DF ROBOT Veyron Manuale utente

1
Overview.....................................................................................................................................................................3
1 Electrical specification........................................................................................................................ 3
2 Power terminal definition...................................................................................................................... 3
3 Encoder terminal definition.................................................................................................................. 3
4 Communication terminal definition...................................................................................................... 3
5 Cooling fan terminal definition.......................................................................................................... 4
6 Indicator definition................................................................................................................................ 4
7 KEY sets the button description.......................................................................................................... 4
8 Interface type............................................................................................................................................ 4
Practice guide........................................................................................................................................................ 6
1 UART interface............................................................................................................................................ 7
2 PPM interface...............................................................................................................................................9
3 Analog interface...................................................................................................................................... 12
Instruction set V1.0.......................................................................................................................................... 14
1 Query drive type (ID,PING\r\n).......................................................................................................... 15
2 Read the drive configuration parameters (ID,RCONFIG\r\n)......................................................15
3 Restore factory settings (ID,FCONFIG\r\n)....................................................................................15
4 Query Help (ID,HELP\r\n)...................................................................................................................... 15
5 Save all the configuration parameters (ID,EEPSAV\r\n)............................................................16
6 Set the baud rate (ID,SBR,******\r\n)............................................................................................ 16
7 Set the drive addresses (ID,SNA,***\r\n)......................................................................................16
8 Get the number of cumulative pulse encoder (ID,GEP,*\r\n)....................................................16
9 Reset encoder cumulative number of pulses (ID,CEP,*\r\n)......................................................17
10 Set encoder line (ID,SER,****,####\r\n)......................................................................................17
11 Set reduction ratio (ID,SGR,****,####\r\n)................................................................................17
12 Set direction mode (ID,SDIR,*\r\n)................................................................................................ 17
13 Set the PWM signal generating method (ID,SPWM,*\r\n)............................................................18
14 Set zero signal detection or not when start (ID,SSD,*\r\n)................................................18
15 Gets the current rotation speed (ID,GVC,*\r\n)........................................................................18
16 Get the maximum rotation speed (ID,GVM,*\r\n)..........................................................................18
17 Set synchronous speed (ID,SVS,*,*****\r\n)................................................................................19
18 Set asynchronous speed (ID,SVR,*,*****\r\n)..............................................................................19
19 Perform asynchronous speed (ID,AVR,*,#\r\n)..............................................................................19
20 Get Acceleration (ID,GACC,*\r\n).................................................................................................... 19
21 Get reduced speed (ID,GDEC,*\r\n).................................................................................................. 20
22 Set increase or decrease speed (ID,SAD,*,*****,#####\r\n)..................................................20
23 Get the PPM Max (ID,GPA\r\n)............................................................................................................ 20
24 Get the minimum PPM (ID,GPI\r\n).................................................................................................... 20
25 Set PPM extreme (ID,SPPM,****,####\r\n)......................................................................................20

2
26 Get the control signal mode (ID,GSM\r\n)....................................................................................21
27 Set the control signal mode (ID,SSM,*\r\n)................................................................................21
28 Set time limit of break mode (ID,SDCT,****\r\n)......................................................................21
29 Get the PID parameter- Kp (ID,GKP,*\r\n)....................................................................................21
30 Get the PID parameter- Ti (ID,GTI,*\r\n)....................................................................................21
31 Get the PID parameter- Td (ID,GTD,*\r\n)..................................................................................22
32 Set the PID parameters (ID,SPID,*,*******,##,&&\r\n)............................................................22
33 To get the maximum permissible continuous current (ID,GMCC\r\n)......................................22
34 To get the maximum permissible peak current (ID,GMPC\r\n)..................................................22
35 To get the current current (ID,GCC,*\r\n)..................................................................................22
36 To set the maximum permissible continuous current and maximum permissible peak current
(ID,SMLC,*****,#####\r\n).................................................................................................................................... 23
37 To get the maximum allowed temperature (ID,GMT\r\n)..............................................................23
38 To get the current temperature (ID,GCT\r\n)..............................................................................23
39 To set the maximum allowable temperature (ID,SMT,***,\r\n)................................................23
40 To get the system voltage (ID,GSV\r\n)........................................................................................ 23
41 To set the limit voltage (ID,SLV,***,###\r\n)..........................................................................24
42 To get the fault information (ID,GER\r\n)..................................................................................24
43 Clear all fault messages (ID,CER\r\n).......................................................................................... 25
44 Output real-time speed (ID,OUT,* \r\n)........................................................................................ 25
Overall dimensions.............................................................................................................................................. 25

1.Overview

Veyron motor drive series are the latest intelligent motor drive devices produced by DFRobot. They

cover Brush DC Motor, Brushless DC Motor, Stepper Motor, etc. The Veyron 2x25A/12A is Brush

DC motor drive which contains 3 intelligent interface mode: Analog Mode, PPM Mode and UART

mode. The perfect protection: under-voltage, over-voltage, under-current, over-current, over-heating,

shorted, reverse voltage makes it safely and reliably. And it usability: interface chosen by one button,

auto recognized open/closed loop system, self-tuning PID parameter, etc simplifies the user

operation.

1.1 Electrical Specification

Input voltage range: DC 6~36V, limit voltage is 40V

Single maximum permissible continuous current : 25A (Veyron 2x25A)/12A( Veyron 2x12A)

Single channel the maximum allowable: 30 A(Veyron 2x25A)/20 A( Veyron 2x12A)

1.2 Power Interface

M1A: motor1 wire a

M1B: motor1 wire b

B+: external DC power input +

B-: external DC power input-

M2A: motor2 wire a

M2B: motor2 wire b

1.3 Encoder Interface

The same side encoder terminal maps the same side motor encoder interface.

A: encoder A-phase pulse signal input

B: encoder B-phase pulse signal input

GND: Logical ground

VCC: DC-5V power output

1.4 Communication Interface

GND: drive’s logical ground

5 V: DC-5V/1A power output

S1:

In Analog interface mode, it is the M1 analog voltage input

In PPM interface mode, it is the M1 PWM signal input

In UART interface mode, it is the drive “Rx”

S2:

In Analog interface mode, it is the M2 analog voltage input

In PPM interface mode, it is the M2 input signal pulse width

In UART interface mode, it is the drive “Tx”

1.5 Radiator Fan Interface

Radiator fan has 2 port, they are 5V power output pin and controllable GND.

Cooling fan can be directly connected to 5V (max current 500mA).

1.6 Indicator Leds

Reverse: Reverse power protection indicator led (red)

Set: Set pattern indicator led (green)

Analog: Analog mode indicator led (green)

PPM: PWM mode indicator led (green)

UART: UART mode indicator led (green)

Status1: (yellow)

In PPM and Analog mode, the brightness of the indicator led indicates the speed of M1

In UART mode, when the drive receives data, it will be ON, vice versa.

Status2: (yellow)

In PPM and Analog mode, the brightness of the indicator led indicates the speed of M2

In UART mode, when the drive receives data, it will be ON, vice versa.

Error: Fault indicator led (red)

1.7 KEY --Set Working Mode

You could change its working mode via pressing the key button: “Set, Analog, PPM, UART (four

modes). Please check the corresponding indicator LED. It will be reset to default mode, only when

current mode doesn’t match with the internal saved mode.

1.8 Interface Type

Analog (two-channel analog voltage signal input): voltage range 0-5V (usually connected with an

external potentiometer, if possible , it is recommended that user could add a voltage follower at the

analog voltage output ; or use the PWM+ filter circuit for voltage output).

PPM (two-channel PWM signal input): the control signal source can be directly generated by a

microcontroller..

UART: support 10 commonly used baud rate, compatible with both 3.3V and 5V systems.

1.9 Control mode

Open-loop speed control mode: this mode applies to the open-loop motor control mode (without

encoder), the motor speed is based on the control variable.

Closed-loop speed control mode: this mode applies to the closed-loop motor control (with encoder).

You could set the encoder parameter (via the UART interface) to achieve closed-loop speed control.

1.10 Protection function

In UART mode, the fault information can be gotten via the "GER" instruction, please refer to the

drive Instruction set. In PPM and Analog mode, the error can be checked through the combination

of Set, Analog, PPM, UART led, as shown in the following table (Note: any kind of failure occurs,

the motor will stop working, enter fault mode, in which case, the user will not be able to control the

motor. In UART mode, the fault information could be cleared via the "CER” instruction to return to

normal mode. In PPM and Analog mode, only it could eliminate the fault information by resetting

the drive.):

Set

Analog

PPM

UART

Error

Error Sources

Lower Voltage

Over Voltage

Over Temperature

M1 Over Current

M2 Over Current

Control Signal Lost

Reverse power protection, when power is reversal connected, power supply reverse polarity indicator

light up (Reverse), indicating fault.

You can set the threshold of the under-voltage and overvoltage protection. If the input voltage

exceeds the set range, the fault led (Error) will be on, and the drive will go into fault mode.

You can set the maximum allowable continuous current protection. Actual when the current is higher

than the maximum allowable continuous current, and less than the maximum allowable peak current,

it could continue to be 2s, if time exceeds 2s, the fault led (Error) will be on, the drive will go into

fault mode.

You can set the maximum allowable peak current protection. Actual when current is higher than the

maximum allowable peak current, it could continue to be 400ms, if the time exceeds 400ms, the fault

led (Error) is on, the drive goes into fault mode.

You can set the maximum allowable temperature protection. When the internal temperature is higher

than 40℃and less than the limit temperature, the drive automatically open the radiator until the

temperature dropped below 35℃. When the internal temperature exceeds the limit temperature, fault

led (Error) will be on, and the drive will go into fault mode.

In PPM and UART mode, you could set it to be the discontinuous mode via the “SSM” instruction. If

there is no valid control signal input in the limit time, the fault led (Error) will be on, and the drive

will go into fault mode.

The driver can run in unidirectional control mode or bidirectional control mode. In the unidirectional

control mode, you could start zero detection via “SSD” command. When the driver restarts, if the

initialize speed signal is not zero, the drive will be stop unless the control signal drops to zero. This

is zero detection protection.

2 Practice guide

So far, maybe you still don't know what to do with this drive, maybe you feel a bit complicated. But

it is just “maybe”, then I will introduce this simple dual brush DC motor drive. At the beginning of

this section, first, I will show you a brief description of several associated control parameters.

Direction Mode:

This parameter is only valid in Analog mode and PPM mode. It decides its running mode:

unidirectional control mode or bidirectional control mode.

Zero Detection:

This parameter is only valid in Analog mode, PPM mode and unidirectional control mode. It decides

whether it need to start the detection of the zero start. (It will detect whether there is a speed signal

before running. If there is a signal, it won’t start until the signal drop to zero.)

Signal Control Mode:

This parameter is only valid in PPM mode and UART, cooperated with “intermittent mode time

limit” parameter, and decided whether stopping motor during operation, when it loses control signal.

In addition, there are some brief introductions about factory default values of drive :

Common Parameters

ID : 1

BaudRate : 57600bps

Voltage Range : 6.0-36.0V

Maximum Continuous Current : 25000mA

Maximum Peaky Current : 30000mA

Protected Temperature : 100C

Signal Mode : Continuous

PPM Signal Range : 500-2500us

PWM Type : Hpwm-Lpwm(on-off-on)

Direction Type : CW/CCW

Discontinuous Timeout : 1000ms

Start Detection Mode : Non Zero Detection

Parameters Of Motor1

Reduction Gear Ratio : 1.00

Encoder Resolution : 1

Maximum Velocity : 1000

Velocity Mode : Unloop

Acceleration : 100

Deceleration : 100

PID_Kp : 0.000

PID_Ti : 0

PID_Td : 0

Parameters Of Motor2

Reduction Gear Ratio : 1.00

Encoder Resolution : 1

Maximum Velocity : 1000

Velocity Mode : Unloop

Acceleration : 100

Deceleration : 100

PID_Kp : 0.000

PID_Ti : 0

PID_Td : 0

2.1 UART interface

You will see the following phenomenon in the first use: the three indicators “Set”, “UART”, “Error,”

light up for 2s: then indicator “Error” and “Set” turn off. It shows the current mode is UART mode.

When the three lights are on at the same time, it indicates the current baudrate. The relationship

between Baud rate and the led State is shown in the following table:

Set

Analog

PPM

UART

Error

BaudRate(bps)

1200

2400

4800

9600

14400

19200

28800

38400

57600

115200

Open-loop control mode

Connect the cable, as shown in the figure (of course, connect one circle if you only need one motor):

In UART open loop control mode, the parameters associated with the actual control are as follows:

baud rate, drive address, PWM signal generating method, synchronous speed, asynchronously speed,

perform asynchronous speed, acceleration, deceleration, control signal mode, break mode time limit,

the maximum permissible continuous current, the maximum permissible peak current limit, the

maximum allowable temperature and voltage. Please refer to instruction set, set the configuration

parameter which you needs, when the configuration is completed, you can send comm to control the

motor.

Close-loop control mode

Connect the cable, as shown in the figure:

In UART close-loop control mode, the parameters associated with the actual control are as follows:

baud rate, drive address, Encoder line number, gear ratio, PWM signal generating method, the

maximum speed, synchronous speed, asynchronously speed, perform asynchronous speed,

acceleration, deceleration, control signal mode, break mode time limit, PID parameters, the

maximum permissible continuous current, the maximum permissible peak current limit, the

maximum allowable temperature and voltage.

1 Configure Encoder lines, gear ratio and other parameters.

2 Press KEY button on the side for several times, the number depending on the current mode, if the

current mode is UART, it just need three times, and the indicator lights on, entering the Setup mode.

At this point, the led Status1 flashes (unrelated to the UART mode), and then led Status2 flashes

(unrelated to the UART mode).

3 M1 began rotating (Note: For that the instruction of speed control is judged by the plus and minus

to distinguish motor rotating direction, we regard this motor rotating direction as the Positive), when

drive detects encoder signal, A/B phase sequence of coding device will adapted automatically, then

PID auto-tuning will start on M1, M1 gradually runs stably, then it completes PID parameter

auto-tuning of M1. After that, it’s the PID parameter auto-tuning of M2.

4 Drive automatically reset, enter the default UART mode.

5 You can use (RS232 to UART or USB to UART) Serial Assistant software send "RCONFIG"

instruction to read drive configuration parameters, querying all saved internal parameters, at the

same time you will notice the parameter of motor with encoder turns from “Velocity Mode” to “Loop

Mode”, furthermore, it need to be noted that in the actual operation of speed control, the target speed

may not be set to be lower than the highest speed, if not, the instructions will not be respond. Please

refer to instructions set, set the configuration which you need, when the configuration is completed,

you can send directives to control the motor.

2.2 PPM interface

PPM extreme value, a very important parameter, there are two methods to set it. First, send

instruction through UART interface; second, in Set mode, while Status1 and Status2 are flashing, the

user who is using remote control model could put the corresponding joystick to its extreme location,

and holding for about 3 seconds, the drive will automatically recognize threshold value. In this

process, if S1 and S2 have already received right PWM input, Drive will calculate reliable limits

according to the signals, if there is only one correct PWM input, then the drive will use this signal as

an final limit value. Certainly, you can also send PWM signal of the two limit positions through AVR.

Regardless of which method you use, PPM limit value shall not exceed the scope 500us-2500us. In

the PPM interface, any other configuration parameters can not be set directly apart from PPM

extreme, if you do need to set up the relevant parameters, you must configure them by using UART

interface. All the fault messages, it should be checked with above table 1.10 “Protection”. In addition,

both in open-loop or closed-loop control mode, the relationship between PPM signal and motor

speed are described as the figure below (Note: when the signal is below the minimum limit value or

over the maximum limit value, the drive will not respond).

Open-loop control mode

Connect the cable, as shown in the figure (Connect one circle if you only control one motor):

In UART open loop control mode, the parameters associated with the actual control are as follows:

direction mode, PWM signal generating method, Starting zero signal detection, PPM extreme value,

control signal mode, Discontinuous mode time limit, the maximum permissible continuous current,

Altri manuali per Veyron

Indice

Manuali Servoazionamento popolari di altre marche

Mitsubishi Electric

Mitsubishi Electric MELSERVO-J5 MR-J5-G Series Manuale utente

Robotis

Robotis XH430-W350-T Manuale utente

NTI AG

NTI AG LinMot C1250 Series Manuale utente

Welcon

Welcon WE2A D048 Series Manuale utente

Parallax

Parallax 900-00005 Manuale utente

Festo

Festo TP 1410 Manuale utente

Axor

Axor MAGNUM 400 Manuale utente

Siemens

Siemens SINAMICS S120 Manuale utente

Danfoss

Danfoss 176F6494 Manuale utente

THORLABS

THORLABS TDC001 Manuale utente

TECO

TECO JSDAP Series Manuale utente

Rockwell Automation

Rockwell Automation Allen-Bradley Kinetix 6000 Manuale utente

GSK

GSK DA98D Manuale utente

Lenze

Lenze m850 Guida

Baumuller

Baumuller b maXX 3000 Manuale

Baumuller

Baumuller b maXX 5000 Manuale

Baumuller

Baumuller b maXX 5500 Manuale

Danfoss

Danfoss VLT HVAC Drive FC 102 Manuale utente