User's Manual

Drive Information

1. Appearance and 3D dimensions

2. Interface Overview

Interface Definitions

No.	Interface Name / Definition
1	15–60V Power Supply & CAN Communication Integrated Terminal
2	Type-C Debugging & Host Computer Communication Interface
3	Expansion Slot (supports RS485, EtherCAT, PWM, Pulse-Direction, Throttle control, etc.)
4	SWD Debugging & Firmware Download Interface
5	Secondary Encoder Interface (Supports I2C & UART)
6	Motor Temperature Interface (NTC Sensor)
7	Brake/Brake Resistor Interface, 12V Power Output, Min/Max Limit Switch Interface
8	U/V/W Phase Winding Solder Pads
9	Mounting Holes (4 × M2 screws)

3. Interface Detailed Definition

Power supply and CAN communication/RS485/PWM terminals

The onboard terminal model is XT30PB(2+2)-M, and the mating cable-end connector is XT30(2+2)-F, both manufactured by AMASS.

In PWM mode, the CANH pin functions as the PWM signal input.

In pulse mode,

• CANH serves as the pulse signal input,

• CANL functions as the pulse direction input.

Note: In versions that support RS485, the CANH and CANL pins also serve as the RS485 A/B differential signal lines.

4. Type-C Debug Interface

The Type-C port uses a standard data cable specification and is compatible with commonly used Type-C cables from PCs or smartphones.

5. Expansion Slot Interface

This slot is designed to provide a variety of inter-board expansion interfaces, allowing third-party developers to design custom expansion boards.

Note: This expansion interface is no longer available starting from hardware version 3.9 and later.

Third-party developers can interact with the driver via various interfaces such as SPI, USART, I2C, PWM, ADC, and GPIO, enabling a wide range of custom expansion features.

• Onboard slot model: X0812FVS-20CS-9TV01 (female connector)

• Expansion board slot model: X0812WVS-20AS-9TV01 (male connector)

6. SWD Debug Interface

The SWD interface consists of 2 mm pitch through-holes. Users can solder a 2 mm single-row pin header for debugging purposes, as shown in the figure below:

7. Secondary Encoder Interface

This interface uses 2 mm pitch through-holes. Users may solder a 2 mm single-row pin header, as described in the previous section.
It supports communication with a secondary encoder via USART (TX/RX) or I2C (SCL/SDA).

8. Motor Temperature Interface

The motor includes a built-in 10 kΩ NTC thermistor.
Two wires from the thermistor should be soldered to the MOT_TEMP and GND pads.
There is no polarity requirement for the wiring.

9. Brake / Braking Resistor Interface

The upper two solder pads in the pin header area are reserved for the brake or braking resistor interface, using 2 mm pitch holes. Users may solder a 2 mm single-row pin header as needed.

• When used as a brake (holding brake) interface:
  The driver outputs a continuous current to this interface upon power-up to release the brake, allowing the motor to rotate freely.
  If the driver loses power, the output current stops, the brake engages, and the motor will lock at its current position.

• When used as a braking resistor interface:
  An external braking resistor (also known as a dump resistor) can be connected to this interface.
  When the back electromotive force (EMF) exceeds the threshold voltage, the braking resistor will dissipate the energy to prevent failure of emergency braking or potential damage to the driver from overvoltage.

10. Limit Switch Interface

The driver provides two limit switch interfaces, along with a 12V power supply for external limit switches. The interface consists of 2 mm pitch pin holes, and users may solder a 2 mm single-row pin header as needed.

• LW1: Minimum position limit switch

• LW2: Maximum position limit switch

Both 2-wire switches and 3-wire NPN switches are supported for external connection.

Main Components and Specifications

No.	Component	Model/Specification	Quantity
1	MCU	N32G455	2
2	Driver Chip	FD6288O	1
3	Magnetic Encoder Chip	MA732, 14-bit absolute	1
4	MOSFET	JMSH1004NG, 100V / 120A	1

 

Exception Table

System Exceptions

Error Code	Description
0x00000002	DC BUS UNDER_VOLTAGE
0x00000004	DC BUS OVER_VOLTAGE
0x00000008	DC BUS OVER_REGEN_CURRENT
0x00000010	DC BUS OVER_CURRENT

Drive Exceptions

Error Code	Description
0x00000001	INVALID STATE
0x00000040	MOTOR FAILED
0x00000100	ENCODER FAILED
0x00000200	CONTROLLER FAILED
0x00001000	MIN ENDSTOP PRESSED
0x00002000	MAX ENDSTOP PRESSED
0x00004000	ESTOP REQUESTED
0x00020000	HOMING WITHOUT ENDSTOP
0x00080000	UNKNOWN POSITION

Motor Abnormal

Hex Code	Error Name	Description (English Translation)
0x00000001	PHASE_RESISTANCE_OUT_OF_RANGE	Phase resistance out of normal range
0x00000002	PHASE_INDUCTANCE_OUT_OF_RANGE	Phase inductance out of normal range
0x00000004	CONTROL_DEADLINE_MISSED	FOC deadline missed
0x00000008	MODULATION_MAGNITUDE	SVM modulation abnormal
0x00000010	CURRENT_SENSE_SATURATION	Phase current saturation
0x00000020	CURRENT_LIMIT_VIOLATION	Motor current too high
0x00000040	MOTOR_THERMISTOR_OVER_TEMP	Motor temperature too high
0x00000080	FET_THERMISTOR_OVER_TEMP	Module temperature too high
0x00000100	TIMER_UPDATE_MISSED	FOC processing not timely
0x00000200	CURRENT_MEASUREMENT_UNAVAILABLE	Phase current sample lost
0x00000400	CONTROLLER_FAILED	Controller failure
0x00000800	I_BUS_OUT_OF_RANGE	Bus current abnormal
0x00001000	BRAKE_RESISTOR_DISARMED	Brake resistor function abnormal
0x00002000	SYSTEM_LEVEL	System-level error
0x00004000	BAD_TIMING	Phase current sampling not in time
0x00008000	UNKNOWN_PHASE_ESTIMATE	Phase estimation unknown
0x00010000	UNKNOWN_PHASE_VEL	Phase velocity unknown
0x00020000	UNKNOWN_TORQUE	Torque unknown
0x00040000	UNKNOWN_CURRENT_COMMAND	Current command unknown
0x00080000	UNKNOWN_CURRENT_MEASUREMENT	Current measurement unknown
0x00100000	UNKNOWN_BUS_VOLTAGE	Bus voltage unknown
0x00200000	UNKNOWN_VOLTAGE_COMMAND	Voltage command unknown
0x00400000	UNKNOWN_GAINS	Gain parameters unknown
0x00800000	CONTROLLER_INITIALIZING	Controller initializing
0x01000000	UNBALANCED_PHASES	Phase current imbalance

Control Exceptions

Error Code	English Description
0x00000001	OVERSPEED
0x00000002	INVALID INPUT MODE
0x00000004	UNSTABLE GAIN
0x00000020	INVALID ESTIMATE
0x00000080	SPINOUT DETECTED

Encoder Exceptions

 

Error Code	English Description
0x00000001	UNSTABLE GAIN
0x00000002	CPR_POLEPAIR MISMATCH
0x00000004	NO RESPONSE
0x00000400	SECONDARY ENCODER COMMUNICATION FAIL