RoboMaster C610 Manuale utente

User Guide

RoboMaster

C610 Brushless DC Motor Speed Controller

2019.03v1.0

Disclaimer

Thank you for purchasing the ROBOMASTERTM C610 Brushless DC Motor Speed Controller

(hereinafter referred to as “product”). Read the disclaimer carefully before using this product.

By using this product, you hereby agree to this disclaimer and signify that you have read it fully.

Install and use this product in strict accordance with the user guide. SZ DJI TECHNOLOGY CO.,

LTD. and its afliated companies assume no liability for damage(s) or injuries incurred directly or

indirectly from using, installing, or modifying this product improperly, including but not limited to

using non-designated accessories.

DJITM is a trademark of SZ DJI TECHNOLOGY CO., LTD. (abbreviated as “DJI”) and its afliated

companies. Names of products, brands, etc., appearing in this document are trademarks

or registered trademarks of their respective owner companies. This product and document

reproduced in any form without the prior written consent or authorization of DJI.

The nal interpretation right of this disclaimer is reserved by DJI.

Warnings

1. Make sure that there are no short circuits and all the cables are correctly connected when

using the speed controller.

2. The speed controller heats when the output power is too high. Handle carefully to avoid

scalding.

3. Make sure the heat-shrink tubing is in good condition. Replace it when necessary.

4. The serial port and CAN port cannot be used simultaneously. Power off the speed controller,

change to the port you want to use, and power on the speed controller again.

5. Make sure to use the speed controller in strict accordance with the Specications section.

Failure to do so may reduce the product service life or even lead to permanent damage.

Introduction

Using a 32-bit motor driver chip and field-oriented control (FOC), the RoboMaster C610

Brushless DC Motor Speed Controller enables precise control over motor torque. It is compatible

with the M2006 P36 Brushless DC Gear Motor* to create a complete propulsion system. Users

can congure and update the speed controller rmware using RoboMaster Assistant.

Features

• Provides CAN bus command control.

• Supports a maximum continuous current of 10 A.

• Quickly assigns ID numbers to all speed controllers connected to the CAN bus.

• Acquires the position and rotational speed information of the rotor via the CAN bus.

* Refer to the M2006 P36 Brushless DC Gear Motor User Guide for more information about

this product.

In the Box

C610 Speed Controller × 1 Heat-shrink Tubing × 1

Overview

C610 Brushless DC Motor Speed Controller

1. Power Cable

Connects to a 24 V power supply to provide power for the speed controller.

2. 3-Phase Power Cable

Connects to the 3-phase cable of the M2006 motor. Make sure the cables are securely

connected.

3. 4-Pin Port

Connects to the 4-pin cable of the M2006 motor to acquire position information of the rotor.

4. Securing Grooves

There are two securing grooves on either side of the speed controller. Use M2 screws to

secure the speed controller.

5. Set Button

Congures the speed controller. Refer to Using the Set Button section for more information.

6. Status LED

Indicates the speed controller’s operating status. Refer to the Status LED Description section

for more information.

7. CAN Terminal Resistance Switch

Switch to ON or NC to connect or disconnect the 120 Ω terminal resistance, according to

CAN bus wiring regulations and other relevant regulations.

8. CAN cable

Receives the CAN controlling signal of the control panel. The bitrate of the CAN bus is 1

Mbps.

9. Serial Port

Connects to a USB-to-serial converter by soldering. Connect the USB-to-serial converter to

a computer to congure the parameters or update the rmware of the speed controller via

RoboMaster Assistant.

When the CAN bus command control is in use, the information of the position and

rotational speed of the rotor can be acquired. Make sure to consider the bandwidth of

the CAN bus wire when it is in use.

Serial Port

Side view:

RXD, TXD, and GND

Connecting the Speed Controller

1. Connect the 4-pin cable of the motor to the 4-pin port on the speed controller.

2. Connect the 3-phase cable of the motor to the 3-phase port on the speed controller. Make

sure the cables are correctly connected.

3. Connect the CAN cable to the CAN port on the control panel.

4. Connect the power cable to a power supply.

CAN Cable

4-pin Cable

3-phase Cable Power Cable

CAN Cable

Side view:

Red (CAN_H) and black

(CAN_L)

GND

TXD

RXD

Dimensions

295

303

22.5

44.8

1.2

22.0

7.3

R1.0

Securing the Speed Controller

There are two securing grooves on either side of the speed controller. The grooves have a

diameter of 2 mm, and it is recommended to use M2 screws. The heat-shrink tubing must be

cut in order for the M2 screws to pass through the grooves. DJI bears no responsibility for any

damage caused to the heat-shrink tubing when it is cut.

Using RoboMaster Assistant

To congure the speed controller or update its rmware, use a Takyon Updater or a compatible

USB-to-serial converter via RoboMaster Assistant.

The voltage of the USB-to-serial converter must be 3.3 V.

Unit: mm

1. Download RoboMaster Assistant from the ofcial RoboMaster website.

https://www.robomaster.com/products/components/assistant

2. Connect the speed controller to the Takyon Updater by soldering, and connect the Takyon

Updater to a computer. Make sure the PWM cable is correctly connected (“-“ for GND, “+” for

TXD and “ ” for RXD). A USB-to-serial converter can be used in place of a Takyon Updater.

RXD

TXD

GND

TXD

RXD

3. Connect the speed controller to a power supply.

4. Launch RoboMaster Assistant.

5. Click Settings to adjust parameters.

6. Click Firmware Update and select the version you want for the speed controller. RoboMaster

Assistant will automatically download and update the rmware.

Status LED Description

The status LED is used to indicate the operational status of the speed controller. In situations

where there is both a warning and an abnormal working condition, the LED only indicates the

abnormal working condition. In situations that indicate multiple warnings or abnormal working

conditions, the LED only indicates the warning or abnormal working condition that emits the least

amount of blinks. Note that the speed controller automatically cuts off the output stream when it

has detected an abnormal working condition.

Normal Description

Blinks green x times every second The number of blinks indicates the ID of the speed

controller. The ID range is from one to eight.

Quick ID Setting Description

Solid orange Setting the ID of the speed controller.

Calibration Description

Blinks green quickly The speed controller is calibrating.

Warning Description

Blinks orange twice every second More than one speed controller connected to the CAN

bus share the same ID.

Abnormal Description

Blinks red once every second The voltage of the power supply is too high (only

detected in self-diagnosis when powering on.)

Blinks red twice every second The 3-phase cable of the motor is not connected.

Blinks red three times every second The 4-pin cable connected on the motor has lost signal.

Blinks red quickly Motor calibration failed.

Warning Sound Description

When in use, the motor connected to the speed controller beeps to indicate the working status

of the whole system.

Normal Sound Description

Power-on music The system is ready.

Abnormal Sound Description

BB--BB--BB…… The motor stalls.

BBB--BBB--BBB…… The 4-pin cable connected on the motor has lost signal

Using the Set Button

1. Separate ID Setting

Follow the steps below to assign a unique ID to each speed controller (from 1-8):

a. Press the Set button once to activate separate ID assignment mode for the speed controller.

Once the speed controller is in ID assignment mode, the status LED is powered off.

b. Press the Set button again to assign an ID to each speed controller. The number of times

you press the button is the ID of the speed controller. The status LED blinks orange each

time the button is pressed.

c. If the Set button is idle for three seconds, the speed controller automatically saves the ID

entered. Restart the speed controller after assigning the ID.

Multiple speed controllers connected to the same CAN bus cannot share the same

ID. Any speed controllers with the same ID will blink orange twice every second and

cut off the output stream.

2. Quick ID Setting

Follow the steps below to quickly assign an ID to all speed controllers connected to the CAN

bus. A maximum of eight speed controllers can be connected.

a. Make sure all speed controllers are working normally. Press the Set button on any speed

controller once to activate separate ID assignment mode and then press and hold the Set

button again until the status LEDs of all the connected speed controllers turn solid orange.

All the speed controllers will automatically be assigned an ID.

b. The ID of each speed controller will be assigned based on the order you turn the M2006

rotors. Turn each M2006 rotor at least 180° in either direction in the order you wish to

assign the ID. Restart the speed controllers after assigning IDs.

If the M2006 rotor is not turned, the speed controller saves the original ID that

it received after powering on. The speed controller stops working if the speed

controller shares the same ID with another speed controller connected to the same

CAN bus.

Make sure to connect or disconnect the terminal resistance according to the CAN

bus wiring and relevant regulations. Otherwise, the CAN Bus communication may

not work properly.

3. M2006 Calibration

After the speed controller and motor are connected and powered on, calibrate the motor to

make sure it is working properly.

a. Press and hold the Set button. Release when the status LED starts to blink green quickly.

b. The motor will begin calibration. When calibration is complete, the motor stops rotating.

Calibrate the motor before using for the first time or when the motor or the speed

controller has been changed in the system. It is recommended to calibrate the motors

without a payload. The motor continues to rotate during calibration. DO NOT touch

the motor during calibration. If calibration fails several times, replace the motor.

CAN Communication Protocol

1. Speed Controller Receiving Message Format

The two identiers (0×200 and 0×1FF) control the current output of each of the four speed

controllers by ID. The controllable current range is -10000 ~ 0 ~ 10000. The corresponding

speed controller output torque current range is -10 ~ 0 ~ 10 A.

Identier : 0×200 Frame type : Standard

Frame format : DATA DLC : 8 Bytes

Data Field Description Speed Controller ID

DATA[0] Controls the current value in higher order byte (8 bits)

DATA[1] Controls the current value in lower order byte (8 bits)

DATA[2] Controls the current value in higher order byte (8 bits)

DATA[3] Controls the current value in lower order byte (8 bits)

DATA[4] Controls the current value in higher order byte (8 bits)

DATA[5] Controls the current value in lower order byte (8 bits)

DATA[6] Controls the current value in higher order byte (8 bits)

DATA[7] Controls the current value in lower order byte (8 bits)

Identier : 0×1FF Frame type : Standard

Frame format : DATA DLC : 8 Bytes

Data Fields Description Speed Controller ID