DDSM210

DDSM210 UART Communication Port

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Onboard Interfaces

Related Products

Overview

Based on an integrated development concept, DDSM210 (Direct Drive Servo Motor) integrates an outer rotor brushless motor, encoder, and servo drive into a high-reliability permanent magnet synchronous motor. Its compact structure, convenient installation, stable operation, small size, and large torque make it particularly suitable for applications in the following direct drive fields: robot joints, small AGV drive wheels, self-balancing vehicle drive wheels, and development vehicle platforms for advanced robot projects.

Through optimization of pole number, slot type, air gap, permanent magnet material, and other related parameters, the motor ensures greater torque output, the smaller torque fluctuations, and achieves direct drive at low speeds with large torque, providing users with high-performance direct drive application solutions.

The driver compatible with this motor utilizes the Field Oriented Control (FOC) algorithm, coupled with the motor's built-in high-precision sensor, to achieve precise control of the motor and better noise reduction. The driver features a complete and reliable motor On-board Diagnostics (OBD) monitoring mechanism and protection functions, ensuring the safe and reliable operation of the motor.

Simultaneously, we provide an open-source structural model for this model of direct drive servo motor, which can be downloaded from the "Resources"-"Open Source Structure" section at the bottom.

Usage Precaution

1. Please confirm whether the operating voltage is the voltage specified in this article before use.
2. Please make sure the motor is used under the specified environment range (-25℃~45℃), the motor over-temperature protection threshold is 80°C, and the protection is released when the temperature is lower than 5°C.
3. Please avoid immersing the motor in water, otherwise, it may cause abnormal operation or damage to the motor.
4. Please ensure that the wiring is correct and stable before use to avoid poor contact.
5. Please refer to the installation instructions before using the motor to ensure that the motor is installed correctly and firmly.
6. Please refer to the installation instructions before using the motor to ensure that the external output part of the motor is installed correctly and firmly.
7. Please avoid damage to the wire during use, otherwise, it may cause abnormal operation or damage to the motor.
8. Do not touch the rotating part of the motor during use to avoid injury.
9. When the motor outputs high torque, it will generate heat. Do not touch the motor to avoid burns.
10. Do not disassemble the motor without permission, otherwise, it may cause abnormal operation or damage to the motor and may bring safety hazards.

Features

• Ultra-low noise.
• High precision and zero-backlash.
• Fast response, direct drive without delay.
• Integrated motor and driver, compact structure, and high integration.
• Supports UART communication, for obtaining motor feedback information such as position, speed, current, error code, etc.
• With Hall position detection, over-current protection, etc.
• Supports electric brake.
• No drive mechanical friction, drive efficiency close to 99.99%.

Parameters

• No-load speed: 210±10rpm
• No-load current: 0.15A
• Rated speed: 98rpm
• Rated torque: 0.25Nm
• Rated current: 1.1A
• Locked-rotor torque: 0.85Nm
• Locked-rotor current: ≦3.8A
• Input voltage: 9 ~ 28VDC
• Speed constant: 14rpm/V
• Operating temperature -25~45℃
• Total weight: 216g
• Encoder resolution: 4096
• Relative precision: 1024
• Noise level: ≦40dB(A)
• Single-wheel load: 3kg

Motor Interface and Cable Order

Signal Cable (ZH1.5*4P)	Name	Type	Description
1	UART	Tx	UART_Tx
2	UART	Rx	UART_Rx
3	GND	-	/
4	VCC	+	/

How To Use

• The simple control method is only used to verify the working principle of the motor and to do some simple tests. For the specific method, please refer to the chapter on the communication protocol.
• It is recommended to use USB to TTL for the device with a USB interface to control the servo.
• Signal cable wiring. Wire the signal lines according to the table provided above, which references the motor interface and the wire sequence instructions. Connect the motor's TX to the converter's RX, connect the motor's RX to the converter's TX, and connect the GND of the motor signal line to the GND of the converter.
• Power cable. You can refer to the above motor interface and line sequence for the pin definition. Connect the VCC of the signal cable to the positive poles of the 12V DCC power (9~28V DC), and connect the GND of the signal cable to the negative poles of the 12V DCC power (9~28V DC).

• Download OSDA open-source serial port assistant.
  • x86 Github download link
    
  • x64 Github download link
• Run the OSDA open source serial port debugging assistant, select the serial port of the device, select 115200 for the baud rate, check Hex to accept, check Hex to send, and then open the serial port to send commands to the motor.

• Note that the motor will start to rotate after some commands are sent. Do not touch the rotating parts of the motor. If you do not have suitable structural parts to install the motor, be sure to prepare for power failure at any time, and do not give high-speed commands.
• The following is the UART communication command set:

1. Switch to velocity loop (02), this command has no feedback.
01 A0 02 00 00 00 00 00 00 E4
2. For additional feedback, query the motor mode
01 75 00 00 00 00 00 00 00 47
3. Brake command, valid in speed loop mode.
01 64 00 00 00 00 00 FF 00 D1
4. ID setting（01), send the command five times continuously.
AA 55 53 01 00 00 00 00 00 00
5. ID query
C8 64 00 00 00 00 00 00 00 DE
6. Velocity loop command (－210～210 rpm)
01 64 FF CE 00 00 00 00 00 DA (-50rpm)
01 64 FF 9C 00 00 00 00 00 9A (-100rpm)
01 64 00 00 00 00 00 00 00 50 (0rpm)
01 64 00 32 00 00 00 00 00 D3 (50rpm)
01 64 00 64 00 00 00 00 00 4F (100rpm)
7. Position loop commands (0～32767 corresponds to 0～360°)
01 64 00 00 00 00 00 00 00 50 (0)
01 64 27 10 00 00 00 00 00 57 (10000)
01 64 4E 20 00 00 00 00 00 5E (20000)
01 64 75 30 00 00 00 00 00 A7 (30000)

Communication Protocol

• Baudrate: 115200
• Data bits: 8bit
• Stop bit: 1bit
• Parity bit: none
• Data length: 10 bytes
• Reply form: one question and one answer
• Rate: up to 500Hz
• In velocity loop mode: -2100~2100 corresponds to the range -210rpm~210rpm, the data type: signed 16-bit
• In position loop mode: 0~32767 corresponds to the range 0°~360°, data type: unsigned 16-bit
• Steps:

①Set the motor ID (save when power is off)
②Set the motor mode (current loop, speed loop, position loop, the default is speed loop)
③Send the given value

• CRC8 value:
  • The value after the CRC8 check is performed on the values DATA[0]~DATA[8].
  • CRC algorithm: CRC-8/MAXIM
  • Polynomial: x8 + x5 + x4 +1
  • The verification product stage can use this website to calculate the check digit: https://crccalc.com/

Protocol 1: drive motor to rotate

Send to the motor:

Data Field	DATA[0]	DATA[1]	DATA[2]	DATA[3]	DATA[4]	DATA[5]	DATA[6]	DATA[7]	DATA[8]	DATA[9]
Content	ID	0x64	Velocity/current/given position high 8 bits	Velocity/current/given position low 8 bits	0	0	Acceleration time	Brake	0	CRC8

Motor feedback:

Data Field	DATA[0]	DATA[1]	DATA[2]	DATA[3]	DATA[4]	DATA[5]	DATA[6]	DATA[7]	DATA[8]	DATA[9]
Content	ID	0x64	Velocity high 8 bits	Velocity low 8 bits	Current high 8 bits	Current low 8 bits	Acceleration time	Temperature	Error code	CRC8

• Acceleration time: valid in the speed loop mode, the acceleration time per 1rpm, the unit is 0.1ms. When it is set to 1, the acceleration time per 1rpm is 0.1ms. When it is set to 10, the acceleration time per 1rpm is 10*0.1 ms=1ms. When set to 0, the default is 1, and the acceleration time per 1rpm is 0.1ms.
• Brake: 0XFF other values do not brake, valid in speed loop mode.

Protocol 2: get other feedback

Send to the motor:

Data Field	DATA[0]	DATA[1]	DATA[2]	DATA[3]	DATA[4]	DATA[5]	DATA[6]	DATA[7]	DATA[8]	DATA[9]
Content	ID	0x74	0	0	0	0	0	0	0	CRC8

Motor feedback:

Data Field	DATA[0]	DATA[1]	DATA[2]	DATA[3]	DATA[4]	DATA[5]	DATA[6]	DATA[7]	DATA[8]	DATA[9]
Content	ID	0x74	Odometer count high 8 bits	Odometer count second high 8 bits	Odometer count second low 8 bits	Odometer count low 8 bits	Position high 8 bits	Position low 8 bits	Error code	CRC8

• Odometer count: -2147483467 to 2147483467, reset to 0 when power on it again.
• U8 position value: 0~65535 corresponds to 0~360°
• Error code:

Error Code	BIT7	BIT6	BIT5	BIT4	BIT3	BIT2	BIT1	BIT0
Content	Save	Save	Save	Overtemperature error	Save	Save	Overcurrent error	Save

For example, the error code 0x02, that is 0b00000010, means an overcurrent error.

Protocol 3: Motor Mode Switch Sending Protocol

Data Field	DATA[0]	DATA[1]	DATA[2]	DATA[3]	DATA[4]	DATA[5]	DATA[6]	DATA[7]	DATA[8]	DATA[9]
Content	ID	0xA0	Mode Value	0	0	0	0	0	0	CRC8

Motor feedback:

Data Field	DATA[0]	DATA[1]	DATA[2]	DATA[3]	DATA[4]	DATA[5]	DATA[6]	DATA[7]	DATA[8]	DATA[9]
Content	ID	0xA0	Mode Value	0	0	0	0	0	0	CRC8

Mode value:
0x00: set to open loop
0x02: set to velocity loop
0x03: set to position loop

Protocol 4: Moto ID Sets Sending Protocol

Data Field	DATA[0]	DATA[1]	DATA[2]	DATA[3]	DATA[4]	DATA[5]	DATA[6]	DATA[7]	DATA[8]	DATA[9]
Content	0xAA	0x55	0x53	ID	0	0	0	0	0	CRC8

Motor feedback:

Data Field	DATA[0]	DATA[1]	DATA[2]	DATA[3]	DATA[4]	DATA[5]	DATA[6]	DATA[7]	DATA[8]	DATA[9]
Content	ID	0x64	0	0	0	0	0	0	0	CRC8

Note: When setting the ID, ensure that only one motor is on the bus. Each time power is applied, only one setting is allowed. The motor will execute the setting after receiving the ID setting command five times.

Protocol 5: Obtain Mode Feedback

Send to the motor:

Data Field	DATA[0]	DATA[1]	DATA[2]	DATA[3]	DATA[4]	DATA[5]	DATA[6]	DATA[7]	DATA[8]	DATA[9]
Content	ID	0x75	0	0	0	0	0	0	0	CRC8

Motor feedback:

Data Field	DATA[0]	DATA[1]	DATA[2]	DATA[3]	DATA[4]	DATA[5]	DATA[6]	DATA[7]	DATA[8]	DATA[9]
Content	ID	0x75	Mode Value	0	0	0	0	0	0	CRC8

Mode value:

• 0x00: open loop
• 0x02L velocity loop
• 0x03: position loop

Protection Rules

1. Bus overcurrent protection threshold: 2.8A, trigger shutdown protection after overcurrent occurs, and release after 5S.
2. Motor over-temperature protection threshold: 80°C, the protection will be released when the temperature is lower than the threshold by 5°C.
3. Locked rotor protection: the blocked rotor lasts for more than 5S to trigger the protection, and it will be released after 5S.

Installation Guide

• Please refer to the motor mounting hole dimensions and positions, and mount the motor onto the corresponding equipment. Units: mm
• The threaded hole on the motor output end is M3 with a depth of 3mm. The center of the mounting hole is evenly distributed at a diameter of 28mm.
• The mounting threaded hole on the motor mounting end is M2.5 with a depth of 6mm. The center of the mounting hole is evenly distributed at a diameter of 18mm. Please select suitable screws for installation during the mounting process.

Resource

3D Model

• DDSM210 STEP model

2D Drawing

• DDSM210 DXF drawing

Open-source Structure

• 4WD mobile robot STEP model

FAQ

Question:What is the connectorused by the DDSM210 motor?

 Answer:

ZH1.5 4P connector.

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