TTL serial bus actuator data

1.1 Product Features

Name: DS-HD3B-05 3kg customized clutch digital steering gear

Note: The unit of torque is kgf.cm and the unit of speed is sec/60°.

1.2 Structural Dimensions

FIG. 1 Dimensions of the steering gear

1.3 Electrical Connection

1.3.1 Pin Definition

Figure 2 steering gear pin drawing

1. GND Ground cable

2, CC power cord

3, signal cable

1.3.2 Control logic

Electrical Schematic Diagram：

FIG. 3 Schematic diagram of steering gear circuit

UART signal parameter：

Date bit： 8

Stop bit： 1

Patrity： None

Communication：Half duplex

Signal high voltage： 3V-3.3V

1.4 Usage Instructions

The communication mode of this type of steering gear adopts TTL serial port series intelligent steering gear communication control (serial bus version 5) protocol file developed by Desheng Intelligent Technology. Using parallel data transmission mode, the data transmission inside the computer processor control device is better, and the power requirements are not high and the heat loss is low.

1.4.1 Cable Connection Procedure

1, the steering gear interface 1 is connected to the blue debugging board A position (according to the circuit diagram to distinguish the pin and positive and negative electrode), if there are more than one steering gear can be connected to other positions A in turn

2. Connect interface 2 to the position of blue debug board B, as shown in Figure a;

3. Adjust the TTL/485 end of the USB-serial port adapter to the TTL end and connect the PC end to the PC end (the debugging board cannot be powered by the computer and the power supply at the same time, pay attention to remove the red power cable of interface 2 before connecting the power supply).

4. After the power port is powered on, open the SSCOM V5.13.1 serial port debugger, as shown in Figure b.

1.4.2 Procedure

1. After the cable connection is complete, open the SSCOM V5.13.1 serial debugger;

2, select the corresponding port of the steering gear in the port number, set the product target baud rate (the default value is 115200), check the HEX display and HEX send functions, click Extend to enter the steering gear command read and write panel;

3, Input the steering gear control instructions in the command sending window (1), copy the input instructions and paste them in the command storage serial port (2), double-click in the window (3) to annotate the instructions and send them; In case of circular transmission, you can set the order of sending instructions in the No. 4 window. After clicking circular transmission, the controller will send instructions in a pre-set order. ⑤ Window No. 5 can control the servo response delay time when a single instruction is sent one by one or several instructions are sent in a loop. After a single instruction is sent or several instructions are sent in a loop, it will be displayed in the ⑥ command display window, where "send" represents the instruction package sent by the controller, and "receive" represents the instruction package answered by the target servo.  See Appendix for a detailed list of command functions.

1.4.3 Example Description

This section describes the command format and provides examples to help readers better understand the command and control functions of the steering gear. See the appendix for a detailed list of command functions.

Send frame:

Reply frame:

Frame header: indicates the beginning of the instruction.

ID Number: The sender can use the Super ID(253), Broadcast ID(254), or target gear ID, and the responder returns its own ID.

Data length: The total number of bytes equal to [ID number + instruction function + instruction address + parameter N], that is, =3+N.

Command function: Describes the function types of commands, such as read, write, and firmware update. For details, see Command Function List.

Command address: The address of the command to be read and written. For details, see "Steering Gear Control Command Address List".

Parameter sequence: Send/reply parameters included in the instruction (parameter conversion depending on protocol type).Checksum= ~((ID +...) + parameter N)&0xFF).

Note 1: The maximum number of bytes in an instruction pack is 256 bytes.

Note 2: The Super ID(253) or target gear ID is required to send the read command, and the broadcast ID(254) has no response.

Steering gear status response frame (short response frame) :

Example 1 Current temperature read instruction _0x4A

Command send frame: F9 FF 01 03 02 4A AF command function: read the current temperature value of No. 01 steering gear.

F9 FF:send instruction frame header

01: ID of the steering engine

03: Data length (3+N,N represents parameter sequence, this instruction has no parameter sequence, so N=0)

02: Command function (02 represents the read function in the read and write function)

4A: Command address (command address 4A represents the current steering gear temperature value)

AF: Data check (data check bit is calculated by calculator (programmer mode), the specific operation is as follows)

1. Open computer calculator and switch to programmer mode

2, click hexadecimal HEX to add the 01, 03, 02, 4A sequence in the instruction package to get the result

3. Convert the result according to Not and take the HEX ending surface 2 bits to get the data check bit of the current instruction

Steering gear response frame: F9 F5 01 05 02 4A 22 00 8B Command function: The current steering gear temperature value is 34℃.

F9 F5: steering engine response frame header

01: ID of the steering engine

05: Data length (3+N,N represents the parameter sequence, this instruction contains 2 parameter sequences, so N=2)

02: Command function (02 represents the read function in the read and write function)

4A: Command address (command address 4A represents the current steering gear temperature value)

22 00: Parameter sequence (calculated by calculator (programmer mode), the specific operation is as follows)

1. Open computer calculator and switch to programmer mode

2. Click hexadecimal HEX to input the current parameter sequence 00 22 (Deseng Serial Bus version 5 protocol adopts the small-end mode to send low-byte data first) to convert the decimal DEC to 34, and the temperature value unit is ° C, so the current steering gear temperature value is 34 ° C.

8B: Data check (data check bit is calculated by calculator (programmer mode), the specific operation is as follows)

1. Open computer calculator and switch to programmer mode

2, click hexadecimal HEX to add the 01, 05, 02, 4A sequence in the instruction package to get the result

3. Convert the result according to Not and then take the last 2 bits of HEX to get the data check bit of the current instruction

Example 2 Limit rotation Angle limit read/write instruction _0x1A

Instruction send frame: F9 FF 01 03 02 1A DF instruction function: No. 01 steering gear maximum rotation Angle limit bit

F9 FF: send instruction frame header

01: ID of the steering engine

03: Data length (3+N,N represents parameter sequence, this instruction has no parameter sequence, so N=0)

02: Command function (02 represents the read function in the read and write function)

1A: command address (command address 1A represents the limit of rotation Angle of the steering gear)

DF: Data verification (calculated by calculator (programmer mode), the specific operation is the same as example 1)

Steering gear response frame: F9 F5 01 05 02 1A 08 07 CE command function: 01 steering gear limit Angle limit bit 180 degrees.

F9 F5: steering engine response frame header

01: ID of the steering engine

05: Data length (3+N,N represents the parameter sequence, this instruction contains 2 parameter sequences, so N=2)

02: Command function (02 represents the read function in the read and write function)

1A: command address (command address 1A represents the current steering gear limit Angle limit bit)

08 07: Parameter sequence (calculated by calculator (programmer mode), the specific operation is the same as example 1)

CE: Data verification (calculated by calculator (programmer mode), the specific operation is the same as example 1)

Example 3 Read/write instruction _0x65 for steering gear Angle timing control

Instruction send frame: F9 FF 01 07 03 65 BA FA 02 00 CC

Command function: No. 01 steering gear rotates from the current position to the -135 degree position in 0.2ms time.

F9 FF: send instruction frame header

01: ID of the steering engine

07: Data length (3+N,N represents the parameter sequence, this instruction parameter sequence contains 4 bytes, so N=4)

03: Command function (03 represents the write function in the read and write function)

65: command address (command address 65 represents steering gear mode rotation control)

BA FA 02 00: parameter sequence (where BA FA represents target rotation Angle; 02 00 represents the time of 0.2ms (0000 represents the fastest time), calculated by the calculator (programmer mode), the specific operation is as follows)

1. Open computer calculator and switch to programmer mode

2, click the decimal DEC, the target Angle is -135 degrees, the target time is 0.2 milliseconds (Note: deseng 5th edition protocol actual Angle unit is 0.1 degrees, time unit is milliseconds, using the small-end mode, read from right to left), so the actual input Angle value is 1350. The actual input time value is 2, as shown in the figure below.

3. If the Angle is negative, take OR to convert the hexadecimal HEX value, and take the last two digits of the parameter sequence, as shown in the figure below.

CC: Data check (in deseng Version 5 protocol, the data check bit can be replaced by CC, or calculated by a calculator (programmer mode), the specific operation is the same as example 1)

Example 4 Read/write instruction _0x32 for steering gear exception protection enable switch

Instruction send frame: F9 FF 01 03 02 32 C7 Instruction function: read the status of steering gear abnormal protection switch after 01

F9 FF: send instruction frame header

01: ID of the steering engine

03: Data length (3+N,N represents parameter sequence, this instruction has no parameter sequence, so N=0)

02: Command function (02 represents the read function in the read and write function)

32: command address (command address 32 represents the steering gear abnormal protection enable switch)

C7: Data verification (calculated by calculator (programmer mode), the specific operation is the same as example 1)

Steering gear response frame: F9 F5 01 04 02 32 0D B9 Command function: No. 01 steering gear blocking, temperature, voltage abnormal protection open; Abnormal current protection is off

F9 F5: steering engine response frame header

01: ID of the steering engine

04: Data length (3+N,N represents the parameter sequence, this instruction contains 1 parameter sequence, so N=1)

02: Command function (02 represents the read function in the read and write function)

32: command address (command address 32 represents the steering gear abnormal protection enable switch)

0D: parameter sequence (calculated by calculator (programmer mode), the specific operation is as follows)

1. Open computer calculator and switch to programmer mode

2. Click hexadecimal HEX and enter parameter sequence 0D

3. Converted into binary BIN, data 1101 is obtained

B9: Data verification (calculated by calculator (programmer mode), the specific operation is the same as example 1)

1.5 Common Faults

1.5.1 Faults

1.5.2 Frequently Asked Questions

Q 1: The steering gear is fixed on the product, and the positioning deviation is large with the housing?

A 1: The steering gear assembly is positioned at the center of the output tooth circle, and the ear holes on both sides are fixed as far as possible.

Q 2: The plastic gear of the steering machine is not impact resistant, easy to skip teeth?

A 2: It is necessary to consider the steering gear of the clutch tooth to apply, to avoid the external impact of the product is greater than the blocked torque.

Q 3: The output teeth of the steering gear are damaged by external impact, and the output teeth are not strong enough?

A 3: Try to use the steering wheel and product structural parts to support the external impact, to avoid the small output teeth to bear its impact greater than the steering gear torque.

Q 4: No communication after the steering gear is connected?

A 4: Reinsert the USB serial port and check whether the ID and baud rate of the steering gear are correct.

1.5.3 Precautions

1, please use within the range of working voltage and current, do not overvoltage or overcurrent, so as to avoid burning out or internal damage to the steering gear.

2, please strictly follow the wiring procedure before wiring, so as not to have no function or can not work normally.

3, the use of large torque steering gear must be careful to prevent personal injury caused by misoperation.

4, remember not to add a new steering gear to the bus when the steering gear is working.

5, this product is a high-precision product, do not manually turn the steering wheel or swing arm, so as to avoid internal damage.

6, do not run the steering gear under ultra-high load, try to choose the appropriate running torque.