Livbelybot Motor Debugging Assistant for HighTorque use Guide

Version Compatibility

This manual applies to the High Torque Commissioning Assistant v0.11.1 and above. The High Torque Commissioning Assistant is applicable for motor firmware v3.1.0 and above.

1. Motor Usage Guidelines

🔌 Motor Hardware Wiring

Important Safety Notice

Always ensure power is disconnected before making any connections.

Specification	Value
Rated Voltage	24VDC
Communication	FDCAN (via USB-C module)
Motor Models	5047, 4438, etc.

Connection Steps

1. Power Connection 🔌 Connect 24V power supply to the FDCAN module

2. Motor Interface 🔌 Connect Motor XT30 (2+2) interface to FDCAN module using GH1.25-3P cable

3. PC Connection 💻 Connect FDCAN module to computer via USB-C

2. High Torque Motor Commissioning Assistant Usage and Instructions

🎛️ Common Functions

Function	Description
🔄 Reconnect USBCAN Device	Scans and connects the USBCAN device and detects connected motors
🆔 Motor ID	Dropdown selector for currently connected motor
⚙️ Motor Calibration	Re-calibrates the motor (⚠️ Motor must be unloaded)
🎯 Reset Current Motor Zero	Sets current position as zero reference
💾 Update Motor Firmware	Downloads and flashes new firmware to motor
📊 Output Information	Real-time logging console for events and errors

⚠️ Critical Warning

Motor Calibration must be performed with NO LOAD attached to the motor. Failure to do so will result in inaccurate encoder offset calculation.

Operation Guide

Use Read Parameters to fetch current settings and Write Parameters to save changes to the motor.

Parameter Group	Description
📋 Basic Information	Displays Model, Pole Pairs, Reduction Ratio, Firmware Version
🛡️ Motor Protection	Over-voltage (V) & Over-temp (°C) limits
⚖️ PID Adjustment	Kp, Ki, Kd coefficients + i_limit (integral limit)
🆔 Modify Motor ID	Changes motor ID (requires re-identification)
📍 Motor Position Range	Position MAX/MIN limits (set to nan for infinite)
🚀 Rotation Limits	Speed (rev/s), Accel (rev/s²), Current (A) limits

Note

Set values to nan for unlimited operation in Position Range and Rotation Limits sections.

🔧 Motor Debugging

Debug with different running modes (detailed view in Motor Running Modes).

Feature	Description
📈 Motor Running Mode	Click "Add Waveform" to visualize Position, Speed, Torque, Temperature in real-time
📊 Motor Status	FDCAN frame information (float, int16, int32, CAN frame)
🛠️ Generate Frame	Create custom CAN frames for development
🛑 Stop & Brake	Control motor stopping behavior

Frame Generation Types

Numeric Types

float, int16, int32

For implementation examples and data type handling, refer to the FDCAN protocol examples in this section

CAN Frame

CAN Frame

For CAN frame generation and handling examples, refer to the protocol implementation guides

Stop & Brake Control

Control	Behavior
🛑 Stop	Disconnects all three phases - motor coasts to stop via inertia
⚡ Brake	Shorts all three phases to ground - motor stops immediately

🎮 Motor Running Modes

1️⃣ Position Mode

Position Mode 🎯

Provides precise angular control for the motor shaft. Enter the target position in revolutions and click send. The motor will move to the exact specified position using position-loop PID control.

Ideal for: Robotic joints, CNC machines, actuator systems

2️⃣ Velocity Mode

Velocity Mode 🔄

Maintains a constant rotational speed regardless of load variations (within capacity). Input the target velocity in rev/s and click send. The motor will accelerate to the specified velocity using the configured acceleration limit.

Ideal for: Conveyor belts, fans, rotary tables

3️⃣ Torque Mode

Torque Mode 💪

Controls the output torque directly. The motor will attempt to maintain the specified torque value regardless of speed. If the external resistance exceeds the set torque, the motor will stall to protect the system.

Units: Newton-meters (Nm)

Ideal for: Tensioning systems, press-fit operations, load holding

4️⃣ Voltage Mode

Voltage Mode ⚡

Provides direct control over the Q-axis voltage applied to the motor. This advanced mode allows for custom control algorithms and is typically used in research applications or specialized control systems.

Units: Volts (V)

5️⃣ Current Mode

Current Mode 🔋

Controls the Q-axis current flowing through the motor windings. This mode provides more direct control over torque generation than torque mode, as current is the fundamental driver of magnetic field strength.

Units: Amperes (A)

Ideal for: Precise torque control applications

6️⃣ Position+Speed+Torque

Position, Speed, Maximum Torque 🎛️

Hybrid mode combining position control with velocity and torque limiting for safe, controlled motion. The motor will move to the specified position at the target velocity while ensuring the output torque never exceeds the maximum limit.

Ideal for: Robotic grippers, door actuators, force-limited applications

Set maximum torque to nan if no torque limiting is desired.

7️⃣ Trapezoidal Control

Trapezoidal Control 📈

Generates smooth S-curve trajectories with controlled acceleration and deceleration phases. The motor will: 1) accelerate uniformly to maximum velocity, 2) maintain constant velocity, then 3) decelerate uniformly to stop precisely at the target position.

Ideal for: Pick-and-place operations, CNC positioning, precision automation

8️⃣ Motion Control

Motion Control Mode 🤖

Advanced PID-based control mode using the formula:

Motor Output Torque = Kp × Position_Error + Kd × Speed_Error + FeedForward_Torque

This mode combines position error (P term) and velocity error (D term) for sophisticated motion control.

Ideal for: High-precision applications, servo presses, force-controlled assembly

---

3. 🔌 FDCAN Protocol Analysis

Protocol Reference

This section covers the essential FDCAN protocol information for basic motor control operations. For comprehensive register mapping and advanced protocol details, please refer to the motor control documentation.

Example: int32 Data Frame Velocity Mode

Take the int32 Data Frame Velocity Mode as an example:

01000a0a2000000080204e0000

---

1️⃣ Sub-frame 1 - Motor Mode Configuration

This sub-frame configures the motor operating mode.

Field	Value	Description
0x01	Header	Start of first sub-frame
Bits 7-4	0000	Write operation to motor registers
Bits 3-0	0001	Data type int8_t, 1 data unit
0x00	Register Address	Motor Mode Setting register
0x0a	Data	Sets motor to Velocity Mode

---

2️⃣ Sub-frame 2 - Motion Parameters

This sub-frame configures the motion parameters (position and velocity targets).

Field	Value	Description
0x02	Header	Start of second sub-frame
Bits 7-4	0000	Write operation
Bits 3-0	0010	Data type int32_t, 2 data units
0x20	Register Start	Position Target register (0x20)
0x00 0x00 0x00 0x80	Position Data	0x80000000 = Position unlimited/NaN
0x20 0x4e 0x00 0x00	Velocity Data	0x00004e20 = 20000 (decimal)

Unit Conversion

Velocity Calculation:

• Decimal Value: 20000
• LSB Weight: 0.00001 rev/s per unit
• Target Velocity: 20000 × 0.00001 = 0.2 rev/s

---

📚 Appendix

⚠️ Motor Error Code Reference

Status Code 0 = Normal Operation

A non-zero value indicates an error. Refer to the table below for specific causes and solutions.

Code	Error Name	Description	Solution
32	🔧 Calibration Fault	Encoder cannot detect magnet during calibration	Ensure magnet is properly installed; recalibrate with no load
33	⚡ Motor Driver Fault	Under-voltage or insufficient current	Check power supply voltage and current capacity
34	🔺 Over Voltage	Bus voltage exceeded limit	Verify power supply voltage rating
35	📡 Encoder Fault	Encoder reading error	Check encoder connections and wiring
36	🚫 Motor Uncalibrated	Motor has not been calibrated	Run calibration procedure with no load
37	📊 PWM Cycle Limit Exceeded	Internal firmware error	Contact technical support
38	🌡️ Over Temperature	Temperature exceeded maximum limit	Allow motor to cool down; check cooling
39	🎯 Out of Bounds	Position control outside defined limits	Adjust position range parameters
40	🔋 Low Voltage	Supply voltage too low	Check power supply and connections
41	⚙️ Configuration Changed	Critical config changed during operation	Stop motor before changing parameters
42	🔄 Angle Invalid	No valid commutation encoder	Check encoder functionality and connections
43	📍 Position Invalid	No valid output encoder	Verify output encoder connections

Tech Support & Product Discussion

Thank you for choosing our products! We are here to provide you with different support to ensure that your experience with our products is as smooth as possible. We offer several communication channels to cater to different preferences and needs.