LK-TECH MGv2 Servo Motor System Complete Guide

RS-485: Supports 9600 bps to 2 Mbps. The factory default is 115200 bps.

CAN: Supports 125 kbps, 250 kbps, 500 kbps, and 1 Mbps. The factory default is 1 Mbps.

Broadcast mode: Can control 4 motors (ID 1-4) simultaneously, with baud rate set to 1M or 2M (RS-485) or 500K/1M (CAN), and only supports torque control mode. This mode is suitable for scenarios where multiple motors output synchronously but do not require independent position feedback.

5.3 Rotation direction

Reversible motor rotation direction (Normal: counterclockwise is positive; Reverse: clockwise is positive. After modification, it is necessary to save and restart, and then perform the "Align" operation to recalibrate.

Encoder alignment (core steps)

The MGv2 series uses an 18 bit absolute value encoder, and the motor and encoder must be aligned before use, otherwise the motor cannot operate normally.

6.1 Alignment Preparation

Ensure that the number of motor poles is set correctly (usually default values apply).

The motor is best unloaded (if the load is heavy, the alignment voltage can be appropriately increased).

Click the "Align" button, and the motor will automatically calibrate by swinging in both directions.

6.2 Alignment result judgment

After alignment is completed, the 'Motor/Encoder Align Ratio' is automatically calculated. The value should be close to 1000, the closer it is to 1000, the better the calibration effect. If the deviation is too large, it is necessary to check:

Is the number of motor poles incorrect

Excessive mechanical resistance of the motor (bearing jamming, load not detached)

Poor contact of encoder wiring

Common faults: The motor shakes violently or cannot rotate during the alignment process. Firstly, reduce the alignment voltage, and then manually rotate the motor to feel the resistance. If it still cannot be completed, check if the UVW phase sequence of the motor is reversed.

6.3 Motor Zero Position Setting

After alignment is completed, the current position can be set as the starting zero position of the motor using the "Set" button. For systems with reducers, it is also necessary to set the reduction ratio and reducer zero position in the "Reducer/Encoder Setting" (dual encoder mode).

Protection mechanism and troubleshooting

7.1 Configurable Protection

Protection item status description

Motor temperature protection can be enabled to read the internal temperature sensor of the motor. If it exceeds the limit, an error will be reported and it will stop

Under voltage protection can activate an alarm when the bus voltage is below the threshold

Overvoltage protection can activate an alarm when the bus voltage exceeds the threshold

Input loss protection can enable communication signal loss alarm after exceeding the set time

Overcurrent, short circuit, and stalling have not yet been opened at the hardware level due to limited current. Software protection is pending firmware upgrade

Suggestion for handling: In battery powered applications, it is necessary to enable undervoltage protection to prevent battery damage caused by over discharge. If undervoltage is frequently triggered, it is necessary to check whether the power cord diameter is too thin or the battery internal resistance is too high.

7.2 Indicator light status

Green constantly on: connection is normal, motor is enabled (Motor ON).

Green slow flashing (2 seconds/time): Motor not enabled (Motor OFF).

Green flash (0.3 seconds/time): The motor is in an error state (fault).

When an error occurs, clear it through the "Clear Error" button; If it is an unrecoverable error (such as overvoltage), the power supply needs to be restarted.

7.3 Common Error Codes (Read by Status)

The software provides a "Read State 1/2/3" button, which can read in real-time:

UVP: Undervoltage

OVP: Overvoltage

MTP: Motor Temperature Protection

LIP: Input loss (communication timeout)

Troubleshooting example: The motor suddenly stops and the indicator light flashes rapidly. Clicking on "Read State1" displays "UVP". If the input voltage of the driver is lower than the minimum operating voltage (for example, if the 24V system drops to 18V), check the power supply or replace it with a larger capacity battery.

PID Debugging Guide

The MGv2 driver adopts a three loop control: current loop (torque loop), speed loop, and position loop. The PI parameters (Kp, Ki) of each loop can be independently adjusted through software.

8.1 Debugging sequence

Current loop (default parameters generally apply, unless the motor is replaced or the load inertia is extremely high). Kp affects the torque response speed, while Ki eliminates steady-state errors. If the motor produces high-frequency whistling, Kp should be reduced.

Speed loop: First set smaller Kp and Ki, gradually increase Kp until there is no oscillation in the speed response, and then increase Ki to reduce static error.

Position loop: Based on the adjusted speed loop, adjust the position loop Kp (usually only controlled by P, with Ki set to 0). Increasing Kp can improve the positioning stiffness, but excessive Kp can easily cause overshoot or oscillation.