Makerbase SERVO42C Closed loop Stepper Motor Manual（2）Menu - makerbase-mks/MKS-SERVO42C GitHub Wiki

Part 1 Hardware

1.1 List

Number	Name	Quantity
1	MKS SERVO42C V1.0(with motor)	1
2	Adapter board(MKS APT)	1
3	6pin data cable	1
4	MKS Gen_L V1.x mainboard(with screen)	1
5	DC 12V-24V power supply	1

The hardware list is shown in the figure below.

1.2 Connection

The phase of the stepper motor is A+, A-, B+, B-, as shown in the figure below.

Attention：If the line sequence is incorrect，The screen will always show “Phase Line Error！”. If this error occurs, please power off and adjust the motor line sequence（A+ A- B+ B-）.
The adapter board is connected with the MKS Gen_L V1.x board, as shown in the figure below.

Pay attention to the direction of converter board（The EN pin of the adapter board is aligned with the EN pin of the MKS Gen_L V1.x board,then plug it in）
The pin connection is shown in the following table.

Number	MKS SERVO42C_v1.0	MKS Gen_L V1.x
1	V+	VIN
2	Gnd	G
3	Com	VCC
4	En	EN
5	Stp	STP
6	Dir	DIR

4.MKS Gen_L V1.x board is connected to 12V-24V DC power.

5.The hardware connection is shown in the figure below.

Part 2 Menu instruction

2.1 Attention point

Try not to plug and unplug the 6p terminal with electricity to avoid damaging the board. Cut off the power first, plug it in and then turn it on!!!
When the motor is powered on for the first time, it must to be calibrated.(motor without load)
If the board is removed from the motor, it must to be calibrated again.

1.If an error message is show，please refer to part 3“err list”to fixed.

2.When the motor is calibrating ,it will turn round step by step，then invert a round step by step ,the screen will show‘Cal...’.It will take a minute.（If the motor jitter during calibration，It indicates that the wiring sequence is incorrect. Please adjust the wiring to fix it.）

2.2 The desciption of parameter

1.-0.0° - the angle of the motor shaft.(unit degree)

2.0.00err - the err of the motor shaft angle.

3.0clk - the pulses have been received.

2.3 Operating instruction

1.Equipped with 3 keys：

Next ： move down.

Enter ：Confirm.

Menu ：Enter/exit parameter setting menu.

As shown in the figure below:

2.How to View parameter

Press the “Menu” key to Enter the Menu

press the “Next” key to move to the sub-option

press the “Enter”key, then it show the value.

3.How to setting Parameter：

Press the “Menu” key to Enter the Menu

press the “Next” key to move to sub-option

press the “Enter”key, it show the value.

press the “Next” key to move to the value

press the “Enter”key to set the value.

2.4 Menu introduction

CAL:Calibrate the motor.

Make sure the MotType is Configure correctly.

(Default 1.8 °)
MotType:Select stepper motor type.

0.9 ° ：The motor is a 0.9 degree stepper motor

1.8 ° ：The motor is a 1.8 degree stepper motor

(Default: 1.8 °)

(note: when MotType is changed ,the motor must be calibrated again)
Mode:Control mode selection.

CR_OPEN ：Open loop control mode, the motor run without encoder.

CR_vFOC ：pulse(Stp,Dir) input mode.

CR_UART ：Serial mode, you can run the motor by serial commands with usart.

(Default: CR_vFOC)
Ma:Set the operating current in CR_OPEN mode.

Note: The CR_vFOC and CR_UART mode will automatically adjust the current according to the load.

(Default: 1200)
MStep:Set subdivisions.

Supports subdivision from 1 to 256.

(Default: 16)

subdivisions 1, 2, 4, 8, 16, 32, 64, 128, and 256 can be set on the screen.

Other subdivisions such as 67 subdivisions need to be set by sending commands through the serial port.Please refer to the section‘Serial communication’.
En:Set the effective level of EN pin.

H ：High level is valid, external input high level (above 3.3V) can enable the driver board.

L ：Low level is effective, external input low gain (0V) can enable the driver board.

Hold ：the driver board is always enabled.

(Default: L)

Attention：If the driver board is not enabled, the motor shaft can be gently turned by hand as if it was not energized, and it will not turn if you send pulses.
Dir:Set the positive direction of motor rotation.

CW ：Clockwise rotation is positive

CCW ：Counterclockwise rotation is positive

(Default: CW)

Attention：If the direction is wrong (especially for a 3D printers/engraving machines)，don’t need to modify the firmware of the motherboard, just modify this option.
AutoSDD:Set the oled screen sleep mode.

Attention ：If this option is enabled, the OLED screen will automatically turn off without any key operation within seven seconds, and the display can be waked up by pressing any button.

(Default: Disable)
Protect :Set the blocked protection function.

(Default: Enable)

Attention：After this option is enabled, if the driver board detects motor shaft blocking, it will disable the motor automatically and the screen will show“Wrong Protect Enter..”.
MPlyer :Set internal 256 subdivision.

(Default: Enable)

Attention: After this option is Enabled, it automatically enable internal 256 subdivision, it can reduce the vibration and noise of the motor at low speed.

UartBaud ：Set the baud rate of usart serial. 9600，

19200，

25000，

38400，

57600，
(Default: 38400)

UartAddr :Set the ID of the motor for serial command.

0xe0

0xe1

…

0xe9

(Default: 0xe0)

Attention：If connected to multiple motors, the ID of each motor must be different.

13.0_Mode :The motor will go back to zero point when power on.

Disable ：do not go back to zero point.

DirMode ：go back to zero point with direction of CW or CCW (the direction is set in O_Dir menu).

NearMode ：go back to zero point with minimum angle.

(Default: Disable)

Set 0:Set the zero point for go back when power on.

(O_Mode must not be Disable)

0_Speed :Set the speed of go back to zero point.

0 ： fastest.

...

4 ： slowest.

0_Dir :Set the direction of go back to zero point.

CW ：Clockwise.

CCW ：Counterclockwise.

(Default: CW)

ACC:Set the acceleration of the motor.

Disable

286

…

1042

(Default: Disable)

Attention：This function is reserved, just set to‘Disable’

Exit :Exit the parameter setting menu.

Part 3 Error list

err1: “Not Cal”

the motor need to be calibrated. Click “Cal” for motor calibration.
err2 “Waiting V+ Power！”

the motor has not power on，please connect the V+ pin to power.
err3“Offset Current Error！”

reserved.
err4“Phase Line Error！”

if it keeps show “Phase Line Error”,please adjust the 4pin motor cable wiring sequence.
err5“Reverse Lookup Error！”

if it keeps show “Phase Line Error”,please adjust the 4pin motor cable wiring sequence.
err6 “Magnet Loss！ Enter..”

please check the magnet is stuck in the middle of the motor shaft.
err7 “Magnet Error！ Enter..”

reserved.
err8 “Motor Type Error！”

Motor type (0.9°/1.8°) detects error.

Maybe the motor calibrated is on load, or the motor shaft was stuck with too much glue.
err9 “Coming Back to Origin..”

Just waiting for the motor go back to the zero point.
err10“Back to Origin Fail!!!”

Maybe the motor shaft is block when go back to zero point.
err11“Wrong Protect Enter..”

the motor shaft is blocking. Please power off and check the load.

Part 4 Calibration and run the motor

4.1 Calibrate the motor

Select Cal in the menu,wait 1-2minutes for calibration complete.

4.2 Run the motor

MKS Gen_L V1.x mainboard screen operation description：

Press the big knob：Enter settings/selection

Turn the big knob right：Option down

Turn the big knob left：Option up

STOP knob：Reset

Press the big knob on screen mainbard to perform menu operations ,as shown in the figure below.

Select“Motion”，as shown in the figure below.

Select“Move Axis”->“Move X”->“Move 10mm”，as shown in the figure below.

Turn the big knob right,the position value increases and the motor rotates in the forward direction,as shown in the figure below.

Turn the big knob left,the position value decreases and the motor rotates in the reverse direction,as shown in the figure below.

Part 5 Automatic go back to zero point

This function must be run in CR_vFOC or CR_UART mode.

1.Power off the motor, rotate the motor to the zero point.

Power on the motor.
Set 0_Mode to “DirMode”.

Set “Set 0” to set the zero point.

Set 0_Speed to “2”

Set 0_Dir to “CW”.

Note: If 0_Mode is set to “NearMode”,and the screen show “Back to Origin Fail!!!”. Please set 0_Dir to “CCW”,and try it again.
Power off the motor, rotate the motor away from the zero point.
Power on, the motor will go back to the zero point.

Thanks for reading!

https://github.com/makerbase-mks/MKS-SERVO42C