MYACTUATOR MC Series Brushless Servo Driver User Manual
- June 13, 2024
- MYACTUATOR
Table of Contents
MC Series Brushless Servo Driver
Product Information
The MC Series Brushless Servo Driver is a motor controller that
is designed to control brushless motors. It comes in different
models depending on the specific motor type and features.
Driver Models:
-
MCMotor controllerbrushless motor control drive
-
L Series: The motor without reducer and the encoder is
installed on the axis. -
H Series: Brushless Outer Rotor Permanent Magnet Synchronous
Motor without Reducer and Encoder is installed off-axis
installation. -
X Series: Brushless outer rotor permanent magnet synchronous
integrated joint motor with planetary reducer (encoder is installed
on the axis) -
R Series: Brushless outer rotor permanent magnet synchronous
integrated joint harmonic motor with built-in harmonic reducer
(Encoder is installed off-axis installation)
Rated Power:
Optional power: 100W, 300W, 500W. The highest power can be used
under the rated voltage.
Encoder Adaptation Method:
- On-axis encoder: Installed on the axis
- Off-axis (hollow) encoder: Installed off-axis
Communication Mode:
CAN BUS communication with baud rates of 500K/1M. The standard
baud rate is 1M, but it can be configured to 500K.
Supply Voltage:
RS485 communication with options for 15200/1M/2.5M baud rates.
The standard baud rate is 115200, but it can be configured to 1M
and 2.5M. The motor controller without reducer only supports up to
24V. For higher specifications, please contact sales. The ambient
temperature range is -20 degrees to 55 degrees.
Product Usage Instructions
To use the MC Series Brushless Servo Driver, follow these
steps:
-
Identify the specific model of the driver based on your motor
type and requirements. -
Ensure that the power supply voltage matches the rated voltage
of the driver. -
If using an encoder, choose the appropriate adaptation method
(on-axis or off-axis) and install it accordingly. -
Select the desired communication mode (CAN BUS) and configure
the baud rate if necessary. -
Connect the driver to the power supply using the appropriate
supply voltage and communication mode. -
Refer to the product manual for any additional hardware or
parameter requirements specific to your chosen driver model.
MC 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
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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
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MC Series Brushless Servo Driver Manual
Products picture Of MC drive
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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
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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
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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
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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
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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.
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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.
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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
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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.
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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
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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.
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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
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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.
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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
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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.
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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
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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)
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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.
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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
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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)
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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.
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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).
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