MKS SERVO42D/57D_CAN V1.0.3 User Manual
1
MKS SERVO42D/57D_CAN V1.0.3
USER MANUAL
MKS SERVO42D/57D_CAN Manual Release
manual
discription
firmware
date
V1.0.0
First release
V1.0.0
Mar-2023
V1.0.1
1.Added SR_OPEN, SR_CLOSE control mode.
V1.0.1
Apr-2023
2.It can set any working current.
3.Redefined speed and acceleration for serial Mode.
4. Add the "92" command , It can set the current position
to 0 point.
5. Add the "8D" command, It can set the group address.
V1.0.2
1.Slave does not answer if broadcast address or group
address is used.
V1.0.2
May-2023
2.OUT_1 port output stall indication.
V1.0.3
1. Add the "9A" command, It can set the parameter of
0_Mode.
V1.0.3
Jul-2023
2. Add the "8F" command, It can locked the key.
3. Add the "34" command, It can read the IO Ports status.
4. the number of slave addresses can be set by menu is
change to 16.
5. add left and right endstop limit function.
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Part1. Feature
1.1 Interface
1. SERVO42D_CAN Interface
Note: EVCC/EGND is powered by SERVO42D 5V(20mA)
2. SERVO57D_CAN Interface
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1.2 Key Operation
Key
Function
Next
move down
Enter
Confirm
Menu
Enter/exit parameter setting menu
3. 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.
4. 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.
1.3 Parameter description
1. 0.0° - the angle of the motor shaft.(unit degree).
（Note : It calculated based on the read encoder value, dynamically
displayed）
2. 0.00err - the err of the motor shaft angle.
3. 0clk - the pulses have been received.
1.4 Work mode
Work Mode
MAX RPM
Work Current
OPEN
pulse interface
CR_OPEN
400RPM
Fix，the work current is Ma
serial interface
SR_OPEN
CLOSE
pulse interface
CR_CLOSE
1500RPM
Fix，the work current is Ma
serial interface
SR_CLSOE
vFOC
pulse interface
CR_vFOC
3000RPM
self-adaption, the Max current
is Ma
serial interface
SR_vFOC
Note1: The default work mode is CR_vFOC.
Note2: It can work without encoder in“OPEN” work mode.
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Part2. Wire
2.1 Motor wire
Note: The motor internal resistance should be less than 10 ohms.
1. SERVO42D_CAN motor wire
2. SERVO57D_CAN motor wire
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2.2 Pulse interface wire
Note: if the (STP/DIR/EN)signal high level is 3.3V,the COM must be 3.3V
if the (STP/DIR/EN)signal high level is 5.0V,the COM must be 5.0V
…
and so on.
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2.3 CAN wire
1. SERVO42D_CAN Single-slave
Note: Single slave communication does not need 120Ω Terminal.
2. SERVO57D_CAN Single-slave
Note: Single slave communication does not need 120Ω Terminal.
3. Multiple-slave
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2.4 End stop wire
1. SERVO42D_CAN end stop wire
Note: EVCC/EGND is powered by SERVO42D 5V(20mA)
2. SERVO57D_CAN end stop wire
SW1
PIN
ON
OFF
3
EVCC/EGND is powered
by SERVO57D 5V(20mA)
EVCC/EGND is powered by externally
power.(3.3V-24V)
2
1
CAN 120Ω Terminal
NULL
Note: The mechanical switch only needs to be connected the "EGND,
IN_1", and the SW1 pin2 must be in the ON state.
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2.5 IO Port Description
PORT
Function
57D
42D
IN_1
home or left-limit
√
√
IN_2
right-limit
√
Х
OUT_1
stall indication: 0-protected; 1-unprotected
√ Х OUT_2
reserved
√
Х
2.6 EndStop-limit Description
1. The EndStop-limit function needs to be turned on:
(Menu -> EndLimit or serial command "90")
2. When first time to using the limit function or changing the limit
parameters, it is necessary to go home;
(Menu -> GoHome or serial command "91")
3. After the left-endstop is triggered, the motor will no longer run
to the left;
4. After the right-endstop is triggered, the motor will no longer run
to the right; (only for 57D)
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Part3. Menu description
1. CAL : Calibrate the motor.
2. Mode : Work mode selection.
CR_OPEN ： pulse interface Open mode, the motor run without encoder
CR_CLOSE ：pulse interface Close mode, the motor run with encoder.
CR_vFOC ： pulse interface FOC mode, the motor run with encoder.
SR_OPEN ： serial interface Open mode, the motor run without encoder
SR_CLOSE ：serial interface Close mode, the motor run with encoder.
SR_vFOC ： serial interface FOC mode, the motor run with encoder.
(Default: CR_vFOC)
Mode
MAX RPM
Work Current
OPEN
pulse interface
CR_OPEN
400RPM
Fix，the work current is Ma
serial interface
SR_OPEN
CLOSE
pulse interface
CR_CLOSE
1500RPM
Fix，the work current is Ma
serial interface
SR_CLSOE
vFOC
pulse interface
CR_vFOC
3000RPM
self-adaption, the Max current is
Ma
serial interface
SR_vFOC
Note: CR_CLOSE is better than CR_vFOC for 3D printing.
3. Ma : Set the current.
SERVO42D：0，200，400...，3000(mA) (default 1600mA)
SERVO57D：0，400，800...，5200(mA) (default 3200mA)
SERVO28D：0，200，400...，3000(mA) (default 600mA)
SERVO35D：0，200，400...，3000(mA) (default 800mA)
Other Current such as 123mA need to be set by serial command .It
will be added to the last options.
4. 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 by Menu.
Other subdivisions such as 67 subdivisions need to be set by
serial command.
5. En : Set the effective level of EN pin.
H ：High level is valid.
L ：Low level is effective.
Hold ：the driver board is always enabled.
(Default: L)
6. Dir : Set the positive direction of motor rotation.
CW ：Clockwise rotation is positive
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CCW ：Counterclockwise rotation is positive
(Default: CW)
7. AutoSDD ：Set auto turn off the OLED screen.
Disable ：disable auto turn off the OLED
Enable ：enable auto turn off the OLED
(Default: Disable)
If set to Enable, the screen will automatically turn off after
about 15 seconds, and any button can wake up the screen again.
8. Protect : Set the motor shaft locked-rotor protection function.
Disable: disable protection
Enable: enable protection
(Default: Disable)
After this option is enabled, the protection will be triggered
when it is detected to be locked-rotor, and the motor will be
release.
Note: you can release the protection status by pressing the Enter
button or the serial command.
9. MPlyer : Set internal 256 subdivision.
(Default: Enable)
Note: After this option is Enabled, it automatically enable
internal 256 subdivision, it can reduce the vibration and noise
when the motor at low speed.
10. CanRate ：Set the bit rate of CAN interface.
125K，250K，500K,1M。
(Default: 500K)
11. CanID: Set the the slave address of CAN interface.
01
…
09
10
(Default: 01)
Note: The addresses greater than 10 need to be set by serial
command. After it is set, it will be added to this option.
12. CanRSP : Choose whether the slave respond in speed/positon mode.
Disable: disable respond
Enable: enable respond
(Default: Enable)
Note: If disable respond, It can query the running status of the
motor by serial command “F1”.
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13. 0_Mode : The motor will go back to zero when power on.
Disable ：do not go back to zero.
DirMode ：go back to zero with direction of CW or CCW (the
direction is set in O_Dir menu).
NearMode ：go back to zero with minimum angle.
(Default: Disable)
14. Set 0 : Set the zero point for go back when power on.
(O_Mode must not be Disable)
15. 0_Speed : Set the speed of go back to zero point.
0 ： slowest.
...
4 ： fastest.
16. 0_Dir : Set the direction of go back to zero point.
CW ：Clockwise.
CCW ：Counterclockwise.
(Default: CW)
17. HmTrig ：Set the effective level of the end stop.
Low ：Low level is effective
High ：High level is valid
(Default: Low)
18. HmDir ：Set the direction of go home。
CW ：Clockwise rotation is positive
CCW ：Counterclockwise rotation is positive
(Default: CW)
19. HmSpeed ：Set the speed (RPM) of go home。
30
60
90
120
150
180
Other speed such as 600(RPM) need to be set by serial command .
It will be added to the last options.
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20. EndLimit : Set the endstop-limit function.
Disable: disable endstop-limit
Enable: enable endstop-limit
(Default: Disable)
21. GoHome：Go home
Note1: It need an “end stop”. The motor will keep running until
it hits the limit switch.
Note2: If the limit switch is already closed, the motor will
rotate in the opposite direction to homeDir until the limit
switch is opened, and then go home.
22. Restore : Reload the default parameters.
After restored the default parameters, it needs to Calibrate the
motor.
Note: Press the "Next" key first, then power on, it can quickly
restore the default parameters.
23. About : Show version parameters.
24. Exit :Exit the parameter setting menu.
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Part4. CAN data format
The CAN uses standard frames.
Downlink package(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2…byte(n-1)
Byte(n)(n≤8)
ID
DLC(n)
code
data
Check(CRC)
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2…byte(n-1)
Byte(n) (n≤8)
ID
DLC(n)
(code)
data
Check (CRC)
1. The CAN ID range is 00~2047.（default is 01）.
00 is the broadcast address;
01~10 can be set in the CanID option of the display menu;
greater than 10 need to be set by serial commands.
2. The function code (code) executes the corresponding command.
for example, 0x80 executes the calibration command.
3. The Check code is CHECKSUM 8bit
CRC = (ID + byte1 + … + byte(n) ) & 0xFF
For example: command“01 30 CRC”
CRC = (0x01 + 0x30) & 0xFF = 0x31 & 0xFF = 0x31
Note: Slave does not answer if broadcast address is used.
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Part5. CAN command description
Note: Please set the CAN ID first.(default:01)
The default CAN ID for the following chapters is 01.
5.1 Read parameter command
1. command1 : 01 30 CRC
read the encoder value(carry).
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 30
CRC(31)
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2…byte5
byte6
byte7
byte8
01
8
code
carry
value
Check
30
carry(int32_t)
value(uint16_t)
CRC
carry: the carry vaule of the encoder.
value: the current vaule of the encoder.(range 0~0x3FFF)
When value is greater than 0x3FFF, carry +=1.
When Value is less than 0, carry -=1.
For example:
If the current carry|value is 0x3FF0, After one turn CCW,the carry|value
(+0x4000) is 0x13FF0.
If the current carry|value is 0x3FF0, After one turn CW,the carry|value (-
0x4000)is 0xFFFFFFFF3FF0.
The Cangaroo example is as follows:
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2. command2 : 01 31 CRC
read the encoder value(addition).
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 31
CRC(32)
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2…byte7
byte8
01
8
code
value
Check
31
value(int48_t)
CRC
After one turn clockwise,the value += 0x4000;
After one turn CCW,the value -= 0x4000;
For example:
If the current value is 0x3FF0, After one turn CCW,the value(+0x4000) is
0x7FF0.
If the current value is 0x3FF0, After one turn CW,the value(-0x4000) is
0xFFFFFFFFFFF0.
3. Command3 : 01 32 CRC
Read the real-time speed of the motor.(RPM)
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 32
CRC(33)
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2…byte3
byte4
01
4
code
data
Check
32
speed(int16_t)
CRC
Note : if it run CCW,the speed > 0 (RPM)
if it run CW,the speed < 0 (RPM)
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4. Command4 : 01 33 CRC
Read the number of pulses received.
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 33
CRC(34)
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2…byte5
byte6
01
6
code
data
Check
33
pulses(int32_t)
CRC
5. Command6 : 01 34 CRC
read the IO Ports status.
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 34
CRC(3B) Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
34
status(uint8_t)
CRC
status
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
reserved
OUT_2
OUT_1
IN_2
IN_1
6. Command5 : 01 39 CRC
read the error of the motor shaft angle.
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 39
CRC(3A)
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2…byte5
Byte6
01
4
code
data
Check
39
error(int32_t)
CRC
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The error is the difference between the angle you want to control
minus the real-time angle of the motor, 0~51200 corresponds to
0~360°.
for example, when the angle error is 1°, the return error is
51200/360= 142.222, and so on.
7. Command6 : 01 3A CRC
read the En pins status.
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 3A
CRC(3B) Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
3A
enable(uint8_t)
CRC
enable =1 Enabled
enable =0 Disabled
8. Command7 : 01 3B CRC
Read the go back to zero status when power on.
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 3B
CRC(3C) Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
3B
status(uint8_t)
CRC
status =0 going to zero.
status =1 go back to zero success.
status =2 go back to zero fail.
9. Command8 : 01 3D CRC
Release the motor shaft locked-rotor protection state.
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 3D
CRC(3E) Uplink frame（PC ← SERVO42D/57D）
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CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
3D
status(uint8_t)
CRC
status =1 release success.
status =0 release fail.
10. Command9 : FA 01 3E CRC
Read the motor shaft protection state.
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 3E
CRC(3F)
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
3E
status(uint8_t)
CRC
status =1 protected.
status =0 no protected.
5.2 Set parameters command
1. Calibrate the encoder
（Same as the "Cal" option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
01 3 80
00
CRC(81) Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
80
status(uint8_t)
CRC
status =0 Calibrating….
status =1 Calibrated success.
status =2 Calibrating fail.
Note : The motor must be unloaded.
2. Set the work mode
（Same as the "Mode" option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
82
mode (0~5)
CRC
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mode = 0 CR_OPEN
mode = 1 CR_CLOSE
mode = 2 CR_vFOC
mode = 3 SR_OPEN
mode = 4 SR_CLOSE
mode = 5 SR_vFOC
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
82
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
Mode
MAX RPM
Work Current
OPEN
pulse interface
CR_OPEN
400RPM
Fix，the work current is the Ma
serial interface
SR_OPEN
CLOSE
pulse interface
CR_CLOSE
1500RPM
Fix，the work current is the Ma
serial interface
SR_CLSOE
vFOC
pulse interface
CR_vFOC
3000RPM
self-adaption, the Max current is
the Ma
serial interface
SR_vFOC
3. Set the current
（Same as the "Ma" option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2-3
Byte4
01
3
code
data
Check
83
ma (uint16_t)
CRC
Note:the new current will show in the screen of Ma option.
SERVO42D/28D/35D: Maximum Current =3000mA
SERVO57D: Maximum Current =5200mA
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
83
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
4. Set subdivision
（Same as the "MStep" option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
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84
micstep(00~FF)
CRC
Note:the new micstep will show in the screen of MStep option.
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
84
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
5. Set the active of the En pin
（Same as the "En" option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
85
enable(00~02)
CRC
enable = 00 active low (L)
enable = 01 active high (H)
enable = 02 active always (Hold)
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
85
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
6. Set the direction of motor rotation
（Same as the "Dir" option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
86
dir(00~01)
CRC
dir = 00 CW
dir = 01 CCW
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Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
86
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
7. Set auto turn off the screen function
（Same as the " AutoSDD " option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
87
enable(00~01)
CRC
enable = 01 enabled
enable = 00 disabled
If set to Enable, the screen will automatically turn off after
about 15 seconds, and any button can wake up the screen again.
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
87
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
8. Set the motor shaft locked-rotor protection function
（Same as the "Protect" option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
88
enable(00~01)
CRC
enable = 01 enabled protection
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enable = 00 disabled protection
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
88
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
Note: you can release the protection status by pressing the Enter
button or the serial command.
9. Set the subdivision interpolation function
（Same as the "Mplyer" option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
89
enable(00~01)
CRC
enable = 01 enabled interpolation function.
enable = 00 disabled interpolation function.
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
89
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
10. Set the CAN bitRate
（Same as the "CanRate" option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
8A
bitRate (00~03)
CRC
bitRate = 00 125K
bitRate = 01 250K
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bitRate = 02 500K
bitRate = 03 1M
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
8A
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
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11. Set the CAN ID
（Same as the "CanID" option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
byte4
01
4
code
data
Check
8B
ID(00~7FF)
CRC
Note1:the new address will show in the screen of CanID option.
Note2: 0 is the broadcast address
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
8B
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
12. Set the slave respond
（Same as the "CanRSP" option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
8C
enable(00~01)
CRC
enable = 01 enabled respond
enable = 00 disabled respond
Note: If disable respond, It can query the running status of the
motor by command “F1”.
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
8C
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
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13. Set the key lock or unlock
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
8F
enable(00~01)
CRC
enable = 01 lock the key
enable = 00 unlock the key
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
8F
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
14. Set the group ID
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
byte4
01
4
code
data
Check
8D
ID(01~0x7FF)
CRC Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
8D
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
For example, there are 6 motors with the settings ID:
Broadcast ID
Slave ID
Group ID
motor 1 0 1
0x50
motor 2 0 2
0x50
motor 3 0 3
0x50
motor 4 0 4
0x51
motor 5 0 5
0x51
motor 6 0 6
0x51
send 01 FD 01 2C 64 00 00 0C 80 1B, motor 1 will rotate a turn
send 00 FD 01 2C 64 00 00 0C 80 1A, motor1-6 will rotate a turn
send 50 FD 01 2C 64 00 00 0C 80 6A, motor1-3 will rotate a turn
send 51 FD 01 2C 64 00 00 0C 80 6B, motor4-6 will rotate a turn
Note: Slave does not answer if group address is used.
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5.3 Set Home command
1. Set the parameter of home
（Same as the “HmTrig、HmDir、HmSpeed” option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
byte4-5
Byte6
Byte7
01
7
code
level
dir
speed
enable
Check
90
homeTrig
homeDir
homeSpeed
EndLimit
CRC
homeTrig the effective level of the end stop
0：Low
1：High
homeDir the direction of go home
0： CW
1：CCW
homeSpeed the speed of go home
0~3000 (RPM)
EndLimit
0: disable endstop-limit
1: enable endstop-limit
Note : The speed description can be found in Chapter 6.1.
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
90
status(uint8_t)
CRC
status =1 set success.
status =0 set fail.
2. Go home
（Same as the “GoHome” option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 91
CRC(92)
Note1: If the limit switch is already closed, the motor will
rotate in the opposite direction to homeDir until the limit
switch is opened, and then go home.
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
91
status(uint8_t)
CRC
status =0 go home fail.
status =1 go home start.
status =2 go home sucess.
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3. Set Currnet Axis to zero
It can set the current Axis to Zero. Just as “GoHome”without
run the motor.
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 92
CRC(93) Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
92
status(uint8_t)
CRC
status =0 set fail.
status =1 set success.
5.4 Set 0_Mode command
In 0_Mode, the motor can automatically return to the 0 point
position when power on. The maximum angle is 359 degrees.
1. Set the parameter of 0_Mode
（Same as the “0_Mode、Set 0、0_Speed、0_Dir” option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN
ID
…
DLC
byte1
byte2
byte3
byte4
Byte5
Byte6
01
5
Function
0_Mode
Set 0
0_Speed
0_Dir
Check
9A
mode
enable
speed
dir
CRC
mode:
0：Disable do not go back to zero
1：DirMode go back to zero with direction
2: NearMode go back to zero with minimum angle
enable:
0： clean zero
1： set zero
speed:
0 ~ 4 （0:slowest 4:fastest）
dir:
0： CW
1： CCW
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
9A
status(uint8_t)
CRC
status =0 set fail.
status =1 set success.
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5.5 Restore the default parameter
（Same as the "Restore" option on screen）
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 3F
CRC(40) Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
3F
status(uint8_t)
CRC
status =1 restore success.
status =0 restore fail.
Note1: After restored the parameters, It will reboot again,and need
to calibrate the motor.
Note2: Press the“Next”key，then power on the motor, the default
parameter will be restored.
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Part6. Run the motor by CAN command
Note: This chapter needs to set the working mode to serial mode.
(SR_OPEN/SR_CLOSE/SR_VFOC)
6.1 Description the parameters of speed and acceleration
1.speed
The speed parameter ranges from 0 to 3000. The larger the value,
the faster the motor rotates.
When speed = 0, the motor stops rotating.
The maximum speed of the control mode is as follows:
Control mode
Max speed
Open mode
Pulse interface
CR_OPEN
400(RPM)
Serial interface
SR_OPEN
Close mode
Pulse interface
CR_CLOSE
1500(RPM)
Serial interface
SR_CLSOE
FOC mode
Pulse interface
CR_vFOC
3000(RPM)
Serial interface
SR_vFOC
If the set speed is greater than the maximum speed of the control
mode, the motor runs at the maximum speed of the control mode.
Note: The speed value is calibrated based on 16/32/64
subdivisions, and the speeds of other subdivisions need to be
calculated based on 16 subdivisions.
For example, setting speed=1200
At 8 subdivisions, the speed is 2400 (RPM)
At 16/32/64 subdivisions, the speed is 1200 (RPM)
At 128 subdivisions, the speed is 150 (RPM)
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2. acceleration
The value of the acceleration(acc) ranges from 0 to 255. The
larger the value, the faster the motor accelerates/decelerates.
If acc=0, the motor runs without acceleration or deceleration,
and runs directly at the set speed.
① accelerates
Suppose at time t1，the current speed is V
t1 (Vt1
< speed)
at time t2，the current speed is Vt2
t2 – t1 = （256-acc）* 50 (uS)
The relationship between the current speed Vti, acc, and speed is
as follows:
Vt2 = Vt1 + 1 (Vt2 <= speed)
For example: acc = 236,speed = 3000
T(ms)
speed（RPM）
T(ms)
speed (RPM)
0
0 … … 1
1 … … 2
2
2998
2998 3 3
2999
2999 … …
3000
3000
② decelerates
Suppose at time t1，the current speed is V
t1 (Vt1
> speed)
at time t2，the current speed is Vt2
t2 – t1 = （256-acc）* 50 (uS)
The relationship between the current speed Vti, acc, and speed is
as follows:
Vt2 = Vt1 - 1 (Vt2 >= speed)
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6.2 Query/Enable the motor command
1. Query the motor status
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
01 2 F1
CRC(F2) Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
F1
status(uint8_t)
CRC
status = 0 query fail.
status = 1 motor stop
status = 2 motor speed up
status = 3 motor speed down
status = 4 motor full speed
status = 5 motor is homing
2. Enable the motor
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
F3
en(00~01)
CRC
en = 00 disable.
en = 01 enable.
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
F3
status(uint8_t)
CRC
status =1 Set success.
status =0 Set fail.
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6.3 Speed mode command
In speed mode, the motor can be run with a fixed acceleration and
speed.
1. Run the motor in speed mode
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte 2
byte 3
byte 4
byte 5
01
5
code
dir
Rev
speed
acc
Check
F6
b7
b6-b4
b3-b0
b7-b0
acc
CRC
dir
——
speed
byte2: The highest bit indicates the direction, the lower 4 bits
and byte3 together indicate the speed
byte3: The lower 4 bits of byte2 and byte3 together indicate
speed
The parameter description is as follows:
dir: the value range is 0/1 (CCW/CW)
speed: the speed, the value range is 0-3000
acc: the acceleration, the value range is 0-255
for example：
Send “01 F6 01 40 02 3A”,
the motor rotates forward at acc=2, speed=320RPM
Send “01 F6 81 40 02 BA”,
the motor reverses at acc=2, speed=320RPM
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
F6
status(uint8_t)
CRC
status = 1 run success.
status = 0 run fail.
Note: the “Uplink frame”can be disable by Menu“CanRSP”or
Command “8C”.
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2. Stop the motor in speed mode
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte 2
byte 3
byte 4
byte 5
01
5
code
dir
Rev
speed
acc
Check
F6
b7
b6-b4
b3-b0
b7-b0
acc
CRC
0 0 0
The stop command can stop the motor slowly, or stop the motor
immediately.
When setting acc ≠ 0, the motor decelerates and stops slowly
When setting acc = 0, the motor stops immediately
① Deceleration and stop the motor slowly (acc ≠ 0)
for example:
Send 01 F6 00 00 02 F9
Stop the motor with deceleration acc=2
② Immediate stop command (acc = 0)
for example:
Send 01 F6 00 00 00 F7
Stop the motor immediately
Note: If the motor rotating more than 1000RPM, it is not a good
idea to stop the motor immediately!
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
F6
status(uint8_t)
CRC
status = 0 stop the motor fail.
status = 1 start to stop the motor.
status = 2 stop the motor success.
Note: the “Uplink frame”can be disable by Menu“CanRSP”or
Command “8C”.
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3. Save/Clean the parameter in speed mode
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
FF
state
CRC
state = C8 Save.
state = CA Clean.
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
FF
status(uint8_t)
CRC
status = 1 success.
status = 0 fail.
Note：The motor can rotates clockwise or counterclockwise at a
constant speed when powered on.
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6.4 Position mode1: relative motion by pulses
In the position control mode1, the motor can be run to the
specified position with the set acceleration and speed.
1. Run the motor in position mode1
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte 2
byte 3
byte 4
byte 5-7
byte 8
01
8
code
dir
Rev
speed
acc
pulses
Check
FD
b7
b6-b4
b3-b0
b7-b0
acc
pulses
CRC
dir
——
speed
byte2: The highest bit indicates the direction, the lower 4 bits
and byte3 together indicate the speed
byte3: The lower 4 bits of byte2 and byte3 together indicate
speed
The parameter description is as follows:
dir: the value range is 0/1 (CCW/CW)
speed: the speed, the value range is 0-3000
acc: the acceleration, the value range is 0-255
pulses: the motor run steps, the value range is 0 – 0xFFFFFF
for example:
Send 01 FD 01 40 02 00 FA 00 3B,
the motor rotates 20 times in the forward direction with acc=2,
speed=320RPM (16 subdivisions);
Send 01 FD 81 40 02 00 FA 00 BB,
the motor rotates 20 times in the reverse direction with acc=2,
speed=320RPM (16 subdivisions);
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
FD
status(uint8_t)
CRC
status = 0 run fail.
status = 1 run starting….
status = 2 run complete.
status = 3 end limit stoped.
Note: the “Uplink frame”can be disable by Menu“CanRSP”or
Command “8C”.
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2. Stop the motor in position mode1
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte 2
byte 3
byte 4
byte 5-7
byte 8
01
8
code
dir
Rev
speed
acc
pulses
Check
FD
b7
b6-b4
b3-b0
b7-b0
acc 0 CRC
0 0 0
The stop command can stop the motor slowly, or stop the motor
immediately.
When setting acc ≠ 0, the motor decelerates and stops slowly
When setting acc = 0, the motor stops immediately
① Deceleration and stop the motor slowly (acc ≠ 0)
for example:
Send 01 FD 00 00 04 00 00 00 02
Stop the motor with deceleration acc=4
② Immediate stop command (acc = 0)
for example:
Send 01 FD 00 00 00 00 00 00 FE
Stop the motor immediately
Note: If the motor rotating more than 1000RPM, it is not a good
idea to stop the motor immediately!
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
FD
status(uint8_t)
CRC
status = 0 stop the motor fail.
status = 1 stop the motor starting….
status = 2 stop the motor complete.
Note: the “Uplink frame”can be disable by Menu“CanRSP”or
Command “8C”.
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6.5 Position mode2: relative motion by axis
In the position control mode2, the motor can be run to the
specified axis with the set acceleration and speed.
Note1: the axis is the encoder value(addition).It can be read by
command “31”.
Note2: In this mode ,the axis err about +15.
Suggest running with 64 subdivisions.
1. Run the motor in position mode2
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
byte4
byte5-byte7
字节 8
01
8
code
speed
acc
Relative axis
Check
F4
speed
acc
relAxis
CRC
The parameter description is as follows:
speed: the speed, the value range is 0-3000(RPM)
acc: the acceleration, the value range is 0-255
relAxis: the relative axis, int24_t（-8388607，+8388607）
For example:
If the current axis is 0x8000.(read by code “31”)
Send 01 F4 02 58 02 00 40 00 91
The motor will relative move 0x4000 (speed = 600(RPM),acc =2)
After move the axis is 0xC000.(0x8000+0x4000=0xC000)
If the current axis is 0x8000.(read by code “31”)
Send 01 F4 02 58 02 FF C0 00 09
The motor will relative move -0x4000 (speed = 600(RPM),acc =2)
After move the axis is 0x4000.(0x8000-0x4000=0x4000)
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
F4
status(uint8_t)
CRC
status = 0 run fail.
status = 1 run starting….
status = 2 run complete.
Note: the “Uplink frame”can be disable by Menu“CanRSP”or
Command “8C”.
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2. Stop the motor in position mode2
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
byte4
byte5-byte7
字节 8
01
8
code
speed
acc
Relative axis
Check
F4 0 acc 0 CRC
The stop command can stop the motor slowly, or stop the motor
immediately.
When setting acc ≠ 0, the motor decelerates and stops slowly
When setting acc = 0, the motor stops immediately
① Deceleration and stop the motor slowly (acc ≠ 0)
for example:
Send 01 F4 00 00 04 00 00 00 F9
Stop the motor with deceleration acc=4
② Immediate stop command (acc = 0)
for example:
Send 01 F4 00 00 00 00 00 00 F5
Stop the motor immediately
Note: If the motor rotating more than 1000RPM, it is not a good
idea to stop the motor immediately!
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
F4
status(uint8_t)
CRC
status = 0 stop the motor fail.
status = 1 stop the motor starting….
status = 2 stop the motor complete.
status = 3 end limit stoped.
Note: the “Uplink frame”can be disable by Menu“CanRSP”or
Command “8C”.
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6.6 Position mode3: absolute motion by axis
In the position control mode3, the motor can be run to the
specified axis with the set acceleration and speed.
Note1: the axis is the encoder value(addition). It can be read by
command “31”.
Note2: In this mode ,the axis err about +15.
Suggest running with 64 subdivisions.
1. Run the motor in position mode3
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
byte4
byte5-byte7
字节 8
01
8
code
speed
acc
absolute axis
Check
F5
speed
acc
absAxis
CRC
The parameter description is as follows:
speed: the speed, the value range is 0-3000(RPM)
acc: the acceleration, the value range is 0-255
absAxis: the relative axis, int24_t（-8388607，+8388607）
For example:
If the current axis is any value
Send 01 F5 02 58 02 00 40 00 92
The motor will move to 0x4000 (speed = 600(RPM),acc =2)
After move the axis is 0x4000.
If the current axis is any value
Send 01 F5 02 58 02 FF C0 00 10
The motor will move to -0x4000 (speed = 600(RPM),acc =2)
After move the axis is -0x4000.
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
F5
status(uint8_t)
CRC
status = 0 run fail.
status = 1 run starting….
status = 2 run complete.
status = 3 end limit stoped.
Note: the “Uplink frame”can be disable by Menu“CanRSP”or
Command “8C”.
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2. Stop the motor in position mode3
Downlink frame(PC → SERVO42D/57D)
CAN ID
…
DLC
byte1
byte2
byte3
byte4
byte5-byte7
字节 8
01
8
code
speed
acc
absolute axis
Check
F5 0 acc 0 CRC
The stop command can stop the motor slowly, or stop the motor
immediately.
When setting acc ≠ 0, the motor decelerates and stops slowly
When setting acc = 0, the motor stops immediately
① Deceleration and stop the motor slowly (acc ≠ 0)
for example:
Send 01 F5 00 00 04 00 00 00 FA
Stop the motor with deceleration acc=4
② Immediate stop command (acc = 0)
for example:
Send 01 F5 00 00 00 00 00 00 F6
Stop the motor immediately
Note: If the motor rotating more than 1000RPM, it is not a goog
idea to stop the motor immediately!
Uplink frame（PC ← SERVO42D/57D）
CAN ID
…
DLC
byte1
byte2
byte3
01
3
code
data
Check
F5
status(uint8_t)
CRC
status = 0 stop the motor fail.
status = 1 stop the motor starting….
status = 2 stop the motor complete.
Note: the “Uplink frame”can be disable by Menu“CanRSP”or
Command “8C”.
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Part7. CAN command example
The following example uses "cangaroo.exe" PC software and "MKS
CANable" USB to CAN module.
7.1 Config the SERVO42D/57D
1. Menu → Mode → SR_vFOC.
2. Menu → CanRate → 500K.
3. Menu → CanID → 01.
7.2 Config the cangaroo
1. run the “cangaroo.exe”.
2. Select t“Measurement”->“Start Measurement”,as show below.
3. In the pop-up “Measurement Setup” window, click "candle0",
as shown below.
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4. Use the default parameters without any modification, click
"ok", as shown below.
5. The configuration is complete, as shown below.
6. Select "File" -> "Save Workspace", select the save path and
name, and save the configuration.
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7. After the save is completed, as shown below.
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7.3 Read the encoder value
send “01 30 31”
return “01 30 00 00 00 01 29 EF 4A”
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7.4 Run the motor in speed mode
Note : Please configure the working mode to “SR_vFOC”.
Menu-> Mode -> SR_vFOC
1. Send 01 F6 01 40 02 3A, the motor will rotate at "speed =
600RPM, acc=2";
Return 01 F6 01 F8, the motor run in speed mode successful;
2. Send 01 FF C8 C8 to save the speed mode parameters;
Return 01 FF 01 01, save successful;
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3. Send 01 F6 00 00 02 F9 to stop the motor;
Return 01 F6 01 F8, the motor stops successfully;
After power-on again, the motor will run according to the save
speed mode parameters.
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7.5 Run the motor in position mode1
Note : Please configure the working mode to “SR_vFOC”.
Menu-> Mode -> SR_vFOC
1. Send 01 FD 01 40 05 09 C4 00 11, the motor will rotate forward
200 circles (16 subdivisions) with "speed = 320RPM,acc = 5";
Return 01 FD 01 FF, the motor starts to run;
Return 01 FD 02 00, the motor is run completed;
2. Send 01 FD 81 40 08 30 D4 00 CB, the motor to reverse 1000
circles with "speed = 320RPM, acc = 8" (16 subdivisions);
Return 01 FD 01 FF, the motor starts to run.
Now, stop the motor by step 3.
MKS SERVO42D/57D_CAN V1.0.3 User Manual
48
3. While the motor is running…
Send 01 FD 00 00 01 00 00 00 FF, the motor to stop with acc=1;
Return 01 FD 01 FF, the motor starting to stop;
Return 01 FD 02 00, the motor has stopped;
MKS SERVO42D/57D_CAN V1.0.3 User Manual
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Part8. FAQ
8.1 NOTE
1. Power input voltage is 12V-24V.
2. Don’t hot plug motor cable and data cable.
3. When the motor is calibrating, do not carry a load.
4. After installed the motor, or changed the motor wiring
sequence, you need to re-calibrate the motor again.
5. The default work mode is CR_vFOC(EN/STP/DIR interface).
6. Press the "Next" key first, then power on, it can quickly
restore the default parameters.
7. If “Phase Line Error!” is displayed before calibration:
b) Check the motor connection line sequence；
c) Check the power supply voltage and output power (24V/1A,
12V/2A);；
d) If the power supply is connected to the motherboard
through the MKS APT module, try to connect the MKS APT
module to ports such as X, Y, Z, E, etc., and then restart
again.
e) Do not use the MKS APT module for power supply before
calibration, and the power supply is directly connected to
V+ and Gnd.
8.2 FAQ
No
Question
Solution
1
Not Cal
Calibrate the motor.
2
Reverse Lookup
Error!
Calibrate Fail, Check magnet and
motor shaft
3
Magnet Loss!
Not install the magent.
4
Magnet Strong!
the magnet too near.
5
Magnet Weak!
the magnet too far.
6
Encoder Error!
Check magnet and motor shaft
7
Offset Current
Error!
Reference voltage error
8
Phase Line Error!
The motor line sequence is wrong or
the power supply is not enough
9
Wrong Protect!
Locked-rotor protection
10
Coming Back to
Origin..
Going back to zero.
11
Reboot Again
The motor need to be restart.
MKS SERVO42D/57D_CAN V1.0.3 User Manual
50
Part9. Schematic
Please download 《MKS SERVO57D V1.0 Schematic.pdf》 in
https://github.com/makerbase-motor/MKS-SERVO42D
https://github.com/makerbase-motor/MKS-SERVO57D
Part10. contact us
https://makerbase.aliexpress.com/
https://www.youtube.com/channel/UC2i5I1tcOXRJ2ZJiRxwpCUQ
https://github.com/makerbase-motor
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