Instructions for using LK-TECH MGv2 servo motor

Product series and positioning

MGv2 is a leader control integrated deceleration and small backlash integrated servo, paired with DG80R/C7 driver, designed for high-precision, high response, and high torque scenarios.

Comparison of the Four Major Servo Series:

Application of Series Advantage Voltage, Current, and Speed Control

MS low-speed stable 7.4-24V 0-4A 0-1000rpm SVPWM gimbal and pod

MF high-speed high-precision 12-36V 0-9A 0-3000rpm FOC pan tilt and turntable

MG built-in gearbox, small backlash 24-48V 0-14A 0-2000rpm FOC foot/exoskeleton robot

MH large and medium-sized hole shaft 12-24V 0-4A 0-3000rpm FOC gimbal, radar

Drive core parameters (DG80R/C7)

Parameter values

Input voltage 12-60V DC

Rated current 10A

Maximum current 20A (lasting for 10 seconds)

Torque loop frequency 32KHz

Speed/Position Loop 8KHz

PWM frequency 32KHz

Torque bandwidth 0.4-2.8KHz

Encoder accuracy 18 bits

Communication RS485/CAN

Interface and wiring

1. Definition of motor interface

Pin function

A/H RS485-A / CAN-H

B/L RS485-B / CAN-L

V+positive pole of power supply

V – Negative pole of power supply

T/R UART debugging

G signal ground

2. Bus wiring rules

RS485/CAN bus must have 120 Ω terminal resistors connected at both ends

Use XT30 interface for power supply, and it is strictly prohibited to connect the positive and negative poles in reverse

Debugging using USB-UUART (CP210x) to connect to a computer

Model Naming Rules

MG 80 16 -i6 E 18bit RS485

MG: Series

80: Stator diameter

16: Stator height

I6: Reduction ratio 1:6

E: Dual encoder

18 bit: Encoder accuracy

RS485: Communication method

Upper computer software (LingKong Motor Tool V2.33)

1. Installation and connection

Install CP210x USB to serial port driver

Open the software, select COM port, baud rate 115200 ID1

Click Connect, the green light stays on, indicating a successful connection

2. Core configuration page

Basic Settings

Driver ID: 1-32 (or dial 1-8)

Bus type: RS485/CAN

RS485 baud rate: 9600~2Mbps (default 115200)

CAN baud rate: 125K~1Mbps (default 1Mbps)

Rotation direction, brake resistance, broadcasting mode (up to 4-axis synchronization)

protection settings

Motor over temperature protection

Drive overheating

Undervoltage/Overvoltage Protection

Protection against overcurrent, short circuit, locked rotor, and signal loss

Limit setting

Maximum angle: ± 359999.99 °

Maximum speed: 0-72000dps

Maximum acceleration, maximum torque current (0-2000)

PID parameters

Angle ring: Kp/Ki

Speed loop: Kp/Ki

Current (torque) loop: Kp/Ki

encoder calibration

Number of motor poles, encoder type, offset

Reduction ratio and zero point setting

Align calibration: automatic calibration of motor forward and reverse rotation

Firmware update

Read hardware/firmware version

Write the corresponding. bin firmware

Automatic calibration after upgrade

Control mode

Torque control: Output ± 2000 proportional current

Speed control: ± 24000 dps

position control

Single lap: 0-359.99 °

Multi circle: ± 359999.99 °

Incremental angle: relative motion

Status and faults

Bus voltage, motor temperature, real-time current, speed, encoder value

Fault code:

UVP undervoltage

OVP overvoltage

MTP motor overheating

OCP overcurrent

SCP short circuit

SP blockage

LIP signal loss

Key questions and answers

Question 1: What are the core hardware advantages and electrical upper limits of MGv2 servo?

Answer: The core advantage is the integrated gearbox+small backlash+dual encoders+FOC vector control, designed specifically for foot/exoskeleton. Electrical upper limit: 12-60V power supply, rated 10A, peak 20A (10 seconds), 18 bit encoder, 32KHz torque loop, supporting high-precision control with three closed loops.

Question 2: What wiring and configuration rules must be followed for bus communication (RS485/CAN)?

answer:

Both ends of the bus must be connected to a 120 Ω terminal resistor;

RS485 default baud rate 115200, CAN default 1Mbps;

Driver ID supports 1-32, with a maximum of 8 dialing codes supported;

The broadcast mode only supports torque control, with ID set to 1-4 and baud rate ≥ 500K.

Question 3: What are the functions and operational points of encoder alignment calibration?

Answer: Function: To achieve phase alignment between the motor and encoder, ensuring smooth torque and accurate positioning. main points:

Calibration under no-load conditions;

Confirm that the number of motor poles is correct;

The default calibration power is sufficient, and it can be increased appropriately when overloaded;

After calibration, the parameters will be automatically saved and need to be powered on again to take effect.