1. Scope of Application

This article is appropriate for debugging and configuring the Buke driver.

Second, debug resources

Learn to drive manual:
Kinco Low Voltage Servo Driver User manual.pdf

Software Debugging:

• KincoServoPlus Setup V1.1.3 (build 210203).zip

Three, Wiring and Transformation

3.1 Driver lock brake

Based on the driver manual, there are two methods for determining the driver lock connection. These methods are shown in Figure 2 and can be found in more detail in the driver documentation.

3.2 Transformation (Chassis Driver Part)

1. Ensure that the driver is securely attached to the car body, and verify that the driver is properly connected to the three-phase wire and encoder line of the corresponding motor.

2. When the robot is equipped with multiple drives (number ≥2), all slave stations can be directly connected using a series connection via the CAN_L and CAN_H pins.

3. Connect Driver4 to the Decci cartridge connector by inserting can_H and can_L into the appropriate slots. Connect the male end of the Decci DT06-2S connector to the cartridge. Finally, connect line 32 and 33 of T35 in the middle using (can1). (Note: Refer to Appendix I for pin definitions of each driver type.)

4. To ensure optimal communication quality, it is necessary to position the terminal resistor furthest from the core controller on the drive, with a resistance of 120 Ω. As depicted in Figure 4, the terminal resistor on Driver1 can be opened through the dial. For Driver2, 3, 4, the terminal resistor switch is shown in Figure 6 when the terminal resistance is off.

5. Testing method for proper opening of terminal resistance:

• Shutdown: Power off, disconnect the driver and controller CAN connection wire (Figure 4) Driver4 and the controller. Use a multimeter resistance gear to measure the driver side CAN on the bus CAN_L,CAN_H. The correct resistance value is 120 Ω, as shown in Figure 7. If the resistance value is obviously less than 120 Ω (for example, 60Ω), it indicates that there are at least two open driver terminal resistors.

• Disconnect Driver1 and Driver2 from Figure 4. Use a multimeter to measure the resistance of Driver1 lateral CAN on the bus CAN_L,CAN_H. The correct resistance value is 120 Ω, as shown in Figure 7. If the resistance is significantly greater than 120 Ω (for example, a few KΩ), it indicates that the terminal resistance is not opened at the end of the CAN bus and needs to be adjusted.

6. Our company's core domestic driver can enable or disable the motor to achieve the function of emergency stop. The motor can be controlled through the driver's IO port by setting the level to high or low.

7. Figure 8 shows the Kinco drive with COMI parallel post access and DCDC 24V+ output. All drives should be connected in parallel to IN1 and the emergency stop output 1+ (Line T 354) should be connected to SRC2000. The other emergency stop output 1- (Line TE355) should be connected to DCDC 24V- output.

Four, Drive Configuration

This configuration method is applicable to all servo drivers that support the CANopen protocol.

4.1 Walking Driver Configuration Method (Speed Mode)

1. Software connectivity, motor parameter configuration, driver parameter initialization;

• Kincoservo+ shortcut to open Kincoservo+, select Communications C, Communications Settings to open communication settings, click Refresh to update the communication serial port, and click Open to connect the drive.

• [Set Motor Model] To set the motor model, select "Motor M" under "Motor Configuration" to open the motor configuration. In the "Motor Model" Value column, set the motor model.

• [Initializing Drive Parameters] To open the operation interface, select Drive D, then choose Initialize/Save/Restart. Next, select Storage Motor Parameters, Initialize Control Parameters, Storage Control Parameters, and Restart.

2. Select "Drive D" and navigate to "ECAN Settings". Then, choose "Other" and select "Node Protection Time" to adjust the drive's watchdog protection time to 100. Next, select "Node Protection Time Coefficient" to adjust the drive's watchdog protection time coefficient to 3. Finally, select "CAN Baud Rate" to adjust the drive's CAN baud rate to 250KHz and select "Communication Interrupt Mode" to change the drive's interrupt mode to 1. Refer to Figure 4.4.11 for guidance.

3. Select "Drive D" and enter the number IO to clear all numeric inputs and set DIN.

4. In "Drive D", choose "Basic Operation" and switch the drive's working mode to "Speed mode" under "Working Mode". Refer to Figure 4.4.13 for the configuration details.

5. Include a drive error cleaning function, as illustrated below:

6. Select [Drive D] [Drive Configuration] and [Drive Number] to assign unique CAN IDs to different drives. For a general two-wheel differential robot, the left drive is assigned ID 1 and the right drive is assigned ID 2.

7. Select the "Drive D" Object Dictionary to enable the "Mode" of the Keba PLC. Adjust the Keba PLC mode of the drive to the open state and configure the "Value" as "1".

8. To complete the PDO configuration on the drive, navigate to Drive D -->ECANConfigure "-->"TPDO"/"RPDO". Change the mapping group for TPDO1--TPDO8 to 0 and for RPDO1--RPDO8 to 0.

9. Download the configuration parameters to the drive and select "Drive D Initialize/Save/Restart" to open the operation window. Then select "Storage Control Parameters", "Storage Motor Parameters", and "Restart".

10. Passcode for manual control is "roboshop". Check if the movement is normal. If not, please refer to the above steps. If it is normal, proceed to the next step: Go to "Driver D" → "Control Ring" → "Speed Ring" and gradually increase the proportional gain of the speed ring (it is recommended to set the final value between 300-400). After each setting, save the parameters and repeat the process until the motor is stationary or pushed by external force to emit a large current sound. Then, reduce the value slightly until no current sound is emitted.

11. Once the driver is configured, close the serial port connection and exit the configuration software Kincoservo+.

4.2 Steering Wheel Configuration Method (Position Mode)

1. Complete software connection, motor parameter setting, and driver parameter initialization according to Section 4.1, Step 1.

2. Refer to Section 4.1 for details on setting the Watchdog, baud rate, and drive ID in Step 2 and Step 6.

3. Drive I/O

Limit Switch

To begin, determine the line sequence of the limit switch. Typically, the line sequence for a sensor is: brown for positive, blue for negative, and black for signal. It is important to confirm this sequence with the manufacturer.
The second step is to identify whether the steering gear zero switch and limit switch are NPN or PNP. Refer to **Figure 8** for the wiring diagram. Below are the connections for two different types of sensors:

• For NPN type (low level trigger): connect all driver COMI in parallel to DCDC 24V+ output; connect all driver IN1 in parallel to SRC2000 emergency stop output 1+(TE35 Line 4), and connect the other emergency stop output 1- (TE35 line 5) to DCDC 24V- output;

• If PNP type (high level trigger): connect all driver COMI in parallel to DCDC 24V- output; connect all driver IN1s in parallel to SRC2000 emergency stop output 1+(TE35 Line 4), and connect the other emergency stop output 1- (TE35 line 5) to DCDC 24V+ output.

• IN2 is connected to the zero switch. If the limit switch is used, access IN3 (positive or negative limit can be configured according to actual use).

4. Select the change mode (original mode) based on the selection of the unlimited switch and zero switch.

5. Adjust the speed of change. Set the speed of change based on usage requirements. Do not exceed the rated speed.

6. Modify the change direction. Choose the initial change direction based on the change needs. If you switch the change direction to 1, the change can be undone.

7. Adjust the speed of the rudder angle executed by the steering gear in position mode, and modify the increase or decrease of the speed based on the actual usage situation.

8. Follow Steps 6-8 to configure the drive.

9. If the zero position does not meet the usage requirements after the change is completed, adjust the rudder angle offset according to the requirements in the model file, and set the maximum and minimum rudder angles correctly.

10. 【resetMode[Here]resetByDriver】

10. 【resetMode[Here]resetByDriver】

11. The location speed configuration is displayed as follows: Set the value to 30, with a default of -1.
    

4.3 Steering Wheel Configuration Method (Position Mode) [Kinco Absolute Value Encoder Scheme]

1. Complete software connection, motor parameter setting, and driver parameter initialization by following Step 1;

2. Proceed to Step 2.6 to set the Watchdog, baud rate, and drive ID;

3. Configure the relevant limit information as the absolute value encoder scheme is used as the steering wheel and limit information is not required;

4. Verify and troubleshoot any faults.

• The motor stores control parameters.

• Click "Restart" and you will see a failure display on the drive.
  
  Figure 4.4.3.1

5. Activate fault display

• Click on drive D

• Selective fault display

• Check the fault status. If the indicator before the encoder UVW fault or internal fault is red, it can be seen in Figure 4.4.3.1 below:

Figure 4.4.3.1

6. Display of processing faults

• Click on drive D for basic operations

• Change the communication encoder data to duplicate 1 instead of 10

• Press Enter

Refer to FIG. 4.4.3.2 below:

Figure 4.4.3.2

• Click on "Store Control Parameters"

• Click on "Restart" and you will see the error disappear.
  Refer to FIG. 4.4.3.4 below:
  

Figure 4.4.3.4

should not be modified in terms of HTML tags and attributes. The text within the code can be improved as follows:

Figure 4.4.3.4:

7. Enable origin mode

• Open Drive D

• Open Control Mode

• Open Origin Mode

• Set Origin Mode to 35

Refer to FIG. 4.4.3.5 below:

Figure 4.4.3.5

• Set power-on origin to 2

• Storage control parameters

As illustrated in Figure 4.4.3.6 below:

Figure 4.4.3.6

8. Modified trapezoidal acceleration and deceleration

• Change the trapezoidal acceleration to 1000 revolutions per second per second

• Change the trapezoidal deceleration to 1000 revolutions per second per second
  As illustrated in Figure 4.4.3.7 below:

Figure 4.4.3.7:

9. Zero marking procedure

• Select working mode 3 and write control word 103f. When setting a target speed, it is suggested to choose a relatively low speed, such as 50rpm, in order to observe the wheel turning slowly.

• Use visual inspection to determine the mechanical zero (which may be biased) and set the target speed to zero.

Below is Figure 4.4.3.8:

Figure 4.4.3.8

• Switch the operating mode to 6 and the current position of the servo should be 0.

10. Adjust the starting position to 10

If there is a significant difference between the actual zero positions in step 9, the target speed can be set to a negative value, the steering wheel can be turned back, and operations (2) and (3) can be continued to determine the zero position marked as zero above the mechanical zero position.

11. Configure the positive and negative soft limit settings.

• Access drive D

• Access object dictionary

• Search for the soft limit, locate the soft limit settings, input the desired parameters for configuration, and press the enter key to confirm.

• Locate the soft limit negative setting, input the negative value of the parameter to be configured, and press the enter key to confirm.

12. Steer: Configuration of the model file

Figure 4.4.3.9

V. Description of Model File Configuration

The Roboshop version is 2.0.X (with firmware version 1.8.X and below), as depicted in Figure 5.1 of the robot model. The Roboshop version is 2.1.X (with firmware version 1.9.X and above). Please consult Figure 5.2 of the robot model.

Figure 5.1: Figure 5.2:

5.1 Encoder Line

Incremental encoder reading: 2500, absolute encoder reading: 16384

Figure 5.3

5.2 Current Factor

The current factor is calculated using the formula 1 / (2048 / Ipeak / 1.414). Please refer to Figure 5.5 for the value of Ipeak and the table for the actual configuration. For the OD124S series, the current factor is 0.024856.

Figure 5.4


Figure 5.5

Vi. Method for detecting driver function

1. Prior to installing the shell, please double-check the wiring to ensure it is correct.

2. Lift the body so that the wheels are off the ground. Turn on the robot and connect it to a network cable. Use the Roboshop software to operate the robot and turn the wheels. Use CanScope to clamp onto the CAN bus and detect CAN messages for at least one hour, ensuring that there are no errors.

3. Lower the body to the ground and use the Roboshop software to direct the robot to move forward, backward, left, and right.

4. Before pressing the emergency stop button, attempt to push the robot. If it cannot be pushed (motor is not enabled), check the Roboshop robot in the state of "No emergency stop" and "drive no emergency stop", as shown in the left figure of Figure 6.1. After pressing the emergency stop button, the robot should be able to be pushed (motor is enabled) again. Check the state of the robot in Roboshop, which should show "emergency stop" and "drive has emergency stop", as shown in the right figure of Figure 6.1.

Figure 6.1:

5. Perform a 24-hour task chain motion aging test and check for any error alarms by viewing the Robokit Log.

7. Appendix

7.1 Driver Bus Communication Port (X1)

7.2 Drive Debugging RS232 Serial Port (X2)

7.3 Drive External I/O (X3)

1. FD123/FD133 driver X3 interface definition

2. FD1X4S Driver X3 Interface Definition

7.4 How to use Zhiyuan CAN Scope

1. Software Installation - Install the supporting software for CANScope (Please contact Zhiyuan's after-sales service for software and user manual).

2. Hardware Connections - Refer to CANScope connection instructions. Connect the power supply, USB debugging cable, and plug in the CAN Port plate. Connect CAN_H to the SRC2000 external wiring harness TE35 33 number line, and connect CAN_L to the SRC2000 external wiring harness TE35 32 number line. Plug the USB debugging cable into the computer.

3. Open the CANScope software, select Port Board, deselect Enable Terminal Resistance, select Message, and set the baud rate to 250Kbps. Cancel [bus response] and select [On]. The real-time CAN message is shown in Figure 7.4.1:

Figure 7.4.1:

4. Select [Status] [Error] to verify if there are any error packets. Refer to Figure 7.4.2.

Figure 7.4.2:

7.5 Method for Using USB CAN Cards

1. Software Installation - Install the software USB_CAN Tool (Please contact the CAN card vendor for the software and user manual).

2. Hardware Connection - Prepare the USB CAN card and cable, and connect the cable. Connect the CAN_H to the TE35 33 line number on the SRC2000 external wiring harness, and connect the CAN_L to the TE35 32 line number on the SRC2000 external wiring harness. Refer to Figure 7.5.1.

Figure 7.5.1:

3. Open the USB CAN tool, select [Device Operation (O)] [Start Device (S)], and confirm that the CAN parameter, [baud rate], is set to 250Kbps. Select "CAN channel number" as channel 1, and click "OK". Refer to Figure 7.5.2 for details.

Figure 7.5.2:
4. Select [Display (V)] and deselect [Merge same ID data (M)]. The CAN message is shown in Figure 7.5.3:

Figure 7.5.3:

7.6 Usage Method of udpconsole

1. udpConsole is a small tool utilized by our engineers for debugging and development purposes. It allows you to review error information reported by the firmware.

2. Prior to utilizing the udpconsole tool, ensure a physical connection between the computer and robot is established using a network cable.

3. Once the udpconsole is open, perform drive function tests and review the displayed content to check the time.

4. Error frames may occur during driver communication, as depicted in Figure 7.6.1:

Figure 7.6.1:

7.7 Method 2 of Configuring a Drive

For the second method of configuring the driver, the initialization is successful. To check the DIN function and current status, and confirm whether the physical line is connected properly, you can select [Driver D] [Digital IO Settings] from the upper computer. Refer to Figure 7.7.1 for details:

Figure 7.7.1

Eight, Common Drive Error Codes

For example:
When you remove the encoder cable from the drive, the Roboshop alarm will display an error code of 0x6, as shown in the image below. The corresponding binary code is 0110, with Bit 1 and Bit 2 representing a value of 1. To check the real-time alarm error status of the control driver, confirm the alarm errors as "encoder ABZ connection alarm" and "encoder UVW connection alarm".

Figure 8
For earlier versions, refer to the following figure for error codes:

9. Method for Upgrading Kinco Drive Firmware

The Kinco FD124-CA-000 model has been discontinued, however, there are still some older versions available in the market. If the firmware version is dated before 20191231, it is advisable to update the drive firmware using the following steps:

1. Turn on the computer and open [Communication Settings] to establish a software communication link.

2. Go to [Drive] → [Firmware Download] → [Load file]

3. Launch the firmware selection tool

4. Click on [Download] to download the firmware and wait for the firmware update to complete

5. Wait for the progress bar to finish, do not turn off the power in the middle

6. Firmware update successful

7. Select [Drive] -> [Initialize/Save/Restart] -> [Storage Control Parameters] -> [Restart].

Upgrade of firmware has been completed!

10. Frequently Asked Questions

1. Move the lock driver to the snap stop position
   Open the lock configuration
   

2. If the vertical belt lock structure lacks structural rigidity and continues to slide after opening the lock configuration, adjust the driver PID and lock delay according to the reference values shown in the following figure. If the problem persists, please contact Step engineers for assistance in debugging.