DAMIAO debugging tools

Original user manual（Chinese）

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Date	Version	Changes
2025.03.28	V1.0	First version created

Description

Damiao Debugging tools is a PC application designed specifically for DM series motors. It can perform operations such as reading and writing motor parameters, reading versions, firmware upgrades, and motor debugging, and intuitively configure driver parameters.

Disclaimer

By using this product, you acknowledge that you have carefully read this document, understand, acknowledge, and accept all the terms and contents of this document and all related documents concerning this product.

You promise to use this product only for legitimate purposes. You promise to assume full responsibility for the use of this product and any consequences that may arise. DAMIAO Technology shall not be liable for any damage, injury, or any legal liability caused directly or indirectly by the use of this product.

DAMIAO is a trademark of Shenzhen DAMIAO Technology Co., Ltd. Product names, brands, etc. Appearing in this document are trademarks of their respective companies. This product and manual are copyrighted by Shenzhen DAMIAO Technology Co. Ltd. Reproduction or reprinting without permission will be prohibited. The final interpretation right of this document and all related documents concerning this product belongs to Shenzhen DAMIAO Technology Co., Ltd.

Updates may be made without notice.

Warnings

Please read the user manual carefully before use.
Motor parameters must be set strictly according to the motor manual.
Motor firmware can be obtained through official channels (official website, forum, official group chat).
If you encounter abnormal phenomena such as the motor spinning wildly during debugging, please disconnect the power immediately and contact a professional.
If the motor has not been firmware flashed/initialized, the recommended usage sequence is: Open serial port - Read version - Select firmware upgrade - Motor-side encoder calibration - Parameter calibration - Output shaft encoder calibration - Debugging.
Functions involving CAN debugging require the use of a USB2CAN module.

Interface overview

Main interface

1. Function bar

串口 (Serial port)
- Serial port mode send/receive interface
参数设置 (Parameter settings)
- Set motor parameter interface
校准 (Calibration)
- Motor calibration waveform interface
调试 (Debug)
- Motor debugging interface
解析 (Parse)
- Motor feedback data parsing interface
关于 (About)
- Version information and contact information

2. 串口设置 (Serial port settings)

: Refresh available serial ports

: Open available serial port

3. 串口接收设置 (Serial port receive settings)

: Switch the serial port data display status to show receive/pause receive.

: Switch serial port data display format: ASCII/HEX

4. 通讯模式切换（Communication mode switching）

: Switch the current communication mode to UART/CAN.

5. 固件升级（Firmware update）

: Read version information

: Display version information

: Firmware selection

: Firmware update

: Show firmware name

6. 电机校准（Motor calibration）

: Switch calibration encoder object.
motor-side encoder/output shaft encoder

: Calibrate the selected encoder

7. 电机参数预设（Motor parameter preset）

: Parameter export

: Parameter import

8. 版本号查看（View version number）

: Debugging tools version number information

: Switch languages CN / EN (Chinese/English)

10. 状态栏 (Status bar)

串口 (Serial interface)

1. 串口界面串口打印信息(Serial port print information)

Show serial port receiving data

2. 发送文本 ASCII / HEX 切换 (Switch ASCII/HEX for sending message)

: The text in the input box can be toggled, and the switch value will show the current sending format.

3. 串口文本发送（Serial text sending）

: Send input box's text

4. 发送文本输入框（Send input box's text）

参数设置界面 (Parameter setting window)

1. 参数标定（Parameter calibration）

: Motor parameter calibration

2. 驱动参数 (Drive parameter)

Motor driver configuration parameters

3. 读参数（Read parameters）

: Read motor parameters

4. 写参数（Write parameters）

: Write motor parameters

5. 控制框图（Functional block diagram）

Functional block diagram and CAN command format corresponding to the current control mode

6. 控制幅值参数（Control amplitude parameters）

7. 控制器参数读取（Read controller's parameters）

8.控制参数设置（Control parameter settings）

: Read current controller parameters

: Store current controller parameters temporarily

9. 控制模式选择（Select control mode）

10. 控制器参数暂存 (Save controller parameters)

11. 参数范围提示 (Parameter range prompt)

: Parameter range prompt

校准 (Calibration)

1. 校准波形展示（Debugging waveform display）

2. 波形图注（Waveform legends）

: Waveform annotation
curve color - curve meaning

3. 校准进度条（Calibration progress bar）

调试（Debug）

1. 调试波形展示（Debug waveform display）

2. 波形瞬时数据值（Waveform instantaneous data value）

: Waveform instantaneous data value

3. CAN ID 读写（CAN ID read/write）

: CAN ID display, ID format is hexadecimal data.

: ID Read

: ID Set

4. 电机模式（Motor mode）

: Motor enable

: Set the motor's current position as zero.

: Motor disable

5. CAN 波特率设置（CAN baud rate setting）

: USB-CAN debugger CAN baud rate selection

: Apply current baud rate

: Switch speed unit: rad/s / rpm

6. 控制模式选择标签（Control mode select）

7. 目标参数设置（Target parameters setting）

: The slider settings parameters are indicated by numbers below MIN-MAX, which represent boundary values.

8. CAN 数据帧发送反馈区域（CAN message delivery and response indication）

: Display of sending CAN data frames

: Motor status display from receiving CAN feedback data frames

: CAN data frame periodically transmission checkbox

: CAN data frame transmission time interval, in milliseconds (ms)

: Update continuously transmitted data after control parameter updates

: Clear motor error status

: Send CAN data frames according to the current control mode settings.

: When the send button turns green (stop), it indicates "continuous sending mode".

Connect devices

Communication settings

Tips: Not limited to USB2CAN, all general serial ports can be used

1. 刷新串口（Refresh serial ports）（Step 1）

When a new device is connected, click the "Refresh Serial Port" button (Figure ①) to scan and display the currently available serial ports.

2. 设置通讯配置（Communication settings）（Step 2）

In the "Communication Settings", except for selecting the serial port number according to the actual situation, the baud rate, data bits, parity bits, and stop bits should remain at their default settings.

3. 打开串口（Open serial port）（Step 3）

[通讯设定 (Communication settings)] After configuring the serial port number, baud rate (e.g., 921600), data bits (8), parity bit (None), and stop bits (One) in the "Communication Settings" area, click button (Fig.1). And then the button changes to indicates that the application has been successfully opened.

Serial communication

In this communication mode, functions such as reading version, firmware upgrade, reading and writing parameters, importing and exporting parameters, parameter calibration, and motor-side/output shaft calibration can be performed.

Features

Supports UART protocol, baud rate range: 1200-460800bps (default: 921600bps)
Supports ASCII/HEX format data transmission and reception, and supports custom frame headers/tails
Real-time display of received/sent data volume statistics (Received: 0 bytes | Sent: 0 bytes)

1. 打开串口 (Open serial port) (Step 1)

2. 切换为 UART 通讯（Switch to UART communication）（Step 2）

In the "USB Mode" area, click button (Fig.2), to switch to . If already, You don't have to switch communication mode.

3. 点击读版本 (Click to read version) (Step 3)

Click (Fig.3)

4. 查看固件和 bootloader 版本 (Check firmware and bootloader version) (step 4)

Firmware update

Warnings

Do not disconnect the power or break the connection during the upgrade process.
The firmware version must be matched the motor model (see motor nameplate).
If the upgrade fails, use the clear error function and try again.

1. 打开串口 (Open serial port) (Step 1)

[通讯设定 (Communication settings)] After configuring the serial port number, baud rate (e.g., 921600), data bits (8), parity bit (None), and stop bits (One) in the "Communication Settings" area, click . And then the button changes to indicates that the application has been successfully opened.

2. 切换为 UART 通讯 (Switch to UART communication) (Step 2)

At [USB 模式 (USB mode)], click button (Fig.2) to switch communication mode to mode. You don't have to switch communication mode is already mode.

3. 选择要升级的固件（Select the firmware to update）（Step 3）

Click button(Fig.3) and select the firmware version you need to update.

4. 查看固件名称是否正确 (Check the firmware name is correct) (Step 4)

This indicates the firmware version is 5.0.1.7 for the 4310 motor.

5. 开始固件升级（Start updating firmware）（Step 5）

Click button to start updating firmware.

Check update progress.

Read parameters

1. 打开串口 (Open serial port) (Step 1)

2. 切换为 UART 通讯 (Switch to UART communication) (Step 2)

At [USB 模式 (USB mode)], click button (Fig.2) to switch communication mode to mode. You don't have to switch communication mode is already mode.

3. 切换到调试标签页 (Switch to debug tab) (Step 3)

Click the “Parameter Settings” tab at the top of the interface (Fig.3) to switch to the parameter settings page.

4. 读参数 (Read parameters) (step 4)

Click button (Fig.4) to read the relevant parameters of the motor.

Write parameters

1. 打开串口 (Open serial port) (Step 1)

2. 切换为 UART 通讯 (Switch to UART mode) (Step 2)

At [USB 模式 (USB mode)], click button (Fig.2) to switch communication mode to mode. You don't have to switch communication mode is already mode.

3. 切换到调试标签页 (Switch to debug tab) (Step 3)

Click the “Parameter Settings” tab at the top of the interface (Fig.3) to switch to the parameter settings page.

4. 修改参数 (Modify parameters) (Step 4)

You can read the current parameter click button or You can modify import parameters click button.

Tips: Except for motor parameters, which cannot be modified, it is not recommended to modify the number of pole pairs (which is automatically identified after calibration). Exercise caution when modifying the reduction ratio.

5. 写入参数 (Write parameters) (Step 5)

After modifying parameters, click button to write to the device.

After successfully writing the parameters, the latest version will automatically perform current parameters after reboot. At this point, you can observe an increase in the number of serial port receptions below, indicating that the reboot is complete.

Writing parameters requires that the input parameters cannot be empty. It is recommended to first obtain the current parameters through the parameter reading or parameter import, and then modify them as needed. See the corresponding chapter for details.

Parameter import and export

1. 读参数 (Read parameters) (Step 1)

Click button to read the relevant parameters of the motor.

2. 修改参数 (Modify parameters) (Step 2)

Modify the parameter values as needed in the corresponding parameter boxes (such as control amplitude, speed KP, etc.).

3. 导出参数 (Export parameters) (Step 3)

Click button(Fig.3) to export and save the current parameters.

4. 清空数据（Clear data）（Step 4）

Click button to clear relevant data.

5. 导入参数 (Import parameters) (Step 5)

Click button(Fig.5) to import the saved parameter file.

Import (export) parameters are txt text files in the format [name:value]. Data with an empty value will be skipped during parameter import.

Alternatively, you can modify the text file and then import. After importing the parameters, you need to write the parameters manually.

(e.g.):

6. 写入参数 (Write parameters) (Step 6)

Click button to write parameters to the device.

Parameters calibration

1. 打开串口 (Open serial port) (Step 1)

2. 进行参数标定 (Parameter calibration) (Step 2)

In the "Motor Parameters" area, click button(Fig.2).

3. 查看参数标定结果 (View parameter calibration results) (step 3)

Motor calibration

Note: Clicking the calibration button will automatically switch to the calibration tab.

1. 打开串口 (Open serial port) (Step 1)

2. 切换为电机侧编码 (Switch to motor side encoder) (Step 2)

In "Calibration" area, click button(Fig.2) and switch to calibration mode. If it is already you don't have to switch to calibration mode.

3. 开始校准 (Start calibration) (Step 3)

Click button(Fig.3) to start calibration.

4. 观察校准波形 (Observe the calibration waveform) (Step 4)

During the calibration process, observe the calibration waveform displayed in the waveform area on the right (fig.4) to determine the calibration status.

After calibration, a details window will pop up. You need to manually click the save button. Once saved successfully, a message "Transfer successful" will appear.

Output shaft calibration

Note: Clicking the calibration button will automatically switch to the calibration tab.

1. 打开串口 (Open serial port) (Step 1)

2. 切换为电机侧编码 (Switch to motor side encoder) (Step 2)

In "Calibration" area, click button(Fig.2) and switch to calibration mode. If it is already you don't have to switch to calibration mode.

3. 开始校准 (Start calibration) (Step 3)

Click button(Fig.3) to start the calibration program.

4. 观察校准波形 (Observe the calibration waveform) (Step 4)

During the calibration process, observe the calibration waveform displayed in the waveform area on the right(Fig.4) to determine the calibration status.

CAN communication

In this communication mode, you can read the version, upgrade the firmware, read and write parameters, import and export parameters, and debug the motor. Currently, it only supports the Damiao USB to CAN debugger.