CAN / FDCAN 电机通用测试CAN / FDCAN Motor General Test协议：CAN / CAN FDProtocol: CAN / CAN FD

Not connected

USB 连接USB Connection

电机型号Motor Model

CAN/FDCAN 通道CAN/FDCAN Channel

USB 转 CAN / FDCAN

Mode: USB to CAN / FDCAN

CAN/FDCAN 波特率设置CAN/FDCAN Baud Settings

仲裁段波特率Arbitration Baud

FD 数据段波特率FD Data Baud

无需重复设置，下次上电默认使用当前配置；该配置对 USB 连接和 SPI 连接均生效。No repeated setup is required. The current configuration is used by default after the next power-up and applies to both USB and SPI connections.

批量离线执行Batch Program

协议说明Protocol Notes

快速开始与波特率配置Quick Start and Baud Configuration

USB CDC串口转经典 CANUSB CDC to Classic CAN

USB CDC串口转 FDCANUSB CDC to FDCAN

Linux SocketCAN / gs_usbLinux SocketCAN / gs_usb

SPI 转经典 CANSPI to Classic CAN

SPI 转 FDCANSPI to FDCAN

批量离线执行Batch Offline Execution

报文日志Frame Log

暂无报文日志No frame log

小米 CyberGear 电机Xiaomi CyberGear Motor协议：CAN 扩展帧Protocol: CAN Extended Frame

Not connected

USB 连接USB Connection

电机型号Motor Model

CAN 通道CAN Channel

USB 转 CAN

Mode: USB to CAN

使用1M波特率连接小米电机After connection, the CAN/FDCAN baud rate is checked first; it is only set when it differs from the Xiaomi motor target 1000000,5000000.

设备列表Device List

已连接串口Connected Port

选择设备Select Device

设置新的 IDSet New ID

协议说明Protocol Notes

CAN波特率设置：AT+SETFDCAN=<arb_baud>,<data_baud> 指令设置波特率，经典CAN只需要设置arb_baud，<data_baud>为CAN FD的设置项，经典CAN无需设置。CAN baud: AT+SETFDCAN=<arb_baud>,<data_baud> configures bitrate. Classic CAN only uses arb_baud; data_baud is for CAN FD and is not needed by classic CAN.

USB转CAN 扩展帧：0x45 0x54 + Channel(1字节) + ExtID(4字节) + Len(0x00~0x08) + Data(0~8字节) + 0x0D 0x0AUSB->CAN EXT: 0x45 0x54 + Channel(1B) + ExtID(4B) + Len(0x00~0x08) + Data(0~8B) + 0x0D 0x0A

SPI转CAN 扩展帧：固定23个字节，0x45 0x54 + Channel(1字节) + ExtID(4字节) + Len(1字节) + Data(8字节) + Padding(6字节) + CRC(1字节)SPI->CAN EXT: fixed 23 bytes, 0x45 0x54 + Channel(1B) + ExtID(4B) + Len(1B) + Data(8B) + Padding(6B) + CRC(1B)

Channel：0x01~0x04 指定 CAN 接口，0x00为广播。Channel: 0x01~0x04 targets one CAN interface; 0x00 is broadcast.

未连接DisconnectedCAN Extended Frame

速度 / 位置 / 电流曲线Speed / Position / Current Plot

速度Speed位置Position电流Current

实时数据Live Data

温度Temp--

电流Current--

速度Speed--

扭矩Torque--

接收数据RX Data

暂无接收数据No RX data

发送数据TX Data

暂无发送数据No TX data

宇树 GO-M8010-6 电机Unitree GO-M8010-6 Motor协议：RS485Protocol: RS485

Not connected

USB 连接USB Connection

电机型号Motor Model

RS485 通道RS485 Channel

USB 转 RS485

Mode: USB to RS485

使用4M波特率连接宇树电机After connection, the RS485 parameters are checked first; they are only set when they differ from the Unitree motor target 4000000,1,0,8.

设备列表Device List

已连接串口Connected Port

选择设备Select Device

协议说明Protocol Notes

RS485波特率设置：AT+SETRS485=<baud>,<stop>,<parity>,<bits> 指令设置 RS485 参数，默认 4000000,1,0,8。RS485 baud: AT+SETRS485=<baud>,<stop>,<parity>,<bits> configures RS485 parameters. Default is 4000000,1,0,8.

USB转RS485：0x52 0x54 + Channel(1字节) + Len + Data(0~64字节) + 0x0D 0x0AUSB->RS485: 0x52 0x54 + Channel(1B) + Len + Data(0~64B) + 0x0D 0x0A

SPI转RS485：固定23个字节，0x52 0x54 + Channel(1字节) + Len(1字节) + Data(18字节) + CRC(1字节)。SPI->RS485: fixed 23 bytes, 0x52 0x54 + Channel(1B) + Len(1B) + Data(18B) + CRC(1B).

Channel：0x01~0x04 指定 RS485 接口，0x00为广播。Channel: 0x01~0x04 targets one RS485 interface; 0x00 is broadcast.

未连接DisconnectedRS485

速度 / 位置 / 电流曲线Speed / Position / Current Plot

速度Speed位置Position电流Current

实时数据Live Data

温度Temp--

电流Current--

速度Speed--

扭矩Torque--

接收数据RX Data

暂无接收数据No RX data

发送数据TX Data

暂无发送数据No TX data

SANPO Studio 电机调试工具

SANPO Studio V6 Motor Tuning Suite