What is Xiaomi CyberGear Micromotor?
14 Aug 2024
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Xiaomi CyberGear Micromotor
Hi, guys! Today let's talk about a super cool gadget - Xiaomi's CyberGear micromotor! CyberGear micromotor, CyberGear is essentially the familiar QDD (Quasi-Direct Drive) joint module, or Quasi-Direct Drive joint module, and CyberDog-2's 12 CyberDog-2's 12 degrees of freedom of motion are composed of CyberGear.
Although CyberGear has a Gear in its name, it is a complete articulated module, i.e., it contains frameless torque motors + planetary gearboxes + actuators + encoders + CNC aluminum alloy transmission parts and housings, and also provides the corresponding single-jointed module's HMI debugging software on the software side, and these hardware and software configurations will be mentioned in the following details. In a nutshell: this is a plug-and-play joint module, not just a motor or reducer, ideal for some simple robotics DIY, such as a small robot dog or light duty robotic arm.
If you are also a tech fan, then hurry to gather around Xiaomi's micro-motor series, which is guaranteed to open your eyes and discover more fun and practical black technology! Let's join together and call for this small technological miracle!
CyberGear Hardware Configuration
Shape and Mounting Dimensions
Mechanical Characteristics
- Weight: 317g±3g
- Number of poles: 28 poles
- Number of phases: 3 phases
- Drive mode: FOC
- Reduction ratio: 7.75:1
Electrical Characteristics
- No-load speed: 296 rpm±10
- No-load current: 0.5 Arms
- Rated load: 4 N.m
- Rated Load Speed: 240 rpm±10
- Rated Load Current (Peak): 6.5A±10
- Peak load: 12 N.m
- Peak current (peak): 23A±10%
- Insulation resistance/stator winding: DC 500VAC, 100M Ohms
- High Voltage Resistance/Stator & Case: 600 VAC, 1s, 2mA
- Motor Reverse Potential: 0.054-0.057Vrms/rpm
- Line Resistance: 0.45Ω±10%
- Torque constant: 0.87N.m/Arms
- Motor inductance: 187-339μH
Main Components and Specifications
| NO. | Project | Specifications | Quantity |
| 1 | MCU Chip | GD32F303RET6 | 1 PCS |
| 2 | Driver Chip | 6EDL7141 | 1 PCS |
| 3 | Magnetic Encoder | AS5047P | 1 PCS |
| 4 | Thermal Resistor | NXFT15XH103FEAB021/NCP18XH103F03RB | 2 PCS |
| 5 | Power MOS | JMGG031V06A | 6 PCS |
CyberGear Host Computer Software
CyberGear micro-motor is also equipped with the basic debugging required by the host computer software, CyberGear using CAN communication, through the CAN to serial tools connected to the PC debugger, debugger needs to be installed in advance ch340 driver, the default work in AT mode. In order to manage the later version of the iteration, I will not post the download link of the host computer software in this document, you can scan the QR code at the end of the paper manual to get the CyberGear physical product. There are two points to note here:
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The debugging software is based on a specific CAN to serial port tool developed debugger, so you need to use our recommended serial port tool for debugger debugging, CAN to serial port tool is recommended to use YourCee's USB-CAN module, corresponding to the serial protocol of the frame header is 41 54, the end of the frame is 0D 0A;
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The debugging software generally supports the basic motion debugging of single joints, support for various types of motion modes JOG and oscilloscope functions, but the multi-joint serial debugging support in general, if there is the use of multiple joints to build robots debugging needs, but also need to develop their own corresponding controller big brother.
Use of the Host Computer
- Find CyberGear Debugger_20231101.exe
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Debugger Interface and Instructions
- Optional Control Modes
- Zero Mode: Controls the motor to slowly return to the mechanical zero position;
- Operational Control Mode: Provides five parameters that can be set: torque, position, speed, Kp, and Kd. By pointing or linking, the motor will return to the feedback frame and operate according to the target command;
- Current Mode: Provide set current value Iq and sinusoidal mode, pointing or linking, the motor will run according to Iq and the set amplitude and frequency;
- Speed Mode: Provides settable target speed and sinusoidal mode, point or continuous action, the motor will run according to the target speed and the set amplitude and frequency;
- Position Mode: Provides programmable target position and sinusoidal mode, point or continuous action, the motor will operate according to the target position and the set amplitude and frequency.
FAQS
How do I burn firmware into a motor?
Motor parameter table refresh failure?
Generally, it is due to firmware version problems. Please update the firmware to the latest version.
The motor can't connect to the Host Computer?
- Download the latest version of the host computer (V0.0.6) and the original version of the host computer to connect the motor.
- Check whether the CANH and CANL of the motor and the power supply are reversed, whether the power supply is 24V, whether the contact of the CAN line is good, and measure the communication status with a multimeter.
- Download UART-CAN, open CanMiniIMU.exe in the UART-CAN folder, click Setup Module, configure the baud rate as 921600, can baud rate as 1000000, re-power on the motor, if you can receive commands after powering on the motor, it means the communication is successful.
- Click the Help tool of CanMiniIMU.exe, click Firmware upgrade, upgrade TTL-CAN_N32_10010_1_5.bin file.
More Information
CyberGear micromotor instruction manualY-arm A 6-axis robot arm based on Xiaomi CyberGear Motor
CyberGear ROS2 driver
The story of making a 3Dof robot arm in about a week with Xiaomi CyberGear
Arduino TWAI library for Xiaomi CyberGear
Xiaomi CyberGear Debugger App Setup - English
