Product Usage Tutorials
The DDSM350‑CT product user tutorials support two communication interfaces: UART and CAN. Select the corresponding tutorial according to your actual project requirements.
CAN Communication Protocol
Detailed introduction to the CAN communication protocol for hub motors, helping you select a communication method suitable for your project.
UART Communication Protocol
Detailed introduction to the UART communication protocol for hub motors, helping you select a communication method suitable for your project.
Common Object Table
Identifier Description:
RW — Read‑Write, RO — Read‑Only, WO — Write‑Only
DEC — Internal unit, a conversion factor is required to obtain actual physical quantities
Data Types:
08U — Unsigned Byte, 08S — Signed Byte
16U — Unsigned 16‑bit Integer, 16S — Signed 16‑bit Integer
32U — Unsigned 32‑bit Long Integer, 32S — Signed 32‑bit Long Integer
Save Flags: S1, S2, … , S5
(All object variables marked with a save flag will load values from EEPROM upon power‑on initialization)
S1 — Communication Parameter Group
S2 — IO Configuration Parameter Group
S3 — Calibration Parameter Group
S4 — Motor Parameter Group
S5 — Control‑Loop Parameter Group
U[y,x] — Unit conversion formula; take only the integer part when converting physical quantities into [DEC] units.
Table F1‑1 Motor Parameters
| UART Object Address | CAN Object Address | Object Attribute | Unit | Description |
|---|---|---|---|---|
| 0x7046 | 0x641016 | 16U, RO | HEX | Current motor model code |
| 0x7031 | 0x641001 | 16U, RW, S4 | HEX | Motor model code |
| 0x7032 | 0x641002 | 08U, RW, S4 | HEX | Feedback type |
| 0x7033 | 0x641003 | 32U, RW, S4 | DEC | Encoder resolution (Default: 4096) |
| 0x7035 | 0x641005 | 08U, RW, S4 | DEC | Motor pole‑pair count |
| 0x7036 | 0x641006 | 08U, RW, S4 | DEC | Excitation mode |
| 0x7037 | 0x641007 | 16S, RW, S4 | DEC | Excitation current |
| 0x7038 | 0x641008 | 16U, RW, S4 | ms | Excitation time |
| 0x7039 | 0x641009 | 16U, RW, S4 | 0.1A | Motor overload current |
| 0x703A | 0x64100A | 16U, RW, S4 | S | Motor overload time constant |
| 0x703B | 0x64100B | 16U, RW, S4 | 0.1A | Maximum motor current |
| 0x7043 | 0x641013 | 08U, RW, S4 | DEC | Motor rotation direction |
| 0x704A | 0x64101A | 16U, RW, S4 | rpm | Motor rated speed |
Table F1‑2 Operating Modes and Control
| UART Object Address | CAN Object Address | Object Attribute | Unit | Description |
|---|---|---|---|---|
| 0x7017 | 0x606000 | 08S, RW, S5 | DEC | Operating Mode 3 Speed mode with acceleration/deceleration control -3 Instant speed mode 1 Position mode |
| 0x7019 | 0x604000 | 16S, RW | HEX | Control Word 0x06 Motor power‑off (shaft released) 0x0F Motor power‑on (enable) 0x86 Clear drive alarm 0x1F Move to absolute target position under position mode 0x0F Move to relative target position under position mode |
| 0x7018 | 0x606100 | 08S, RO | DEC | Active operating mode |
| 0x7011 | 0x260100 | 16U, RO | HEX | Drive Error Status Word 1 Each BIT represents one error condition, as defined below BIT[0]: Internal error BIT[1]: Encoder ABZ signal error BIT[2]: Encoder UVW signal error BIT[3]: Encoder count error BIT[4]: Drive over‑temperature BIT[5]: DC‑bus over‑voltage BIT[6]: DC‑bus under‑voltage BIT[7]: Drive output short‑circuit BIT[8]: Brake resistor over‑temperature alarm BIT[9]: Position following error exceeded threshold BIT[10]: Reserved BIT[11]: I²*T fault (drive or motor overload) BIT[12]: Speed following error exceeded threshold BIT[13]: Motor over‑temperature alarm BIT[14]: Motor homing failure (serial encoder) BIT[15]: Communication dropout alarm |
| 0x701F | 0x605A11 | 08U, RW | DEC | Emergency‑Stop Command 1: Emergency stop activated 0: Emergency stop cleared |
| 0x7091 | 0x607A00 | 32S, RW | DEC | Absolute Target Position (Absolute target position under Operating Mode 1) |
| 0x709F | 0x607B00 | 32S, RW | DEC | Relative Target Position (Relative target position under Operating Mode 1) |
| 0x7098 | 0x608100 | 32U, RW, S5 | DEC | Trapezoidal Velocity (Maximum velocity of trapezoidal profile under Operating Mode 1) U[y,x]: [DEC]=([rpm] * 512 * [Feedback Resolution])/1875; Default [Feedback Resolution]: 4096 |
| 0x709D | 0x608200 | 16U, RW, S5 | rpm | Trapezoidal Velocity (rpm) (Maximum velocity of trapezoidal profile under Operating Mode 1) Note: Writing this object updates the value of object [0x7098] |
| 0x7099 | 0x608300 | 32U, RW, S5 | DEC | Trapezoidal Acceleration U[y,x]: [DEC]=[rps/s] * 256 * [Feedback Resolution] / 15625; Default [Feedback Resolution]: 4096 |
| 0x709A | 0x608400 | 32U, RW, S5 | DEC | Trapezoidal Deceleration U[y,x]: [DEC]=[rps/s] * 256 * [Feedback Resolution] / 15625; Default [Feedback Resolution]: 4096 |
| 0x709B | 0x605A01 | 32U, RW, S5 | DEC | Quick‑Stop Deceleration Defines deceleration for quick‑stop sequence; valid when drive runs in Mode 3, 1 Default value: determined by preset profile U[y,x]: [DEC]=[rps/s] * 256 * [Feedback Resolution] / 15625; Default [Feedback Resolution]: 4096 |
| 0x70B1 | 0x2FF009 | 16S, RW | rpm | Target Velocity (rpm) (Target velocity under Operating Mode 3, ‑3) Note: Writing this object updates the value of object [0x70B2] |
| 0x70B2 | 0x60FF00 | 32S, RW | DEC | Target Velocity (Target velocity under Operating Mode 3, ‑3) U[y,x]: [DEC]=[rpm] * 512 * [Feedback Resolution] / 1875; Default [Feedback Resolution]: 4096 |
| 0x70E1 | 0x60F608 | 16S, RW | DEC | Target Current (Target current under Operating Mode 4) U[y,x]:[DEC]=[Arms] * 1.414 * 2048 / I_MAX Note: For this motor, I_MAX=15; |
| 0x70E2 | 0x607300 | 16U, RW | DEC | Target Current Limit (Active current‑loop target‑current limit for all operating modes) U[y,x]:[DEC]=[Arms] * 1.414 * 2048 / I_MAX Note: For this motor, I_MAX=15; |
Table F1‑3 Measured Data
| UART Object Address | CAN Object Address | Object Attribute | Unit | Description |
|---|---|---|---|---|
| 0x7071 | 0x606300 | 32S, RO | DEC | Actual position value |
| 0x7075 | 0x60F918 | 16S, RO | rpm | Actual Speed (rpm) Sampling period configurable, default 30 ms, resolution 1 rpm |
| 0x7076 | 0x60F919 | 32S, RO | 0.001rpm | Actual Speed (0.001 rpm resolution) Sampling period configurable, default 30 ms, resolution 0.001 rpm |
| 0x7079 | 0x60F91A | 16U, RW, S5 | ms | Sampling period for actual‑speed measurement Default: 30 |
| 0x7077 | 0x606C00 | 32S, RO | DEC | Actual speed Internal sampling time: 250 µs [DEC] = ([rpm] * 512 * [Feedback Resolution]) / 1875 Default [Feedback Resolution]: 4096 Note: High speed fluctuation may occur due to very short sampling interval |
| 0x7072 | 0x607800 | 16S, RO | DEC | Actual Iq Current [DEC] = [Arms] * 1.414 * 2048 / I_MAX Note: For this motor, I_MAX=15; |
| 0x7007 | 0x60F632 | 16U, RO | mA | Motor Iit actual current |
| 0x5001 | 0x60F712 | 16S, RO | V | Actual DC‑bus voltage Resolution: 1 V |
| 0x7002 | 0x60F70B | 16S, RO | °C | Actual drive temperature |
| 0x7092 | 0x60F400 | 32S, RO | DEC | Position following error Deviation between actual position and target position during motion |
Table F1‑4 IO Data and Control
| UART Object Address | CAN Object Address | Object Attribute | Unit | Description |
|---|---|---|---|---|
| 0x5100 | 0x20100A | 16U, RO | BIT | Hardware emergency‑stop input status 0x0004: Emergency‑stop signal active 0x0000: No emergency‑stop signal |
| 0x5102 | 0x201001 | 16U, RO, S2 | BIT | Emergency‑stop input polarity setting 0x0004: Signal polarity not inverted 0x0000: Signal polarity inverted Default: 0x0004 |
| 0x5101 | 0x201002 | 16U, RW | BIT | Software‑simulated emergency‑stop input 0x0004: Simulate emergency‑stop signal 0x0000: No operation Default: 0x0000 |
| 0x5103 | 0x20100B | 16U, RO | BIT | Effective emergency‑stop execution status Determined jointly by hardware emergency‑stop status, emergency‑stop polarity setting and software‑simulated input. Boolean logic: ([0x5100] OR [0x5101]) XNOR [0x5102] |
Table F1‑5 Communication Parameters
| UART Object Address | CAN Object Address | Object Attribute | Unit | Description |
|---|---|---|---|---|
| 0x1005 | 0x2FE001 | 08U, RW, S1 | DEC | TTL232 Baud‑rate Configuration Value — Baud‑rate 4: 38400 5: 56000 6: 57600 7: 115200 Changes take‑effect after saving and power‑cycle Factory default: 7 |
| 0x100F | 0x2FE00F | 08U, RW, S1 | DEC | TTL232 Protocol Selection 0: Proprietary protocol 1: Custom Protocol 1 2: Custom Protocol 2 Changes take‑effect after saving and power‑cycle Factory default: 0 |
| 0x100B | 0x2F8100 | 08U, RW, S1 | DEC | CAN Baud‑rate Configuration Value — Baud‑rate 0: 50K 1: 83.333K 2: 100K 3: 125K 4: 250K 5: 500K 6: 800K 7: 1000K Changes take‑effect after saving and power‑cycle Factory default: 5 |
| 0x100C | 0x65100F | 08U, RW, S1 | DEC | CAN Node‑ID (stored internally) Changes take‑effect after saving and power‑cycle Factory default: 1 |
| 0x3010 | 0x410010 | 08U, RW, S1 | DEC | Communication‑Dropout Stop Enable 0: Disabled 1: Enabled |
| 0x3011 | 0x410011 | 32U, RW, S1 | mS | Communication‑Dropout Stop Delay Default: 600 When communication‑dropout detection ([0x3010]) is enabled, the motor shaft will be released after the configured timeout expires |
| — | 0x470001 | 08U, RW | DEC | Simplified PDO Function 1 1: Enable TX‑PDO1 (auto‑report actual position & actual speed) 0: Disabled Default: 0 |
| — | 0x180003 | 16U, RW | mS | TX‑PDO1 transmission interval, default 10 ms |
Table F1‑6 Parameter Save Commands
| UART Object Address | CAN Object Address | Object Attribute | Unit | Description |
|---|---|---|---|---|
| 0x3061 | 0x2FE501 | 08U, RW | DEC | Save S1‑group parameters command 1: Save all objects marked S1 Other values: No action |
| 0x3062 | 0x2FE502 | 08U, RW | DEC | Save S2‑group parameters command 1: Save all objects marked S2 Other values: No action |
| 0x3063 | 0x2FE503 | 08U, RW | DEC | Save S3‑group parameters command 1: Save all objects marked S3 Other values: No action |
| 0x3064 | 0x2FE504 | 08U, RW | DEC | Save S4‑group parameters command 1: Save all objects marked S4 Other values: No action |
| 0x3065 | 0x2FE505 | 08U, RW | DEC | Save S5‑group parameters command 1: Save all objects marked S5 Other values: No action |