在RS485控制方式下需要連接的線有：GND電機（MT1、MT2、485B對于本段協(xié)議，RS485的串口波特率默認為115200，數(shù)據(jù)位8，停止位1，無校驗，無流控制。RS485波特率支持在<RoboModule直流伺服電機驅動器調試軟件>上修改，支持如下10種波特率： 、200、14400、9600、4800等下，最多可以支持15個驅動器一起在同一條RS485總線上使用。速度位置電流速度電流位置電流速度位置二、復位指令：(功能序號為a[[[[[t[[1-1-0大約500msa[[t[[t[[1-1 a[[t[[t[[1-2讓xx號驅動器連接的電機在“ 模式”下，讓它以temp_ 則Data[2]=(unsignedchar)((temp_ Data[3]=(unsigned a[[t[[t[[1-3則Data[2]=(unsignedchar)((temp_ Data[3]=(unsignedchar)(temp_Data[4]=(unsignedchar)((temp_current>>8)&0xff);Data[5]=(unsignedchar)(temp_current&0xff); a[[t[[t[[1-4讓xx號驅動器連接的電機以temp_ 則Data[2]=(unsignedchar)((temp_ Data[3]=(unsignedchar)(temp_Data[4]=(unsignedchar)((temp_velocity>>8)&0xff);Data[5]=(unsignedchar)(temp_velocity&0xff); a[[t[[t[[1-5讓xx號驅動器連接的電機以temp_ 則Data[2]=(unsignedchar)((temp_ Data[3]=(unsignedchar)((temp_ Data[4]=0x55;Data[5]=Data[6]=(unsignedchar)((temp_position>>24)&0xff);Data[7]=(unsignedchar)((temp_position>>16)&0xff);Data[8]=(unsignedchar)((temp_position>>8)&0xff);Data[9]=(unsignedchar)(temp_position&0xff); a[[t[[t[[1-6讓xx號驅動器連接的電機以temp_ 則Data[2]=(unsignedchar)((temp_ Data[3]=(unsignedchar)((temp_ )&0xff);Data[4]=(unsignedchar)((temp_velocity>>8)&0xff);=(unsignedData[6]=(unsignedchar)((temp_position>>24)&0xff);Data[7]=(unsignedchar)((temp_position>>16)&0xff);Data[8]=(unsignedchar)((temp_position>>8)&0xff);Data[9]=(unsignedchar)(temp_position&0xff); temp_velocity的取值范圍為：0~ （16位有符號整型數(shù)的正數(shù)范圍，單位RPM）temp_position的取值范圍為：- a[[t[[t[[1-7則Data[2]=(unsignedchar)((temp_current>>8)&0xff);Data[3]=(unsignedchar)(temp_current&0xff);Data[4]=(unsignedchar)((temp_velocity>>8)&0xff);Data[5]=(unsignedchar)(temp_velocity&0xff);temp_current的取值范圍為：0~ （16位有符號整型數(shù)的正數(shù)范圍，單位mA）temp_velocity的取值范圍為：-32768~ a[[t[[t[[1-8則Data[2]=(unsignedchar)((temp_current>>8)&0xff);Data[3]=(unsignedchar)((temp_current)&0xff);Data[4]=0x55;Data[5]=Data[6]=(unsignedchar)((temp_position>>24)&0xff);Data[7]=(unsignedchar)((temp_position>>16)&0xff);Data[8]=(unsignedchar)((temp_position>>8)&0xff);Data[9]=(unsignedchar)(temp_position&0xff);temp_current的取值范圍為：0~ （16位有符號整型數(shù)的正數(shù)范圍，單位mA）temp_position的取值范圍為：- 建議以10毫秒為周期。a[[t[[t[[1-9則Data[2]=(unsignedchar)((temp_current>>8)&0xff);Data[3]=(unsignedchar)((temp_current)&0xff);Data[4]=(unsignedchar)((temp_velocity>>8)&0xff);Data[5]=(unsignedchar)(temp_velocity&0xff);Data[6](unsignedchar)((temp_position>>24)&0xff);Data[7](unsignedchar)((temp_position>>16)&0xff);Data[8]=(unsignedchar)((temp_position>>8)&0xff);Data[9]=(unsignedchar)(temp_position&0xff);temp_current的取值范圍為：0~ （16位有符號整型數(shù)的正數(shù)范圍，單位mA）temp_velocity的取值范圍為：0~ （16位有符號整型數(shù)的正數(shù)范圍，單位RPM）temp_position的取值范圍為：- a[[t[[t[[1-A能繼續(xù)去霸占485總線，否則有可能造成總線。a[[t[[t[[1-B在收到主控器的獲取參數(shù)指令后，2號驅動器則會對外發(fā)送如下的485消息：Data[0]=0x48;Data[1]=Data[2]=(unsignedchar)((real_current>>8)&0xff);Data[3]=(unsignedchar)(real_current&0xff);Data[4]=(unsignedchar)((real_velocity>>8)&0xff);=(unsignedchar)(real_velocity&0xff);Data[6]=(unsignedchar)((real_position>>24)&0xff);Data[7]=(unsignedchar)((real_position>>16)&0xff);Data[8]=(unsignedchar)((real_position>>