor magnetic encoder calibration. When the motor board and motor are reinstalled, or the motor wiring sequence is changed, the magnetic encoder calibration needs to be performed again.
Set zero position (lost after power-off). Set the current position to 0.
Motor program upgrade. When a motor program update is available, click the upgrade button and select the upgrade file to proceed with the upgrade.

2.3.3 Parameter Table

After successfully connecting to the motor, click the Parameter Table module under the Configuration Module. The log will display “All parameters loaded successfully,” indicating that the motor-related parameters have been successfully read. (Note: The parameter table must be configured while the motor is in standby mode. If the motor is running, the parameter table cannot be refreshed.) The interface will display the motor’s related parameters.

Blue parameters are storage parameters inside the motor. They can be modified in the “Current Value” field following each parameter. Click Download Parameters to write the parameters from the debugger to the motor. Click Upload Parameters to upload the parameters from the motor to the debugger.
Green parameters are observation parameters, which are acquired in real time and can be monitored live.

💡

Note: Please do not arbitrarily change the motor’s torque limit, protection temperature, or over-temperature time. Our company assumes no legal liability for any personal injury or irreversible joint damage caused by improper operation of this product.

Parameter Table

Func Code	Name	Param Type	Access	Max	Min	Current Value (for reference)	Remarks
0X0000	Name	String	R/W			yyyyyyyyyyyyyy
0X0001	BarCode	String	R/W			yyyyyyyyyyyyyy
0X1000	BootCodeVersion	String	RO			0.1.5
0X1001	BootBuildDate	String	RO			Mar 16 2022
0X1002	BootBuildTime	String	RO			20:22:09
0X1003	AppCodeVersion	String	RO			0.1.5	Motor program version number
0X1004	AppGitVersion	String	RO			7b844b0fM
0X1005	AppBuildDate	String	RO			Apr 14 2022
0X1006	AppBuildTime	String	RO			20:30:22
0X1007	AppCodeName	String	RO			dog_motor
0X2000	echoPara1	uint16	Config	74	5	5
0X2001	echoPara2	uint16	Config	74	5	5
0X2002	echoPara3	uint16	Config	74	5	5
0X2003	echoPara4	uint16	Config	74	5	5
0X2004	echoFreHz	uint32	R/W	10000	1	500
0X2005	MechOffset	float	Config	7	-7	4.619583	Motor encoder angle offset
0X2006	MechPos_init	float	R/W	50	-50	4.52	Reference angle for initial multi-turn
0X2007	limit_torque	float	R/W	12	0	12	Torque limit
0X2008	I_FW_MAX	float	R/W	33	0	0	Field-weakening current value, default 0
0X2009	motor_index	uint8	Config	20	0	1	Motor index, marks the joint position
0X2010	CAN_ID	uint8	Config	127	0	1	This node ID
0X2011	CAN_MASTER	uint8	Config	127	0	0	CAN master ID
0X2012	CAN_TIMEOUT	uint32	R/W	100000	0	0	CAN timeout threshold, default 0
0X2013	motorOverTemp	int16	R/W	1500	0	800	Motor protection temperature value, temp(°C)*10
0X2014	overTempTime	uint32	R/W	1000000	1000	20000	Overtemperature time
0X2015	GearRatio	float	R/W	64	1	7.75
0X2016	Tq_caliType	uint8	R/W	1	0	1	Torque calibration method setting
0X2017	cur_filt_gain	float	R/W	1	0	0.9
0X2018	cur_kp	float	R/W	200	0	0.025
0X2019	cur_ki	float	R/W	200	0	0.0258
0X2020	spd_kp	float	R/W	200	0	2
0X2021	spd_ki	float	R/W	200	0	0.021
0X2022	loc_kp	float	R/W	200	0	30
0X2023	spd_filt_gain	float	R/W	1	0	0.1
0X2024	limit_spd	float	R/W	200	0	2
0X2025	limit_cur	float	R/W	23	0	23
0X3000	timeUse0	uint16	RO	5
0X3001	timeUse1	uint16	RO	0
0X3002	timeUse2	uint16	RO	10
0X3003	timeUse3	uint16	RO	0
0X3004	encoderRaw	int16	RO	11396		Magnetic encoder raw value
0X3005	mcuTemp	int16	RO	337		MCU internal temperature, *10
0X3006	motorTemp	int16	RO	333		Motor NTC temperature, *10
0X3007	vBus (mv)	uint16	RO	24195	mV	Bus voltage
0X3008	adc1Offset	int32	RO	2084		ADC sampling channel 1 zero current offset
0X3009	adc2Offset	int32	RO	2084		ADC sampling channel 2 zero current offset
0X3010	adc1Raw	uint16	RO	1232		ADC raw value 1
0X3011	adc2Raw	uint16	RO	1212		ADC raw value 2
0X3012	VBUS	float	RO	24.195	V	Bus voltage
0X3013	cmdId	float	RO	0	A	Id loop command
0X3014	cmdIq	float	RO	0	A	Iq loop command
0X3015	cmdLocRef	float	RO	0	rad	Position loop command
0X3016	cmdSpdRef	float	RO	0	rad/s	Speed loop command
0X3017	cmdTorque	float	RO	0	Nm	Torque command
0X3018	cmdPos	float	RO	0	rad	MIT protocol angle command
0X3019	cmdVel	float	RO	0	rad/s	MIT protocol speed command
0X3020	rotation	int16	RO	1		Number of turns
0X3021	modPos	float	RO	4.363409	rad	Motor mechanical angle (without turn count)
0X3022	mechPos	float	RO	0.777679	rad	Load-side mechanical angle (with turn count)
0X3023	mechVel	float	RO	0.036618	rad/s	Load-side speed
0X3024	elecPos	float	RO	4.714761	rad	Electrical angle
0X3025	ia	float	RO	0	A	U line current
0X301A	ib	float	RO	0	A	V line current
0X301B	ic	float	RO	0	A	W line current
0X301C	tick	uint32	RO	31600
0X301D	phaseOrder	uint8	RO	0		Calibration direction flag
0X301E	iqf	float	RO	0	A	Iq filtered value
0X301F	boardTemp	int16	RO	359		Board temperature, *10
0X3020	iq	float	RO	0	A	Iq raw value
0X3021	id	float	RO	0	A	Id raw value
0X3022	faultSta	uint32	RO	0		Fault status value
0X3023	warnSta	uint32	RO	0		Warning status value
0X3024	drv_fault	uint16	RO	0		Driver chip fault value
0X3025	drv_temp	int16	RO	48	°C	Driver chip temperature
0X3026	Uq	float	RO	0	V	Q-axis voltage
0X3027	Ud	float	RO	0	V	D-axis voltage
0X3028	dtc_u	float	RO	0		U phase output duty cycle
0X3029	dtc_v	float	RO	0		V phase output duty cycle
0X3030	dtc_w	float	RO	0		W phase output duty cycle
0X3031	v_bus	float	RO	24.195	V	Bus voltage in closed-loop
0X3032	v_ref	float	RO	0	V	Closed-loop Vq/Vd combined voltage
0X3033	torque_fdb	float	RO	0	Nm	Torque feedback value
0X3034	rated_i	float	RO	8	A	Motor rated current
0X3035	limit_i	float	RO	27	A	Motor maximum current limit

2.3.4 Oscilloscope

This interface supports viewing the graphs generated from real-time observation data. The observable data includes motor Id/Iq current, temperature, real-time output speed, rotor (encoder) position, output position, etc.

Click the Oscilloscope module under the Analysis Module, select the appropriate parameters in the channel (refer to section 3.3.3 for parameter definitions), set the output frequency, and click Start Plotting to observe the data graph. Click Stop Plotting to stop the observation.

2.4 Control Demonstration

Jog Operation:Set the maximum speed. After clicking Run, click Jog Operation to make the motor run forward and reverse.

Control Mode Switching:In the motion mode interface, you can switch the motor control mode.

2.4.1 Zero Position Mode

Click the switch button on the right, and the motor will slowly return to the mechanical zero position.

2.4.2 Motion Control Mode

Click the switch button on the right, then set the five parameter values. Click Start or Continuous Send, and the motor will return feedback frames and run according to the target command. Click the switch button on the right again, and the motor will stop.

2.4.2 Current Mode

Manually switch to Current Mode, click the switch button on the right, then set the Iq current command value. Click Start or Continuous Send, and the motor will follow the current command. Click the switch button on the right again, and the motor will stop.

Click the switch button on the right of Control Mode, enter the amplitude and frequency for sinusoidal auto-test, then click the switch button on the right of Sinusoidal Auto-Test. The motor’s Iq (A) will run according to the set amplitude and frequency.

2.4.3 Speed Mode

Manually switch to Speed Mode, click the switch button on the right, then set the speed command value (-30~30 rad/s). Click Start or Continuous Send, and the motor will follow the speed command. Click the switch button on the right again, and the motor will stop.

Click the switch button on the right of Control Mode, enter the amplitude and frequency for sinusoidal auto-test, then click the switch button on the right of Sinusoidal Auto-Test. The motor’s speed (rad/s) will run according to the set amplitude and frequency.

2.4.4 Position Mode

Manually switch to Position Mode, click the switch button on the right, then set the position command value (rad). Click Start or Continuous Send, and the motor will follow the target position command. Click the switch button on the right again, and the motor will stop. The maximum position following speed can be modified by adjusting the speed setting.

Click the switch button on the right of Control Mode, enter the amplitude and frequency for sinusoidal auto-test, then click the switch button on the right of Sinusoidal Auto-Test. The motor’s position (rad) will run according to the set amplitude and frequency.

2.5 Firmware Update

Step 1: Click Upgrade in the Device Module and select the bin file to be burned.

Step 2: Confirm the upgrade. The motor will start updating the firmware. Once the progress is complete, the motor update is finished and it will automatically restart.

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On this page

CyberGear Host Computer User Manual
1.Motor wiring diagram
1.1 Main wiring diagram
1.2 USB-to-CAN module wiring diagram
2. Debugger User Guide
2.1 Hardware Configuration
2.2 Debugger Interface and Description
2.3 Motor Settings
2.3.1 Motor Connection Settings
2.3.2 Basic Settings
2.3.3 Parameter Table
2.3.4 Oscilloscope
2.4 Control Demonstration
2.4.1 Zero Position Mode
2.4.2 Motion Control Mode
2.4.2 Current Mode
2.4.3 Speed Mode
2.4.4 Position Mode
2.5 Firmware Update