DaMiao Python Library

Language: 中文 | ENGLISH

This library supports macOS, Linux, and Windows platforms.

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Table of Contents

1. Importing the DaMiao Library
2. Defining Motor Control Objects
3. Motor States
   • Adding Motors
   • Enabling Motors
   • Setting Zero Position
   • Disabling Motors
   • Fetching Motor Status
4. Motor Control Modes
   • MIT Mode
   • Position-Velocity Mode
   • Velocity Mode
   • Force-Position Mixed Mode
5. Reading Motor States
6. Modifying Motor Parameters
   • Changing Control Mode
   • Saving Parameters
   • Reading Internal Registers
   • Writing Internal Registers

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1. Importing the DaMiao Library

Ensure that DM_CAN.py is in your project folder. Import it as follows:

from DM_CAN import *

The library depends on the following Python packages: serial, numpy. Install them using:

pip install -r requirements.txt

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2. Defining Motor Control Objects

Create motor objects using:

Motor1 = Motor(DM_Motor_Type.DM4310, 0x01, 0x11)
Motor2 = Motor(DM_Motor_Type.DM4310, 0x02, 0x12)
Motor3 = Motor(DM_Motor_Type.DM4310, 0x03, 0x13)

• First Parameter: Motor type
• Second Parameter: Slave ID (Motor's CAN ID)
• Third Parameter: Master ID (Host ID; must be unique and not 0x00)

Set up the serial device (example for Windows):

serial_device = serial.Serial('COM8', 921600, timeout=0.5)

Initialize the motor control object:

MotorControl1 = MotorControl(serial_device)

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3. Motor States

3.1 Adding Motors

MotorControl1.addMotor(Motor1)
MotorControl1.addMotor(Motor2)
MotorControl1.addMotor(Motor3)

3.2 Enabling Motors

Enable motors (ensure parameters are set before enabling):

MotorControl1.enable(Motor1)
MotorControl1.enable(Motor2)
MotorControl1.enable(Motor3)

For older firmware, specify the control mode:

MotorControl1.enable_old(Motor1, Control_Type.MIT)
MotorControl1.enable_old(Motor2, Control_Type.POS_VEL)
MotorControl1.enable_old(Motor3, Control_Type.VEL)

3.3 Setting Zero Position

Move the motor to the desired zero position (in disabled state) and set it as the new zero position:

MotorControl1.set_zero_position(Motor3)
MotorControl1.set_zero_position(Motor6)

3.4 Disabling Motors

MotorControl1.disable(Motor3)
MotorControl1.disable(Motor6)

3.5 Fetching Motor Status

To fetch motor status (torque, position, velocity) without sending control commands:

MotorControl1.refresh_motor_status(Motor1)
print("Motor1:","POS:", Motor1.getPosition(), "VEL:", Motor1.getVelocity(), "TORQUE:", Motor1.getTorque())

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4. Motor Control Modes

4.1 MIT Mode

After enabling the motor, use MIT mode for control:

MotorControl1.controlMIT(Motor1, 50, 0.3, 0, 0, 0)

4.2 Position-Velocity Mode

Control motor position and velocity:

q = math.sin(time.time())
MotorControl1.control_Pos_Vel(Motor1, q*10, 2)

4.3 Velocity Mode

Control motor velocity:

q = math.sin(time.time())
MotorControl1.control_Vel(Motor1, q*5)

4.4 Force-Position Mixed Mode

Control motor position and force:

MotorControl1.control_pos_force(Motor1, 10, 1000, 100)

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5. Reading Motor States

Motor states are stored in the motor object. You can read the following parameters:

• Velocity
• Position
• Torque

Use the following functions:

vel = Motor1.getVelocity()    # Get motor velocity
pos = Motor1.getPosition()    # Get motor position
tau = Motor1.getTorque()      # Get motor torque

After refreshing motor status:

MotorControl1.refresh_motor_status(Motor1)
print("Motor1:", "POS:", Motor1.getPosition(), "VEL:", Motor1.getVelocity(), "TORQUE:", Motor1.getTorque())

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6. Modifying Motor Parameters

6.1 Changing Control Mode

You can change the motor's control mode using the following function:

if MotorControl1.switchControlMode(Motor1, Control_Type.POS_VEL):
    print("Switch to POS_VEL mode success")
if MotorControl1.switchControlMode(Motor2, Control_Type.VEL):
    print("Switch to VEL mode success")

Note: The change is only temporary and will be reset after power cycle.

6.2 Saving Parameters

To save all changed parameters to the motor's flash memory:

MotorControl1.save_motor_param(Motor1)

6.3 Reading Internal Registers

You can read internal registers of the motor, such as:

print("PMAX:", MotorControl1.read_motor_param(Motor1, DM_variable.PMAX))
print("MST_ID:", MotorControl1.read_motor_param(Motor1, DM_variable.MST_ID))
print("VMAX:", MotorControl1.read_motor_param(Motor1, DM_variable.VMAX))
print("TMAX:", MotorControl1.read_motor_param(Motor1, DM_variable.TMAX))

Use getParam to retrieve stored values:

print("PMAX", Motor1.getParam(DM_variable.PMAX))

6.4 Writing Internal Registers

Some internal register values can be modified. Here's an example:

if MotorControl1.change_motor_param(Motor1, DM_variable.KP_APR, 54):
   print("Write success")

Note: Changes will be lost after power cycle unless saved to flash memory.

7.Internal Register Parameter List Note:

Note:

• RW: Read and Write
• RO: Read Only - Corresponding variable names can be directly used in DM_variable.

Register Address (Decimal)	Variable	Description	R/W	Range	Data Type
0	UV_Value	Under-voltage Value	RW	(10.0,3.4E38]	float
1	KT_Value	Torque Coefficient	RW	[0.0,3.4E38]	float
2	OT_Value	Over-temperature	RW	[80.0,200)	float
3	OC_Value	Over-current Value	RW	(0.0,1.0)	float
4	ACC	Acceleration	RW	(0.0,3.4E38)	float
5	DEC	Deceleration	RW	[-3.4E38,0.0)	float
6	MAX_SPD	Maximum Speed	RW	(0.0,3.4E38]	float
7	MST_ID	Feedback ID	RW	[0,0x7FF]	uint32
8	ESC_ID	Receive ID	RW	[0,0x7FF]	uint32
9	TIMEOUT	Timeout Alarm Time	RW	[0,2^32-1]	uint32
10	CTRL_MODE	Control Mode	RW	[1,4]	uint32
11	Damp	Motor Damping Coeff.	RO	/	float
12	Inertia	Motor Inertia	RO	/	float
13	hw_ver	Reserved	RO	/	uint32
14	sw_ver	Software Version	RO	/	uint32
15	SN	Reserved	RO	/	uint32
16	NPP	Motor Pole Pairs	RO	/	uint32
17	Rs	Motor Phase Resistance	RO	/	float
18	Ls	Motor Phase Inductance	RO	/	float
19	Flux	Motor Flux Value	RO	/	float
20	Gr	Gear Reduction Ratio	RO	/	float
21	PMAX	Position Mapping Max	RW	(0.0,3.4E38]	float
22	VMAX	Speed Mapping Max	RW	(0.0,3.4E38]	float
23	TMAX	Torque Mapping Max	RW	(0.0,3.4E38]	float
24	I_BW	Current Loop Bandwidth	RW	[100.0,10000.0]	float
25	KP_ASR	Speed Loop Kp	RW	[0.0,3.4E38]	float
26	KI_ASR	Speed Loop Ki	RW	[0.0,3.4E38]	float
27	KP_APR	Position Loop Kp	RW	[0.0,3.4E38]	float
28	KI_APR	Position Loop Ki	RW	[0.0,3.4E38]	float
29	OV_Value	Over-voltage Value	RW	TBD	float
30	GREF	Gear Torque Efficiency	RW	(0.0,1.0]	float
31	Deta	Speed Loop Damping Coeff.	RW	[1.0,30.0]	float
32	V_BW	Speed Loop Filter Bandwidth	RW	(0.0,500.0)	float
33	IQ_c1	Current Loop Gain	RW	[100.0,10000.0]	float
34	VL_c1	Speed Loop Gain	RW	(0.0,10000.0]	float
35	can_br	CAN Baud Rate Code	RW	[0,4]	uint32
36	sub_ver	Sub-version	RO		uint32
50	u_off	U Phase Offset	RO		float
51	v_off	V Phase Offset	RO		float
52	k1	Compensation Factor 1	RO		float
53	k2	Compensation Factor 2	RO		float
54	m_off	Angle Offset	RO		float
55	dir	Direction	RO		float
80	p_m	Motor Position	RO		float
81	xout	Output Shaft Position	RO		float