How to use the Xiaomi CyberGear Micromotor's Host Computer
The CyberGear Host Computer Software is designed to debug and control the CyberGear micromotor using CAN communication. To set up the micromotor for debugging, it can be connected to a PC via a CAN-to-serial converter. Below is a step-by-step guide on how to set up and use the host computer software for debugging and controlling the CyberGear micromotor.
Software and Driver Requirements
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The CyberGear debugging software, CyberGear Debugger_20231101.exe, is specifically tailored for the CyberGear micromotor.
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The download link for the software is not included here to manage version control effectively. To download the software, please scan the QR code found in the product's manual. If you encounter the software in Chinese, you can download it, but please note that there may be compatibility issues with different versions.
Driver Installation
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Before using the debugging tool, install the CH340 driver to ensure the proper functionality of the device.
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By default, the micromotor operates in AT mode.
CAN-to-Serial Tool
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The debugging software is compatible with specific CAN-to-serial tools. It is recommended to use YourCee's USB-CAN module for seamless communication.
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The tool follows the serial protocol:
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Frame Header: 41 54
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Frame End: 0D 0A
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Debugging Capabilities
The CyberGear Host Computer Software supports basic debugging for single-joint motion and includes:
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Motion Modes: JOG (Jogging)
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Oscilloscope Functions: Visual feedback and analysis
For systems involving multiple joints (such as robots), the software provides limited debugging capabilities. Users may need to develop custom controllers for advanced debugging and multi-joint systems.
Steps to Use the Host Computer
Step 1: Locate the Debugger
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Find the executable file CyberGear Debugger_20231101.exe on your PC.
Step 2: Connect the Micromotor
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Connect the micromotor to the PC using the recommended CAN-to-serial tool.
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Ensure the CH340 driver is installed, and the micromotor is powered on.
Step 3: Interface Overview
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Open the CyberGear Debugger to access the user-friendly interface. Here, you can configure the control parameters and motion modes.
Control Modes
The software provides several control modes for the precise operation of the micromotor:
Zero Mode
The motor slowly returns to its mechanical zero position.
Operational Control Mode
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Parameters: Torque, Position, Speed, Kp, and Kd.
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The motor operates based on target commands, providing real-time feedback.
Current Mode
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Set the current value (Iq) and sinusoidal operation mode.
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The motor runs according to the set current, amplitude, and frequency.
Speed Mode
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Set the target speed and sinusoidal operation mode.
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The motor operates either continuously or in a point action mode, depending on the speed, amplitude, and frequency settings.
Position Mode
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Set the target position and sinusoidal operation mode.
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The motor moves continuously or in a point action mode to the desired position with a defined amplitude and frequency.
Notes and Recommendations
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Single Joint Debugging: Fully supported by the software.
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Multi-Joint Systems: The software provides limited support. Users may need to develop custom controllers for advanced debugging.
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Environment: Ensure a stable PC setup and follow the recommended guidelines for optimal performance.
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 and 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, and upgrade the TTL-CAN_N32_10010_1_5.bin file.
