| Reset |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX00
XX: driver id, can be 1 or 2 or 3 | 8 | / |
| data | function | data type | description |
| byte\[0\] | / | uint8 | Fixed value 0x55 |
| byte\[1\] | / | uint8 | Fixed value 0x55 |
| byte\[2\] | / | uint8 | Fixed value 0x55 |
| byte\[3\] | / | uint8 | Fixed value 0x55 |
| byte\[4\] | / | uint8 | Fixed value 0x55 |
| byte\[5\] | / | uint8 | Fixed value 0x55 |
| byte\[6\] | / | uint8 | Fixed value 0x55 |
| byte\[7\] | / | uint8 | Fixed value 0x55 |
| |
| Driver mode switch |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX01
XX: driver ID. Can be 1 or 2 or 3 | 8 | / |
| data | function | data type | description |
| byte\[0\] | mode | uint8 | 2-open loop mode
3-velocity loop mode
4-position velocity loop mode
5-current loop mode
6-velocity current loop mode
7-position velocity current loop mode
Note: typically the velocity current loop mode should be used. If you want to switch mode, you need to send reset first |
| byte\[1\] | / | uint8 | Fixed value 0x55 |
| byte\[2\] | / | uint8 | Fixed value 0x55 |
| byte\[3\] | / | uint8 | Fixed value 0x55 |
| byte\[4\] | / | uint8 | Fixed value 0x55 |
| byte\[5\] | / | uint8 | Fixed value 0x55 |
| byte\[6\] | / | uint8 | Fixed value 0x55 |
| byte\[7\] | / | uint8 | Fixed value 0x55 |
| |
| Open loop mode control |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX02
XX: driver ID. Can be 1 or 2 or 3 | 8 | 10ms |
| data | function | data type | description |
| byte\[0\] | pwm\_duty \[15:8\] | int16 | range \[-3000,3000\] |
| byte\[1\] | pwm\_duty \[7:0\] |
| byte\[2\] | / | uint8 | Fixed value 0x55 |
| byte\[3\] | / | uint8 | Fixed value 0x55 |
| byte\[4\] | / | uint8 | Fixed value 0x55 |
| byte\[5\] | / | uint8 | Fixed value 0x55 |
| byte\[6\] | / | uint8 | Fixed value 0x55 |
| byte\[7\] | / | uint8 | Fixed value 0x55 |
| |
| Velocity mode control |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX03
XX: driver ID. Can be 1 or 2 or 3 | 8 | 10ms |
| data | function | data type | description |
| byte\[0\] | pwm\_duty \[15:8\] | int16 | range \[-3000,3000\] |
| byte\[1\] | pwm\_duty \[7:0\] |
| byte\[2\] | velocity \[15:8\] | int16 | unit: rpm, range \[-500,500\] |
| byte\[3\] | velocity \[7:0\] |
| byte\[4\] | / | uint8 | Fixed value 0x55 |
| byte\[5\] | / | uint8 | Fixed value 0x55 |
| byte\[6\] | / | uint8 | Fixed value 0x55 |
| byte\[7\] | / | uint8 | Fixed value 0x55 |
| |
| Position velocity mode control |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX04
XX: driver ID. Can be 1 or 2 or 3 | 8 | 10ms |
| data | function | data type | description |
| byte\[0\] | pwm\_duty \[15:8\] | int16 | range \[-3000,3000\] |
| byte\[1\] | pwm\_duty \[8:0\] |
| byte\[2\] | velocity \[15:8\] | int16 | unit: rpm, range \[-500,500\] |
| byte\[3\] | velocity \[8:0\] |
| byte\[4\] | position\[31:24\] | int32 | range \[-4096,4096\] |
| byte\[5\] | position\[23:16\] |
| byte\[6\] | position\[15:8\] |
| byte\[7\] | position\[7:0\] |
| |
| Current loop mode control |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX05
XX: driver ID. Can be 1 or 2 or 3 | 8 | 10ms |
| data | function | data type | description |
| byte\[0\] | current \[15:8\] | int16 | unit: 10mA, range \[-7000,7000\] |
| byte\[1\] | current \[7:0\] |
| byte\[2\] | / | uint8 | Fixed value 0x55 |
| byte\[3\] | / | uint8 | Fixed value 0x55 |
| byte\[4\] | / | uint8 | Fixed value 0x55 |
| byte\[5\] | / | uint8 | Fixed value 0x55 |
| byte\[6\] | / | uint8 | Fixed value 0x55 |
| byte\[7\] | / | uint8 | Fixed value 0x55 |
| |
| Velocity current mode control |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX06
XX: driver ID. Can be 1 or 2 or 3 | 8 | 10ms |
| data | function | data type | description |
| byte\[0\] | current \[15:8\] | int16 | unit: 10mA, range \[-7000,7000\] |
| byte\[1\] | current \[7:0\] |
| byte\[2\] | velocity \[15:8\] | int16 | unit: rpm, range \[-500,500\] |
| byte\[3\] | velocity \[7:0\] |
| byte\[4\] | / | uint8 | Fixed value 0x55 |
| byte\[5\] | / | uint8 | Fixed value 0x55 |
| byte\[6\] | / | uint8 | Fixed value 0x55 |
| byte\[7\] | / | uint8 | Fixed value 0x55 |
| |
| Position velocity current mode control |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX07
XX: driver ID. Can be 1 or 2 or 3 | 8 | 10ms |
| data | function | data type | description |
| byte\[0\] | current \[15:8\] | int16 | unit: 10mA, range \[-7000,7000\] |
| byte\[1\] | current \[8:0\] |
| byte\[2\] | velocity \[15:8\] | int16 | unit: rpm, range \[-500,500\] |
| byte\[3\] | velocity \[8:0\] |
| byte\[4\] | position\[31:24\] | int32 | range \[-4096,4096\] |
| byte\[5\] | position\[23:16\] |
| byte\[6\] | position\[15:8\] |
| byte\[7\] | position\[7:0\] |
| |
| Set motor acceleration or deceleration |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX30
XX: driver ID. Can be 1 or 2 or 3 | 8 | / |
| data | function | data type | description |
| byte\[0\] | open loop acc \[15:8\] | uint16 | if you set 1000,it means that the PWM duty cycle value takes 1 second to go from 0 to 1000 |
| byte\[1\] | open loop acc \[7:0\] |
| byte\[2\] | open loop dec \[15:8\] | uint16 | if you set 1000,it means that the PWM duty cycle value takes 1 second to go from 1000 to 0 |
| byte\[3\] | open loop dec \[7:0\] |
| byte\[4\] | velocity loop acc\[15:8\] | uint16 | if you set 100,it means that the rpm value takes 10 second to go from 0 rpm to 1000 rpm |
| byte\[5\] | velocity loop acc \[7:0\] |
| byte\[6\] | velocity loop dec\[15:8\] | uint16 | if you set 100,it means that the rpm value takes 10 second to go from 1000 rpm to 0 rpm |
| byte\[7\] | velocity loop dec \[7:0\] |
| |
| set velocity loop（without current loop）PID param cmd |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX40
XX: driver ID. Can be 1 or 2 or 3 | 8 | The driver has default parameters that are sent when they need to be modified |
| data | function | data type | description |
| byte\[0\] | P \[31:24\] | float | Proportion param |
| byte\[1\] | P\[23:16\] |
| byte\[2\] | P\[15:8\] |
| byte\[3\] | P\[7:0\] |
| byte\[4\] | I \[31:24\] | float | Integral param |
| byte\[5\] | I\[23:16\] |
| byte\[6\] | I\[15:8\] |
| byte\[7\] | I\[7:0\] |
| |
| set position loop（without current loop）PID cmd |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX41
XX: driver ID. Can be 1 or 2 or 3 | 8 | The driver has default parameters that are sent when they need to be modified |
| data | function | data type | description |
| byte\[0\] | P \[31:24\] | float | proportion param |
| byte\[1\] | P\[23:16\] |
| byte\[2\] | P\[15:8\] |
| byte\[3\] | P\[7:0\] |
| byte\[4\] | D \[31:24\] | float | differential param |
| byte\[5\] | D\[23:16\] |
| byte\[6\] | D\[15:8\] |
| byte\[7\] | D\[7:0\] |
| |
| set current loop PID cmd |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX42
XX: driver ID. Can be 1 or 2 or 3 | 8 | The driver has default parameters that are sent when they need to be modified |
| data | function | data type | description |
| byte\[0\] | P \[31:24\] | float | proportion param |
| byte\[1\] | P\[23:16\] |
| byte\[2\] | P\[15:8\] |
| byte\[3\] | P\[7:0\] |
| byte\[4\] | I \[31:24\] | float | Integral param |
| byte\[5\] | I\[23:16\] |
| byte\[6\] | I\[15:8\] |
| byte\[7\] | I\[7:0\] |
| |
| set velocity loop（with current loop）PID cmd |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX43
XX: driver ID. Can be 1 or 2 or 3 | 8 | The driver has default parameters that are sent when they need to be modified |
| data | function | data type | description |
| byte\[0\] | P \[31:24\] | float | proportion param |
| byte\[1\] | P\[23:16\] |
| byte\[2\] | P\[15:8\] |
| byte\[3\] | P\[7:0\] |
| byte\[4\] | I \[31:24\] | float | Integral param |
| byte\[5\] | I\[23:16\] |
| byte\[6\] | I\[15:8\] |
| byte\[7\] | I\[7:0\] |
| |
| set position loop（with current loop）PID cmd |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | Motor driver | 0x0505XX44
XX: driver ID. Can be 1 or 2 or 3 | 8 | The driver has default parameters that are sent when they need to be modified |
| data | function | data type | description |
| byte\[0\] | P \[31:24\] | float | proportion param |
| byte\[1\] | P\[23:16\] |
| byte\[2\] | P\[15:8\] |
| byte\[3\] | P\[7:0\] |
| byte\[4\] | D \[31:24\] | float | differential param |
| byte\[5\] | D\[23:16\] |
| byte\[6\] | D\[15:8\] |
| byte\[7\] | D\[7:0\] |
| |
| motor position velocity current feedback |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Motor driver | Controller | 0x0505XXB1
XX: driver ID. Can be 1 or 2 or 3 | 8 | 10ms |
| data | function | data type | description |
| byte\[0\] | current \[15:8\] | int16 | unit: 10mA |
| byte\[1\] | current \[8:0\] |
| byte\[2\] | velocity \[15:8\] | int16 | unit: rpm |
| byte\[3\] | velocity \[8:0\] |
| byte\[4\] | position\[31:24\] | int32 | unit: qc |
| byte\[5\] | position\[23:16\] |
| byte\[6\] | position\[15:8\] |
| byte\[7\] | position\[7:0\] |
| |
| Driver status feedback |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Motor driver | Controller | 0x0505XXB2
XX: driver ID. Can be 1 or 2 or 3 | 8 | 100ms |
| data | function | data type | description |
| byte\[0\] | pwm duty \[15:8\] | int16 | |
| byte\[1\] | pwm duty \[8:0\] |
| byte\[2\] | voltage \[15:8\] | uint16 | unit: 0.01V |
| byte\[3\] | voltage \[8:0\] |
| byte\[4\] | MOSFET temperature | uint8 | unit: ℃ |
| byte\[5\] | motor temperature | uint8 | unit: ℃ |
| byte\[6\] | error | uint8 | 0-normal
1-voltage over low
2-voltage over high
3-mosfet overtemperature
4-motor overtemperature
5-motor over current
6-encoder disconnect
7-encoder feedback direction is incorrect
8-encoder leads are not secure
9- hall sensor is abnormal |
| byte\[7\] | warning | uint8 | bit0-can watchdog timeout
bit1-there is a gap in the Hall sensor |
| |
| vcu error feedback |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| VCU | Controller | 0x011101BA | 8 | 100ms |
| data | function | data type | description |
| byte\[0\] | reverse | uint8 | 0 |
| byte\[1\] | reverse | uint8 | 0 |
| byte\[2\] | reverse | uint8 | 0 |
| byte\[3\] | error | uint8 | bit0-Low battery warm
bit1-Low battery error
bit2-reverse
bit3-emergency stop |
| byte\[4\] | reverse | uint8 | 0 |
| byte\[5\] | reverse | uint8 | 0 |
| byte\[6\] | reverse | uint8 | 0 |
| byte\[7\] | reverse | uint8 | 0 |
| |
| VCU ctrl mode switch |
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| VCU | Controller | 0x01110111 | 8 | / |
| data | function | data type | description |
| byte\[0\] | VCU mode | uint8 | 0-standby
1-reverse
2-VCU CAN mode
3-free mode
4-passthrough mode
Note: After powering on, it is in passthrough mode by default |
| byte\[1\] | reverse | uint8 | 0 |
| byte\[2\] | reverse | uint8 | 0 |
| byte\[3\] | error | uint8 | 0 |
| byte\[4\] | reverse | uint8 | 0 |
| byte\[5\] | reverse | uint8 | 0 |
| byte\[6\] | reverse | uint8 | 0 |
| byte\[7\] | reverse | uint8 | 0 |
| | | | | |