1. Scope of Application

This article is intended for debugging and configuring ISMC drivers with pure Hall encoders (no version).

Second, Debugging Resources

Manual Driving:
CANopen Communications Handbook
ISMC Debugging Documentation
ISMC Product Debugging Training Documents
Backup of ISMC Related Parameters (for reference)
Debugging Software:
ISMC Host Computer

Three, Drive Configuration

This configuration method is only applicable to ISMC servo drivers that use pure Hall encoderless CANopen protocol.

3.1 Walking Driver Configuration Method (Speed Mode)

1. Connect the software, set the motor parameters, and initialize the driver parameters;

If the connection is successful, it will be displayed as shown in the figure below:

2. Input the encoder resolution and motor parameters

Note: For Pure Hall encoderless ISMC drives, the encoder resolution is 30.

3. Compose relevant communication parameters

Search for 2004 and 2401 in the index (the motor's ID configuration is selected based on actual usage)

IV. Description of Model File Configuration

V. Supplementary Material

5.1 Zhiyuan CAN Scope Usage Method

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:

5.2 USB CAN Card Usage

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:

5.3 Using 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:

Six, Common Drive Error Codes

Seven: Frequently Asked Questions

1. The performance of multiple motors is not consistent.

The accuracy of the Pure Hall encoderless drive is very low. Please contact the driver manufacturer to adjust the motor performance to be as consistent as possible.

2. Drive reports overload related error codes 0x2310 and 0x2311

Verify the motor's overload capacity.