User Manual for MYACTUATOR models including: MC Series, MC Series Brushless Servo Driver, Brushless Servo Driver, Servo Driver, Driver
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DocumentDocumentMC Series Brushless Servo Driver Manual MC Series Brushless Servo Driver Manual Version NumberV3.0 Catalogue Chapter 1 Product Description ............................................................................................ 2 Chapter 2 Driver Model Description ............................................................................. 4 2.1 The specific description of the driver model ........................................................................ 4 2.2 Introduction of the driver matched with the actuator motor ................... 5 Chapter 3 Product Parameters And Hardware Description.........................................7 3.1 Drive Parameter Table ............................................................................................. 7 3.2 Hardware Interface ................................................................................................... 8 3.3 CAN Communication Connect ................................................................................... 22 3.4 LED Indicator Status Definition ....................................................................... 23 Chapter 4 Precautions for installation and use ........................................................................... 24 4.1 Precautions ............................................................................................................... 24 Chapter 5 Common problems and solutions............................................................................... 26 5.1 Diagnosis of Common Problems ............................................................................. 26 1 26 MC Series Brushless Servo Driver Manual Chapter 1 Product Description MC series driver is a new generation of high-performance brushless servo driver launched by Suzhou Micro Actuator Technology Ltd Co., This series is based on years of experience in the low-voltage DC servo market and combined all kinds of end-customer demand feedback ingeniously created, It can be widely used in the drive of various BLDC/PMSM motors. The driver has the following characteristics 1More than 95% of the chip localization rate, guaranteed supply and moderate cost 2Rich models, covering all power levels within 0-1000w 3 Various versions support built-in integrated on-axis/off-axis installation, external independent installation 4Support CAN BUS and RS485 and other communication protocols, the baud rate is adjustable 5Integrated position sensor, small size and space saving 6Matching graphical debugging tools, easier to use 7Perfect protection functions, such asovercurrent/overtemperature/ communication interruption/ anti-reverse protection, etc / 8Support various featuressuch as power-off memory/ bus current sampling / motion mode / brake release 9The whole series of software and hardware support customization and development, with low threshold and high efficiency 10Supporting secondary development resources, convenient for users to quickly engineer 2 26 MC Series Brushless Servo Driver Manual Products picture Of MC drive 3 26 MC Series Brushless Servo Driver Manual Chapter 2 Driver Model Description 2.1 The specific description of the driver model MC L 100 O - C - 24 1 2 3 4 5 6 1 MCMotor controllerbrushless motor control drive. 2 Adapted Motor Type L L series direct drive motor L SeriesThe motor without reducer and the encoder is installed on the axis. H H series direct drive motor H Series Brushless Outer Rotor Permanent Magnet Synchronous Motor without Reducer and Encoder is installed off-axis installation. X X series planetary actuator X Series Brushless outer rotor permanent magnet synchronous integrated joint motor with planetary reducer (encoder is installed on the axis) R R series harmonic actuator R Series Brushless outer rotor permanent magnet synchronous integrated joint harmonic motor with built-in harmonic reducer (Encoder is installed offaxis installation) 3 Rated power, optional power:100W 300W 500WThe highest power can be used under the rated voltage. 4 Encoder Adaptation Method OOn axis encoder is installed on the axis HOff axis(hollow) encoder off-axis installation 5 Communication Mode C CAN BUS communication 500K/1M baud rate, the standard is 1M, 500K can be configured 4 26 MC Series Brushless Servo Driver Manual 6 Supply Voltage RRS485 communication15200/1M/2.5Mthe standard is1152001M and 2.5M can be configured 2412V-24VThe motor controller without reducer only supports up to 24v 4824V-48V * Use ambient temperature range (-20 degrees to 55 degrees) Air temperature (please contact sales for higher specifications) * All encoders in this document are magnetic encoders 2.2 Introduction of the driver matched with the actuator motor RMD Series Module L series direct drive module Module type L4005 L4015 L4010 L5005 L5010 L5015 L7010 L7015 L7025 L9010 L9015 L9025 Module Components Motor Type Driver Type Reducer Type 3510-(25T/40T) 3510-20T 3510-27T 35T 10T/35T 10T/35T 23T/45T 10T/23T/45T 10T/28T 17T/35T 16T/35T 16T/35T MC-L-100-O MC-L-200-O 5 26 MC Series Brushless Servo Driver Manual X series planetary reduction module R series harmonic module X6 V3 X6-H V3 X6S2 X8-H X8PRO-H X10V3 X10S2V3 R14 R17 R20 R25 R32 6010 8010 8015 10010 10015 5005-45T 7605-75T 7612-40T 10606-10T 10612-10T MC-X-300-O MC-X-500-O MC-R-100-H MC-R-300-H MC-R-500-H MC-R-500-H Planetary Spur Gear18 planetary helical gear 15/6 Planetary Spur Gear136 planetary helical gear 16 planetary helical gear 16 Planetary Spur Gear 17 Planetary Spur Gear135 harmonic1 50/80 /100 harmonic1 50/80 /100 harmonic1 50/80 /100 harmonic1 50/80 /100 harmonic1 50/80 /100 6 26 MC Series Brushless Servo Driver Manual Chapter 3 Product Parameters And Hardware Description 3.1 Drive Parameter Table Driver Type MC-L-100-O MC-L-200-O MC-X-300-O MC-X-500-O MC-R-100-O MC-R-300-O MC-R-500-O MC200 Input Voltage(V) 12-24 12-24 24-48 24-48 24-48 24-48 24-48 12-48 Rated CurrentA) Rated PowerW) 3 6 5 75@24V 150@24V 250@48V 10 3 500@48V 150@48V 5 300@48V 10 5 500@48V 200@48V Instantaneous current (A) Instantaneous Power(W) Support second encoder Support electromagnetic brake Battery charge and discharge circuit Serial port isolation 6 150 NO NO NO Support 12 300 NO NO NO Support 10 500 YES YES YES Support 20 1000 YES YES YES Support 6 150 NO NO NO Support 10 500 NO YES NO Support 20 1000 NO YES NO Support 10 400 YES YES YES Support Integrated encoder YES YES YES YES NO NO NO NO installation method protection mechanism control mode On axis On axis On axis On axis off-axis off-axis off-axis External independent installation Over current protection/ over temperature protection/over velocity protection/over voltage protection/BUS Timeout protection servo mode Torque/Speed/Position motion mode communicationmethod CAN BUS (500K/1Mbps RS485(115200/1M/2.5Mbps) Three-loop control frequency Current loop15KHZ Speed loop5KHZ Position loop1KHZ Software MYACTUATOR ASISTANT 3.0 7 26 3.2 Hardware Interface MC-L-100-O The green LED is the MCU running status display MC Series Brushless Servo Driver Manual No Interface Explaination Connector Type 1 Thermistor Interface Pad 2 Serial Communication Interface 1:5V 2:TX 3:RX 4:GND A1254WR-S-4P 3 Power Supply + 12V-24V 4 Power Supply - 12V-24V 5 CAN_L / B CAN Communication / 485 Communication (optional) ZH-6PWB 6 CAN_H / A CAN Communication / 485 Communication (optional) *Note that the GND of the serial port communication interface and the GND of the power supply are not the same and cannot be mixed. 8 26 MC Series Brushless Servo Driver Manual MC-L-200-O The green LED is the MCU running status indicator, and the red LED is the 5V power supply light No Interface Explaination Connector Type 1 Thermistor Interface Pad 2 Serial Communication Interface 1:5V 2:TX 3:RX 4:GND A1254WR-S-4P 3 Power Supply + 12V-24V 4 Power Supply - 12V-24V 5 CAN_L / B CAN Communication / 485 Communication (optional) HC-ZH-8PWT 6 CAN_H / A CAN Communication / 485 Communication (optional) *Note that the GND of the serial port communication interface and the GND of the power supply are not the same and cannot be mixed. 9 26 MC Series Brushless Servo Driver Manual MC-X-300-O 732 The green LED is the MCU running status indicator, the red LED is the 5V power indicator, and the blue LED is the battery charging indicator. No Interface Explaination Connector Type Second(Output 1 shaft) Encoder 1:5V 2:GND 3:CLK 4:MOSI 5:MISO 6:CS Pad Interface 2 Thermistor Interface Pad 3 External Battery Interface 3.0-4.2V (1: :Battery+ 2: :Battery-) Pad 4 Brake Interface No positive or negative12V brake is recommend Pad 10 26 MC Series Brushless Servo Driver Manual 5 Serial Communication Interface 1:5V 2:TX 3:RX 4:GND A1254WR-S4P 6 CAN_H / A CAN Communication / 485 Communication Pad (optional) 7 CAN_L / B CAN Communication / 485 Communication Pad (optional) 8 Power Supply 24V-48V Pad *Note that the GND of the serial port communication interface and the GND of the power supply are not the same and cannot be mixed. 11 26 MC Series Brushless Servo Driver Manual MC-X-300-O 6825 The green LED is the MCU running status indicator, the red LED is the 5V power indicator, and the blue LED is the battery charging indicator. NO Interface 1 External Battery Interface 2 Thermistor Interface 3 Brake Interface Explaination 3.0-4.2V (1: :Battery+ 2: :Battery-) No positive or negative12V brake is recommend Connector Type Pad Pad Pad 12 26 MC Series Brushless Servo Driver Manual 4 Serial Communication Interface 1:5V 2:TX 3:RX 4:GND A1254WR-S-4P 5 CAN_H / A CAN Communication / 485 Communication Pad (optional) 6 CAN_L / B CAN Communication / 485 Communication Pad (optional) 7 Power Supply 24V-48V Pad *Note that the GND of the serial port communication interface and the GND of the power supply are not the same and cannot be mixed. 13 26 MC Series Brushless Servo Driver Manual MC-X-500-O The green LED is the MCU running status indicator, the red LED is the 5V power indicator, and the blue LED is the battery charging indicator No Interface Explaination Connector Type 1 Thermistor Interface Pad Second(Output 2 shaft) Encoder 1:5V 2:GND 3:CLK 4:SIMO 5:SOMI 6:CS Pad Interface 3 External Battery Interface 3.0-4.2V (1: :Battery+ 2: :Battery-) Pad 4 Brake Interface No positive or negative12V brake is recommend Pad 14 26 MC Series Brushless Servo Driver Manual 5 Serial Communication Interface 1Red:5V 2Yellow:TX 3 White:RX 4Black:GND A1254WR-S-4P 6 CAN_H / A CAN Communication / 485 Communication Pad (optional) 7 CAN_L / B CAN Communication / 485 Communication Pad (optional) 8 Power Supply 24V-48V Pad *Note that the GND of the serial port communication interface and the GND of the power supply are not the same and cannot be mixed. 15 26 MC-R-100-H The green LED is the MCU running status indicator MC Series Brushless Servo Driver Manual No Interface 1 Thermistor Interface Encoder battery 2 + interface Encoder battery 3 - interface 4 Encoder interface Explaination 1.5-4.2V (1S lipo) 1.5-4.2V (1S lipo) External hollow encoder Connector Type Pad Pad Pad FPC0.5mm- 8P 16 26 MC Series Brushless Servo Driver Manual 5 CAN_L / B CAN Communication / 485 Communication Pad (optional) 6 CAN_H / A CAN Communication / 485 Communication Pad (optional) 7 Power Supply 24V-48V Pad 8 Serial Communication Interface 1:5V 2:TX 3:RX 4:GND A1254WR-S4P *Note that the GND of the serial port communication interface and the GND of the power supply are not the same and cannot be mixed. 17 26 MC Series Brushless Servo Driver Manual MC-R-300-H The green LED is the MCU running status display, and the red LED is the 5V power indicator No Interface 1 Thermistor Interface 2 Brake Interface 3 Encoder interface Encoder battery 4 power supply interface Explaination No positive or negative24V brake is recommend External hollow encoder 1.5-4.2V (1S lipo Connector Type FPC0.5mm-8P Pad 18 26 MC Series Brushless Servo Driver Manual 5 CAN_L/ B CAN Communication / 485 Communication Pad (optional) 6 CAN_H/ A CAN Communication / 485 Communication Pad (optional) 7 Power Supply 24V-48V Pad 8 Serial Communication Interface 1:5V 2:TX 3:RX 4:GND A1254WR-S-4P *Note that the GND of the serial port communication interface and the GND of the power supply are not the same and cannot be mixed. 19 26 MC Series Brushless Servo Driver Manual MC-R-500-H The green LED is the MCU running status display, and the red LED is the 5V power indicator No Interface Explaination Connector Type 1 Thermistor Interface Pad 2 Brake Interface No positive or negative24V brake is recommend Pad 3 Encoder battery 1.5-4.2V (1S lipo) Pad interface 4 Encoder interface External hollow encoder FPC0.5mm8P 5 CAN_L/ B CAN Communication / 485 Communication Pad (optional) 20 26 MC Series Brushless Servo Driver Manual 6 CAN_H/ A CAN Communication / 485 Communication Pad (optional) 7 Power Supply 24V-48V Pad 8 Serial Communication Interface 1:5V 2:TX 3:RX 4:GND 1.25mm-4P *Note that the GND of the serial port communication interface and the GND of the power supply are not the same and cannot be mixed. 21 26 3.3 CAN Communication Connect Schematic Diagram direct drive MC Series Brushless Servo Driver Manual X Series Note: The end of the motor needs to be connected to a 120 ohm terminal resistor. 22 26 MC Series Brushless Servo Driver Manual 3.4 LED Indicator Status Definition LED indicator is always on during normal operation The LED indicator flashes slowly when a warning error occurs, and the LED indicator returns to steady light after the fault is recovered Fast blinking LEDs when serious errors occur Error and warning messages are described in detail in the servo protocol manual 23 26 MC Series Brushless Servo Driver Manual Chapter 4 Precautions for installation and use 4.1 Precautions * In order to prevent harm to people and damage to property, the instructions must be followed MC-L/MC-R SeriesThere is no positioning pin, and it is locked after positioning according to the positioning hole. It is necessary to pay attention to the length of the screw. The specific threaded hole length and specifications must be installed strictly according to the drawing installation manual. MC-X Series: There are positioning pins, which need to be positioned according to the positioning pins and then locked. Pay attention to the length of the screws. The specific threaded hole length and specifications must be installed strictly according to the drawing installation manual. 1. Please strictly follow the voltage characteristics of the interface to input the voltage. It is strictly forbidden to reverse the interface. If the interface access voltage exceeds the interface withstand voltage range, the circuit board will be burned, and the positive and negative polarities will also be burned. 2. Welding of the interface is strictly forbidden to short-circuit due to false welding. Customers must strictly check when operating the welding process. 3. In non-waterproof products, it is forbidden to soak in water and rain. The air humidity is less than 85%, and the ambient temperature must not exceed the specified temperature. 4. It is strictly forbidden to disassemble the drive board of the integrated product, which contains the encoder calibration information. If it has been disassembled, the customer will run the control command without calibration and there will be a risk of burning the circuit board and the motor. 5. Overload use is prohibited. The company is not responsible for damage to the motor or circuit board caused by long-term overload use. 6. The mechanical casing of the circuit board controller must not have a structure that hinders heat conduction, otherwise poor heat dissipation will easily lead to overheating and damage to the control board. 7. To ensure that the power of the power supply is sufficient, the power supply cannot enter the protection in the case of twice the current overload. 8. Please use the motor/driver combination specified by our company. When combining with other motors, please confirm its performance and safety with your company and our company. 9. Do not damage the wire or subject it to excessive external force, gravity, pinch. 10. Do not place near heating elements such as heaters or large winding resistors. (Please install a heat shield to prevent the product from being affected by the heating element) 24 26 MC Series Brushless Servo Driver Manual 11. Do not drive the power supply over 20% of the rated voltage. 12. Do not use in places with strong vibration and impact. When installing the driver near a vibration source, please install a vibration-proof device on the driver mounting plate. 13. Do not put your hands into the inside of the servo drive. 14. Do not perform wiring work with wet hands. 15. Be sure to wire correctly. Dodgy, incorrect wiring could be the cause of a runaway or burned motor. During installation and wiring work, do not let conductive objects such as wires enter the drive. 16. Please confirm that the cable connection is firm, and the electrified part is indeed insulated with an insulator. 17. When the wires are placed together in a metal tube, the temperature rise will cause the allowable current of the wires to decrease and cause the wires to burn out. Please consider the current reduction factor when selecting the wire. 18. Please do a good job in the installation work to prevent fire or other personal accidents when an earthquake occurs. 19. In terms of parameter debugging of the servo drive, do not change the gain or setting in extreme or large-scale at one time, otherwise it may lead to unforeseen unstable actions. 20. Do not frequently switch on or off the main power supply of the drive. 21. Pay attention to the thinness of the back shell of the circuit board, do not squeeze. 25 26 MC Series Brushless Servo Driver Manual Chapter 5 Common problems and solutions 5.1 Diagnosis of Common Problems 1.The drive light is off, and the debugging software v3.0 cannot be connected. Step 1: Confirm whether there are parts burned on the appearance of the driver board Step 2: Confirm whether the power supply voltage is within the rated voltage range Step 3: Confirm whether the 5V power supply light inside the driver board is always on. If the light is normal, it means that the driver chip program is lost or damaged. If the light is not on, it means that the power supply module is damaged. 2. The motor is not calibrated Step 1: Check whether the screws fixing the driver board are loose Step 2: Check whether the motor is blocked, whether the welding of the three-phase wires is firm, and use a multimeter to measure the resistance of the three-phase wires to see if they are consistent Step 3: Check whether there is any foreign matter between the encoder and the magnet on the driver board Step 4: Check whether the number of pole pairs set by the drive is correct, and whether the motor operates during the calibration process. If the motor does not rotate, check whether the MOS tube is short-circuited (use a multimeter to measure whether the resistance between pin 1 and pin 4 of the MOS tube is 10K or 5K). If the motor rotates normally, check whether the encoder connection is normal. Step 5: If the above inspections are normal, it may be judged that the main control chip is damaged. 3. The motor does not turn suddenly, and it still does not turn after re-powering Step 1: Check whether the motor is blocked, whether the welding of the three-phase wires is firm, and use a multimeter to measure the resistance of the three-phase wires to see if they are consistent. Step 2: Confirm whether there are parts burned on the appearance of the driver board. Step 3: Power on to see if the LED light is blinking. If it is, connect to the software or send a command to check the current error status, and reset to see if it continues to blink (see the instruction description for details on the error status) Step 4: Check whether the MOS tube is short-circuited (use a multimeter to measure whether the resistance between pin 1 and pin 4 of the MOS tube is 10K or 5K). 26 26Microsoft Word 2021