Sensor/Motor Drive Board - Version

2.2 (SKU:DFR0057)

Contents

1Introduction

2 Specification

3 Pin out diagram

3.1 Applying Power

3.2 Serial hardware configuration

3.3 Command Sets

3.3.1 Configure Servo Control Mode

3.3.2 Set DIO Input/output Mode

3.3.3 Set DIO Output

3.3.4 Read DIO Input

3.3.5 Servo Control

3.3.6 Read Analog Input (12 bits)

3.3.7 Configure RS485 Baud Rate

3.3.8 RS485 Communication

3.3.9 Write Data via I2C

3.3.10 Read Data via I2C

3.3.11 Set Motor Parameters

3.3.12 Set Motor Speed

3.3.13 Read Motor Speed

3.3.14 Read Motor Current

3.3.15 Set PID Parameters

3.3.16 Set Motor Driven Mode

3.3.17 Set Motor Power

3.3.18 Read encoder data

3.3.19 Reset Encoder Reading

3.3.20 Read Board Version

Introduction

A. Please read this manual carefully before power on the device.

B. Do not use this device for military or medical purpose as they are not designed to.

This Sensor/Motor Drive Board (Cortex

M3 CPU) is the integration of multiple

communication interfaces that quickly

build robotic systems. This board (Cortex

M3 CPU) features the SPI Interface and

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