Xiaomi CyberGear Micro Motor User Manual

Xiaomi CyberGear Micro Motor User Manual

Xiaomi CyberGear Micromotor

Xiaomi CyberGear High-Performance Micro Motor: 12N.m max torque, 296rpm max speed, sustained power output. For quadrupeds, humanoids & exoskeletons.

aifitlab.com

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

#define  P_MIN  -12.5f
#define  P_MAX  12.5f
#define  V_MIN  -30.0f
#define  V_MAX  30.0f
#define  KP_MIN  0.0f
#define  KP_MAX  500.0f
#define  KD_MIN  0.0f
#define  KD_MAX  5.0f
#define  T_MIN  -12.0f
#define  T_MAX  12.0f 
struct  exCanIdInfo
{
	uint32_t  id:8;
	uint32_t  data:16;
	uint32_t  mode:5;
	uint32_t  res:3;
};
can_receive_message_struct  rxMsg;
 can_trasnmit_message_struct  txMsg=
 {
	.tx_sfid  =  0,
	.tx_efid  =  0xff,
	.tx_ft  =  CAN_FT_DATA,
	.tx_ff  =  CAN_FF_EXTENDED,
	.tx_dlen  =  8,
};
#define  txCanIdEx  (((struct  exCanIdInfo)&(txMsg.tx_efid)))
#define  rxCanIdEx  (((struct  exCanIdInfo)&(rxMsg.rx_efid)))  //Parse the extended frame ID into a custom data structure
int  float_to_uint(float  x,  float  x_min,  float  x_max,  int  bits)
{
	float  span  =  x_max  -  x_min;
	float  offset  =  x_min;
	if(x  >  x_max)  x=x_max;
	else  if(x  <  x_min)  x=  x_min;
	return  (int)  ((x-offset)*((float)((1<<bits)-1))/span);
}
#define  can_txd()  can_message_transmit(CAN0,  &txMsg)
#define  can_rxd()  can_message_receive(CAN0,  CAN_FIFO1,  &rxMsg)

The following common communication types are listed for sending:

Motor enable operation frame (communication type 3)

void  motor_enable(uint8_t  id,  uint16_t  master_id)
{
txCanIdEx.mode  =  3;
txCanIdEx.id  =  id ;
txCanIdEx.res  =  0;
txCanIdEx.data  =  master_id ;
txMsg.tx_dlen  =  8;
txCanIdEx.data  =  0 ;
can_txd();
}

Motion control mode motor control command (communication type 1)

void  motor_controlmode(uint8_t  id,  float  torque,  float
MechPosition,  float  speed,  float  kp,  float  kd)
{
txCanIdEx.mode  =  1;
txCanIdEx.id  =  id ;
txCanIdEx.res  =  0;
txCanIdEx.data  =  float_to_uint (torque,T_MIN,T_MAX,16);
txMsg.tx_dlen  =  8;
txMsg.tx_data[0]=float_to_uint(MechPosition,P_MIN,P_MAX,16)>>8;
txMsg.tx_data[1]=float_to_uint(MechPosition,P_MIN,P_MAX,16);
txMsg.tx_data[2]=float_to_uint(speed,V_MIN,V_MAX,16)>>8;
txMsg.tx_data[3]=float_to_uint(speed,V_MIN,V_MAX,16);
txMsg.tx_data[4]=float_to_uint(kp,KP_MIN,KP_MAX,16)>>8;
txMsg.tx_data[5]=float_to_uint(kp,KP_MIN,KP_MAX,16);
txMsg.tx_data[6]=float_to_uint(kd,KD_MIN,KD_MAX,16)>>8;
txMsg.tx_data[7]=float_to_uint(kd,KD_MIN,KD_MAX,16);
can_txd();
}

Motor stop operation frame (communication type 4)

void  motor_reset(uint8_t  id,  uint16_t  master_id)
{
txCanIdEx.mode  =  4;
txCanIdEx.id  =  id ;
txCanIdEx.res  =  0;
txCanIdEx.data  =  master_id ;
txMsg.tx_dlen  =  8;
for(uint8_t  i=0;i<8;i++)
{
txMsg.tx_data[i]=0;
}
can_txd();
}

Motor mode parameter write command (communication type 18, operation mode switching)

uint8_t  runmode;
uint16_t  index;
void  motor_modechange(uint8_t  id,  uint16_t  master_id)
{
txCanIdEx.mode  =  0x12;
txCanIdEx.id  =  id ;
txCanIdEx.res  =  0;
txCanIdEx.data  =  master_id ;
txMsg.tx_dlen  =  8;
for(uint8_t  i=0;i<8;i++)
{
txMsg.tx_data[i]=0;
}
memcpy(&txMsg.tx_data[0],&index,2);
memcpy(&txMsg.tx_data[4],&runmode,  1);
can_txd();
}

Motor mode parameter write command (communication type 18, control parameter write)

uint16_t  index;
float  ref;
void  motor_write(uint8_t  id,  uint16_t  master_id)
{
txCanIdEx.mode  =  0x12;
txCanIdEx.id  =  id ;
txCanIdEx.res  =  0;
txCanIdEx.data  =  master_id ;
txMsg.tx_dlen  =  8;
for(uint8_t  i=0;i<8;i++)
{
txMsg.tx_data[i]=0;
}
memcpy(&txMsg.tx_data[0],&index,2);
memcpy(&txMsg.tx_data[4],&ref,4);
can_txd();
}

3.2.2 Motion Control Mode

After power-on, the motor defaults to motion control mode; send the motor enable operation frame (communication type 3) → send the motion control mode motor control command (communication type 1) → receive the motor feedback frame (communication type 2).

3.2.3 Current mode

Send the motor mode parameter write command (communication type 18) to set the run mode parameter to 3 → send the motor enable operation frame (communication type 3) → send the motor mode parameter write command (communication type 18) to set the iq_ref parameter to the preset current command.

3.2.4 Speed mode

Send the motor mode parameter write command (communication type 18) to set the run mode parameter to 2 → send the motor enable operation frame (communication type 3) → send the motor mode parameter write command (communication type 18) to set the limit_cur parameter to the preset maximum current command → send the motor mode parameter write command (communication type 18) to set the spd_ref parameter to the preset speed command.

3.2.5 Position mode

Send the motor mode parameter write command (communication type 18) to set the run mode parameter to 1 → send the motor enable operation frame (communication type 3) → send the motor mode parameter write command (communication type 18) to set the limit_spd parameter to the preset maximum speed command → send the motor mode parameter write command (communication type 18) to set the loc_ref parameter to the preset position command.

3.2.6 Stop operation

Send the motor stop operation frame (communication type 4)

Xiaomi CyberGear Micromotor

Xiaomi CyberGear High-Performance Micro Motor: 12N.m max torque, 296rpm max speed, sustained power output. For quadrupeds, humanoids & exoskeletons.

aifitlab.com

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Xiaomi 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
3.2.3 Current mode
3.2.4 Speed mode
3.2.5 Position mode
3.2.6 Stop operation