1. Scope of Application

This technical specification applies to companies using Tongyi drives for automatic transformation of R&D, production, and technician debugging.

Second, Debugging Resources

Tongyi Wheel and Driver Selection Problem ****
(Answers are available for absolute value encoder schemes. The following configuration documents are for incremental encoder schemes.)

3. Transformation Process

3.1 Transformation (chassis driver part)

1. Based on the mechanical design drawing and electrical drawing, the driver must be securely attached to the vehicle body. Verify that the driver is properly connected to the three-phase wire and encoder line of the corresponding motor.

Figure 3-1: Driver Terminals

2. When installing a robot with multiple drives (number ≥2), all of the slave stations' CAN_L and CAN_H pins can be directly connected in a series connection. The final driver, Driver4, should have its CAN_H pin pressed into a Decci cartridge connector and its CAN_L pin pressed into a Dci cartridge connector, which should then be connected to a DCI DT06-4S male head. Finally, connect the T35 32 and 33 number line (can1).

Figure 3-2: Connecting Drivers in Series

3. To ensure high-quality communication on the CAN bus, it is necessary to activate the 120Ω terminal resistor on the drive farthest from the core controller. This can be done by opening the terminal resistance on Driver1 through the dial, while for Driver2, Driver3, and Driver4, the terminal resistance switch is shown in Figure 3-3.

Figure 3-3

4. Testing method for proper opening of terminal resistance:

• Shutdown: Power off, disconnect the driver and controller. Connect the cables as shown in Figure 3-2 (Driver4 and the controller), and use a multimeter resistance gear to measure the driver side CAN bus (CAN_L, CAN_H). The resistance value should be 120 Ω, as displayed in Figure 3-4. If the resistance value is less than 120 Ω (e.g. 60Ω), it indicates that there are at least two open driver terminal resistors.

• Disconnect Driver1 and Driver2 as shown in Figure 3-2. Use a multimeter to measure the resistance of the Driver1 lateral CAN bus (CAN_L, CAN_H). The resistance value should be 120 Ω, as displayed in Figure 3-4. If the resistance value is significantly greater than 120 Ω (e.g. a few KΩ), it indicates that the terminal resistance is not opened at the end of the CAN bus and needs to be adjusted.

Figure 3-4

5. Our company's domestic driver can enable or disable emergency stop function by controlling the motor. The corresponding IO port level on the driver determines whether the motor can be enabled or not.

6. Figure 3-5 shows the Tongyi drive. Connect the driver control signal terminal No. 22 pin (+15V_DIG) to No. 1 pin (IO_COM+), connect all the driver control signal terminals No. 2 pin (USRC_DI1) in parallel, and then connect the SRC2000 emergency stop output 1+(line TE354). Connect the 20th-digit pin (GND_DIG) of all drivers in parallel to another emergency-stop output 1- (line TE355) connection.

7. If the steering motor driver needs to be connected to a limit sensor, the driver can provide power supply to the limit sensor. Connect the positive pole to the driver's control signal terminal pin No. 22 (+15V_DIG), and the negative pole to the driver's control signal terminal pin No. 20 (GND_DIG). The positive direction limit sensor signal output should be connected to the driver's control signal terminal No. 14 pin (USRC_DI2), and the negative direction limit sensor signal output should be connected to the driver's control signal terminal No. 15 pin (USRC_DI4).

Figure 3-5

8. Treatment of motor lock line
   Tongyi's walking motor supports a locking brake, and the wiring mode is illustrated in Figure 3-6:

Figure 3-6

Four, Drive Configuration

4.1 Communication Connection

1. Description of the sequence

2. Software version description for driving

Previous firmware version:

• 9.1: represents September 1st;

• 9.829: September 29th, 8: with 485 firmware update function (BootLoader);

Latest firmware version:

• 2203.801: represents March 1st, 2022. 8 represents the firmware update function (BootLoader) for 485.

• 22103.801: represents March 1st, 2022. 8 represents the firmware update function (BootLoader) for 485. 22 after the 1 represents the MCU's ability to switch between different pin numbers and select functions, namely P_144 and P_196. This feature is not yet in production.

• 22203.801: represents March 1st, 2022. 8 represents firmware update with 485 (BootLoader), and 2 after 22 represents the firmware version of IXL150 drive P_144.

• 12206.815: represents June 15th, 2022. The first 1 represents the general version, and 8 represents the firmware update function (BootLoader) for 485.

!! The problem-free version

The currently available version without any issues should be the version after 12206.815. It is unclear whether this is the old or new version, so please take a screenshot and ask the supplier for clarification.
The currently available version without any issues should be the version after 12206.815. It is unclear whether this is the old or new version, so please take a screenshot and ask the supplier for clarification.
The currently available version without any issues should be the version after 12206.815. It is unclear whether this is the old or new version, so please take a screenshot and ask the supplier for clarification.

3. Launch the software on the host computer (Refer to the driver supplier for the XML configuration file and software)

4. Import XML file:

   • Launch the easyDRIVER software and bring up the image shown above

   • Choose the XML file you wish to import

5. Establish serial port connection

Select the serial port number for the RS485 communication card and click on Connect. Once the connection is successful, the lower right section will display as follows:

4.2 Modifying Common Parameters

4.2.1 Modifying CANopen Parameters

1. Choose selection parameters

2. Select the Canopen parameter configuration

3. Set the baud rate to 250kps

4. Assign a specific node ID (the configuration in the model file must correspond, not the same for all drives)

5. Set the number of Pdos to 0

6. Activate the Canopen enable switch and select Enable

7. Click on Save driver parameters

4.3 Modifying parameters of the Walking Motor (Refer to this part for walking driver)

4.3.1 Modifying the Enablement Mode

1. Input Drive Control Parameters

2. To deactivate internal I/O, choose off

3. Adjust Control Mode Selection, choose Standard Speed Loop

4. Save Changes

4.3.2 Modifying Speed Mode Parameters

1. Choose the speed control parameters

2. Set KP to 20000 in the stop segment

3. Set KI to 100 in the stop segment

4. Set KP to 30000 in the low speed segment

5. Set KI to 100 in the stop segment

6. Save changes

4.3.3 Modifying Electric Flow Control Parameters

1. Select the current control parameters

2. Change the Iq current proportional gain to 100

3. Change the Id current proportional gain to 100

4. Save

4.4 Modifying Steering Motor Parameters (Refer to this section for steering driver)

4.4.1 Modifying the Enable Mode

1. Select drive system control parameters

2. For example, change the internal I/O control to "off"

3. For example, change the control mode to "Standard Space Loop"

4. Save

4.4.2 Modifying Electric Flow Control Parameters

1. Select the current control parameters

2. Change the Iq current proportional gain to 30

3. For example, change the Id current proportional gain to 30

4. Save

4.4.3 Modifying Parameters for Location Control Mode

1. Choose the position control mode

2. Set the limit mode to 2

3. Save

4.4.4 Setting Reset Parameters

1. Select motor reset control

2. Switch back to zero mode 1 (the steering motor must be equipped with a negative limit switch, connected to the driver's IO negative limit)

3. For example, change the zero offset to 00000

4. Save

5. Instructions for Configuring Robot Model Files

When installing the steering wheel, please ensure that it is installed in the direction indicated in the diagram. If it is a double steering wheel, please install both steering wheels in the same leading direction to avoid symmetrical installation around the origin. Although this method is feasible, it involves a coordinate system conversion, which can be rather confusing to understand. The following models are described in accordance with the aforementioned installation methods:

5.1 Walking Motor

5.2 Steering motor

VI. Driver Function Detection Method

1. Before installing the shell, 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 control the robot and get the wheels moving. Use the CanScope clip to detect CAN messages on the CAN bus for at least 1 hour, ensuring that there are no errors in the CAN messages.

3. Place the body on the ground and use the Roboshop software to control the robot's movements: forward, backward, left, right, and left again.

4. Before pressing the emergency stop button, try pushing the robot to ensure that the motor is not enabled. Check the state of the Roboshop robot in the "No emergency stop" and "drive no emergency stop" states, as shown in the left image of Figure 6-1. After pressing the emergency stop button, the robot should be able to be pushed (motor enabled) again. Check the state of the robot in Roboshop in the "emergency stop" and "drive has emergency stop" states, as shown in the right image of Figure 6-1.

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

Seven Frequently Asked Questions

7.1 Common Error Codes

The following are solutions to common errors:
Drive error and solution.pdf

改为： 改为：

For instance:

1. 0x800 can be split into two hexadecimal numbers: ‭100000000000‬. The error sign u1SystemErrorBits (11) is 1, indicating an out-of-tolerance motor position/speed.

2. 0x80 when converted to binary is 10000000. The error sign u1SystemErrorBits (7) is 1, indicating a motor overload alarm.

3. 0x2000 when converted to binary is 10000000000000. The u1SystemErrorBits (13) is 1, indicating a power module overcurrent.

7.2 Known Problems