K Tech MS Series Motor Drive System User Manual

Connecting accessories: The motor drive and the upper computer
can be connected through the USB serial port module (optional) and
the connection cable (customizable length).

FAQ

Q: Can I connect the motor drive system to a DC power
supply?

A: Yes, you can connect the motor to a DC power supply within
the specified voltage range mentioned in the manual.

Q: How do I adjust the parameters of the motor driver?

A: You can adjust the parameters by linking the motor to the PC
end through the USB serial port module as detailed in the
manual.

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MOTOR DRIVE SYSTEM USER MANUAL
MS Motor Drive System Instruction This manual is applicable toMS3008/MS3506

MOTOR DRIVE SYSTEM USER MANUAL
MS Application scenarios
laser radar

Camera gimbal
MS

360¢Camera

Unmanned aerial vehicle pod

MOTOR DRIVE SYSTEM USER MANUAL
Disclaimer
Thank you for purchasing the MS series motor drive system from Lingkong Technology. Before use, please read this statement carefully. Once used, it is regarded as the recognition and acceptance of all the contents of this statement. Please strictly abide by the manual, product instructions and relevant laws, regulations, policies and guidelines when installing and using this product. During the process of using the product, the user undertakes to be responsible for their own actions and all consequences arising therefrom. Lingkong Technology shall not be held legally responsible for any losses caused by improper use, installation or modification by the user.
Lingkong Technology is a trademark of Shanghai Lingkong Technology Co., Ltd. and its affiliated companies. The product names, brands, etc. mentioned in this article are all trademarks or registered trademarks of their respective companies.
This product and manual are copyrighted by Lingkong Technology. Reproduction or reprinting in any form is prohibited without permission. The final interpretation right of the disclaimer belongs to Lingkong Technology.
Product Introduction
The MS series high-performance brushless motors are matched with the DS series drive system, which adopts a 32-bit high-performance MCU and combines the optimized version of SVPWM control technology. It is specially designed for high-precision, high-response, and high-torque application scenarios. The integrated design of the motor and drive facilitates the integration of the user’s system. The drive integrates a high-precision absolute encoder, combined with a simple and easy-to-use dual closed-loop control algorithm, which significantly improves the accuracy of position and speed feedback.

01Driver parameters

MOTOR DRIVE SYSTEM USER MANUAL

Working voltage

DS30

6-16V

Electric current

DS30

1.8A

Maximum current

DS30

3A(Duration: 10 seconds)

The torque loop controls the frequency The speed loop controls the frequency The position loop controls the frequency
Drive PWM frequency 24KHz

24KHz 8KHz 8KHz

Encoder resolution 15bit or 18bit

Bus type RS485 Baud rate CAN Baud rate

RS485 Or CAN
9600,19200,38400,57600,115200(Default),230400, 460800,1Mbps,2Mbps
125Kbps,250Kbps,500Kbps,1Mbps(Default)

Naming rules

MS 30 08 – 54T 15bit RS485

1 23 4

1 Series 2 Outer diameter dimension of the motor 3 Height dimensions of the stator core 4 The number of turns of the motor winding 5 The encoder resolution corresponding to the driver 6 Driver communication bus type

MOTOR DRIVE SYSTEM USER MANUAL

02 Drive interface

DS30Drive board

Phase C Phase B Phase A

SM04B

SH1.0-6PIN

B/L A/H VVV+ V+
T R G 5V

MS3008/3506 Motor Connector SM04B / SH1.0-6PIN
Interface definition Description

Interface B/L A/H VVV+ V+ T R G 5V

Note
RS485-B Or CAN-L RS485-A Or CAM-H Negative Power Supply Negative Power Supply Positive Power Supply Positive Power Supply UART Transmitter UART Receiver Signal GND 5Voutput

MOTOR DRIVE SYSTEM USER MANUAL
03 Line connection
A 120 resistor is connected to both ends of the bus, and the control circuit is connected as shown in the following figure

DS30Drive board

The resistance of the bus terminal is 120

MOTOR DRIVE SYSTEM USER MANUAL

MS motor connection
Connect the MS motor to the power supply with the matching cable and link it to the PC end through the USB serial port module for parameter adjustment on the upper computer Note: Avoid reversing the positive and negative terminals of the power supply. Select an appropriate power supply voltage range and output power. Refer to the following figure:
Serial port connection reference diagram

Power supply: DC12V

Motor

USB serial port module

Upper computer

Reference diagram of communication connection

Power supply: DC12V

Motor

RS485

Upper computer

Power supply: DC12V

Motor

CAN

Upper computer

Download links for the software, Demo and the source code of the upper computer http://en.lkmotor.cn/

MOTOR DRIVE SYSTEM USER MANUAL
04 Setting instructions
Connecting accessories The motor drive and the upper computer can be connected through the USB serial port module (optional) and the connection cable (customizable length).

USB serial port module SH1.0-6PIN power cord

SM04B power cord

Software installation
1.Download the USB serial port module driver (CP210x_VCP_Windows.zip) software package, install the driver, and after completion, you can view: Device Manager – Port

Device Manager

Port(COM and LPT) USB-SERIAL CH340(COM3)

2. Download the upper computer (LingKong Motor Tool V2.35) file. No installation is required. Double-click LK Motor Tool V2.35.The exe application enters the operation interface.
Settings on the upper computer (LingKong Motor Tool V2.35)
For the upper computer connection Settings, select COM (choose according to the actual situation), set the baud rate to 115200 (default), and ID1 (default).Click the “CONNECT” button to complete the connection. The indicator light (green) will remain on constantly.

MOTOR DRIVE SYSTEM USER MANUAL
Basic Settings: On the Setting page, click the “Read Setting” button to read the motor and setting information.

Basic Setting

Bus Type RS485 Baudrate CAN Baudrate
Bradcast Mode
Spin Direction Brake Resistor Control Brake Resistor Voltage

Communication bus type selection is not supported for the time being.
Set the driver RS485 baud rate, supporting 9600, 19200, 38400,57600 115200(default), 230400, 460800, 1Mbps, 2Mbps.
Set the driver CAN baud rate, supporting 100K, 125K, 250K, 500K, and 1Mbps(default). After the baud rate is set, you need to click “save setting”, “reboot device” or “Power on again”.The parameters can take effect.
Broadcast mode, supporting simultaneous control of 4 motors. The motor ID needs to be modified to 1-4#, the RS485 baud rate should be changed to 1M or 2Mbps, and the CAN baud rate to 500K or 1Mbps. Only torque mode command control is supported. After the Settings are completed, you need to click “save setting”, “reboot device” or “Power on again” for the parameters to take effect.
Set the rotation direction of the motor: Normal, counterclockwise rotation is positive; Reverse, clockwise rotation is positive. After setting, click “save setting”, “reboot device” or “Power on again” for the parameters to take effect. Click “Align” to recalibrate.
The brake resistor is set, and only the type of motor with the matching brake resistor is supported.
Set the on-off brake resistor and the on-off voltage. After the Settings are completed, you need to click “save setting”, “reboot device” or “Power on again” for the parameters to take effect.

MOTOR DRIVE SYSTEM USER MANUAL

Protection Setting

Protect Motor Temperature Protect Driver Temperature

Set the motor protection temperature. Turn off the motor when the temperature is higher than the value. Set the drive protection temperature, which is not yet available.

Protect Under Voltage

Set the minimum protection voltage, in unit (V).

Protect Over Voltage

Set the maximum protection voltage, in unit (V).

Protect Over Current Protect Over Current Time

Overcurrent protection (phase current) is set and is not yet open. The overcurrent protection time has been set and it is not yet open.

Protect Short Circuit Protect Stall

Short-circuit protection is set up and is not yet available. Locked rotor protection has been set up and is not yet open.

Protect Lost Input Time

Set the signal loss protection time (ms).

Attention”Disable” does not set protection; Enable(recoverable) set protection; Enable(not recoverable) to
set protection (not recoverable) and the motor needs to be restarted.
Limits Setting

Max Power Max Speed Max Angle Speed Ramp Current Ramp

Set the maximum voltage duty cycle, with an effective adjustment range of 0 to 850 (ratio).
Set the maximum speed limit, with an effective adjustment range of 0- 72,000 DPS (degrees per second).
Set the maximum Angle limit, unit: degrees.
Set the acceleration, with the unit of dps/s. The actual acceleration of the motor depends on the PI parameter, motor load and drive voltage, etc.
Setting the torque current growth rate is not yet available.

AttentionThe “Set RAM” button writes parameters to RAM and loses them after power failure. Write parame-
ters to ROM for permanent saving. You need to click “save setting”, “reboot device” or “Power on again” for the parameters to take effect.

PID Setting

Angle

The Angle loop control parameters, Kp and Ki modify the PI parameter of the Angle loop.

Speed

The speed loop control parameters, Kp and Ki modify the PI parameter of the speed loop.

MOTOR DRIVE SYSTEM USER MANUAL
Encoder Setting
On the Encoder page, click the Read button to read the information of the motor and the encoder

Motor Poles Encoder Type Encoder Position Motor Phase Sequence Motor/Encoder Offset Motor/Encoder Align Ratio
Motor/Encoder Align Voltage
Motor Zero Position(ROM)

To set the number of magnetic poles of a motor, the default parameters are usually sufÏcient.
Check the encoder type and resolution. This parameter is a read-only parameter.
Read the position information of the encoder. This parameter is a read-only parameter and generally has no impact on the motor’s driving performance.
The connection sequence of motor phase lines.
The calibration deviation values of the motor and encoder are read-only parameters and generally have no impact on the motor’s driving performance.
The ratio of motor to encoder calibration, this parameter is a read-only parameter, generally around 1000. The closer it is to 1000, the better the calibration effect.
The calibration voltage for motors and encoders is generally sufÏcient using the default parameters. When the load is large, it can be appropriately increased to enhance the calibration effect.
At the 0 o ‘clock position of the motor, after clicking the Set button, the driver will save the current position as the starting position of the motor. The value is the deviation value of the encoder read and cannot be modified.

MOTOR DRIVE SYSTEM USER MANUAL
AlignStart the calibration of the motor and encoder. Before this step, it is necessary to ensure that the number of magneti-
c poles of the motor is set correctly and select an appropriate calibration voltage (the default parameter is sufÏcient). After clicking the “Align” button, the motor will rotate back and forth to perform calibration. After calibration is completed, it needs to be powered on again, and the parameters will be automatically saved to the driver. Attention: 1.The calibration of the motor and encoder is best carried out when the motor is no-load. If the motor does not rotate smoothly during the calibration process, please check for motor faults or excessive mechanical friction.
2.After the parameters are modified, click “save setting”, “reboot device” or “Power on again” for the parameters to take effect.
Product Information
On the Product page, click the “Read Info” button to read the motor model, motor version, driver model, driver hardware version, and driver software version.

Firmware Upgrade Open File Download

Firmware upgrade
Find and open the location where the firmware is stored, and make sure the firmware is consistent with the motor model. This function is only supported for operation on the upper computer (LingKong Motor Tool).
Download and upgrade the firmware. When the progress bar runs successfully, “Write finished” appears. Click “OK” to complete the upgrade.

AttentionAfter the firmware upgrade is completed, the motor will calibrate automatically.

MOTOR DRIVE SYSTEM USER MANUAL
Test Information
On the Test page, there are multiple control mode options to meet the different needs of users.

Control Mode: Click on the lower triangle to choose from multiple control modes

Open Control

0×A0

Speed Control

0×A2

Multi Loop Angle Control 1

0×A3

Multi Loop Angle Control 2

0×A4

Single Loop Angle Control 1

0×A5

Single Loop Angle Control 2

0×A6

Increment Angle Control 1 0×A7 Increment Angle Control 2 0×A8

Torque open-loop mode, controlling the voltage duty cycle to achieve the magnitude and direction of torque.Counterclockwise rotation is “+”, clockwise rotation is “-“, the effective adjustment range is ±850 (voltage duty cycle), for example, to set 200, click the Send button, and the motor will rotate in a counterclockwise constant torque mode.
Speed mode. Control the speed and direction of the motor’s rotation.Counterclockwise rotation is “+”, clockwise rotation is “-“, unit: degrees per second (dps), effective adjustment range ±24000.00 (dps). For example, to set 360, click the Send button, and the motor will rotate counterclockwise at 360 degrees per second.
Multi-circle position Mode 1, multi-circle position.Absolute position, with positive and negative values, direction depends on the difference between the starting point and the ending point, unit: degrees. For example, if the starting point is set to 0 and 3600 is clicked, the motor will rotate clockwise at the maximum speed to 3600 degrees.
Multi-turn position Mode 2, multi-turn position + speed mode.The Speed limit function has been added. The Speed (dps) value limits the rotational speed and is generally set not to exceed the maximum speed.
Single-lap position mode 1, single-lap position + direction mode.Absolute position, only positive values, valid range 359.99. For example, if the starting point is set to 0 and 180, click the “Send” button. The motor will rotate counterclockwise to 180 degrees at the maximum speed (check “Rev” to rotate clockwise to 180 degrees).
Single-lap position Mode 2, single-lap position + direction + speed mode.The Speed limit function has been added. The Speed (dps) value limits the rotational speed, and the setting generally does not exceed the maximum speed of the motor.
Incremental position Mode 1, incremental position + direction mode.Relative position, with positive and negative values, + increases counterclockwise and – decreases clockwise. Unit: degrees. For example, to set 90 and click the “Send” button, the motor will increase counterclockwise by 90 degrees on the basis of the original position.
Incremental position Mode 2, incremental position + direction + velocity mode.The Speed limit function has been added. The Speed (dps) value limits the rotational speed.

Attention 1. With power on, the motor returns to the 0 point position along the original path direction. 2. When power is restored, the motor returns to the 0 point position along the shortest path direction

MOTOR DRIVE SYSTEM USER MANUAL

Motor Status And Error Display

Bus Voltage Bus Current Motor Temp Power Speed Encoder IA/IB/IC

Read the bus voltage (V). Read the busbar current (A), which is not yet open. Read the motor temperature (). Read the voltage duty cycle. Read the motor speed (dps).
Reading the encoder position is related to the encoder resolution and the encoder value within a 360-degree range.
Read the phase current (ratio) of the motor.

UVP OVP DTP MTP OCP SCP MSP LIP
Read State1 Read State2 Read State3 Clear Error Brake Brake Release

Under Voltage Protection. Over Voltage Protection. Driver Temperature Protection. Motor Temperature Protection. Over Current Protection. Short Circuit Protection. Motor Stall Protection. Lose Input Protection.
Read status 1, read the current motor temperature, voltage, and error status. Read status 2, and read the current motor temperature, torque current, speed, and encoder values. Read status 3 to read the current motor temperature and phase current.
Clear the incorrect state of the motor. The brake is in the power-off state and the brake is activated The brake is energized and the brake is released

Clear Text Read Multi Loop Angle Read Multi Loop Angle Clear Motor Loops Set Motor Zero(RAM)

Clear the instruction text and the send and receive instruction text produced on the test page
Read the multi-turn Angle position (°). Read the single-turn Angle position (°). Clear the number of motor turns. Set the 0 point position of the motor to the RAM. It is not yet open.

Motor Off Motor ON

Turn off the motor and the indicator light will flash slowly (2 seconds per time).
Turn on the motor.

AttentionThe indicator light for the motor in the incorrect state flashes rapidly (0.3 seconds per time). The “Motor Off” status indicator light flashes slowly and needs to be turned ON by clicking “Motor ON”.

MOTOR DRIVE SYSTEM USER MANUAL

Motor Operation Command And Reply Window

TXSend instructions

RXReply instruction

AttentionThe instruction description refers to the RS485 communication protocol.

Documents / Resources

K Tech MS Series Motor Drive System [pdf] User Manual
MS3008, MS3506, MS Series Motor Drive System, MS Series, Motor Drive System, Drive System, System

References

User Manual

K Tech MS Series Motor Drive System User Manual

MS Series Motor Drive System

Specifications

Product Usage Instructions

Driver Parameters

Naming Rules

Drive Interface

Line Connection

Motor Connection

Setting Instructions

FAQ

Q: Can I connect the motor drive system to a DC power
supply?

Q: How do I adjust the parameters of the motor driver?

Documents / Resources

References

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