RS232 Communicate command of the motor for tractor auto steering system

In recent years, tractor automatic driving systems have become more and more popular in China, and are currently mainly concentrated in western and northern China. The complete tractor autopilot system including electric motor wheel, Beidou GNSS, centre control box, displayer, gyroscope or angle sensor. Most of our customers are in Navigation business line, we provide the electric steering motor to them, they provide the complete auto steering system to the tractor manufacturer, tractors owner.

The automatic steering wheel motor support RS232 communicate control, you can find the detail communicate protocol in the auto steering motor user manual, today we will give a few simple command examples.

4.4.2 Send control command format

Frame Header: AC EC

Enable:
Speed mode:
11: Enable, you can make the motor run.
10: Disable, the motor/driver are in torqueless status.

Position mode:
21: Enable, you can make the motor run.
20: Disable, the motor/driver are in torqueless status.

Speed /Position Data:
[ Data ] is the given speed/position data, high before, low after.
The speed data range is -1000 ~ +1000, means - 80rpm ~ +80rpm (factory setting)
The position data range is -50000~+50000, means -5 circles ~ +5 circles (10000/circle)

Check code:
The check uses the sum check method, that is, starting from the frame head, accumulating all the bytes, and the low bit of the final result obtained is the check code.

【Example】Speed mode, forward, control command: AC EC 11 00 00 03 E8 CL
Then the check code(CH) will be: AC + EC + 11 + 00 + 00 + 03 + E8 = 294 (hexadecimal )
Then the CH should be 0x02, CL should be 0x94, the check code will be 94.
Then the control command should be: AC EC 11 00 00 03 E8 94

【Example】Position mode, run 1.5 circles clockwise(FFFFC568), control command: AC EC 21 FF FF C5 68 CL
Then the check code(CH) will be: AC + EC + 21 + FF + FF + C5 + 68 = 4E4 (hexadecimal )
Then the CH should be 0x04, CL should be 0xE4, the check code will be E4.
Then the control command should be: AC EC 21 FF FF C5 68 E4
Notice：Time interval between two instructions when sending instructions continuously.
20ms < Time interval < 500ms

Have you get that? when you need any help on the electric steering wheel motor, please send email to sales@jnky.com, we will try our best to support you.