Description

This document outlines the automated transformation process for robots, which guarantees that the company's products adhere to industry standards, maintain consistent product quality, and provides technical personnel with guidelines to follow throughout the transformation process.

Robot automation transformation involves a significant number of sensors, therefore, we recommend utilizing our standard core controller wiring harness TE23 and TE35. This document utilizes the standard wiring harness of the core controller as a blueprint for operational guidance.

For selecting an HLS servo driver, it is recommended to refer to the company's selection guide manual.

Note: This document is for reference purposes only and cannot be used as a technical agreement or any other content that assumes responsibility.

1. Scope of Application

This technical specification applies to technical personnel who use Senchuang Drive for research and development, production, and automatic transformation debugging.

II. Transformation Process

4.3 Class Kiva Jacking Part DI Usage Specification

4.3.1 Description of Cable Connection

Usage Specification for Jacking Part DI

Note 1: The three DI's cannot be utilized for any other purposes in the jacking vehicle;

Note 2: Make sure that all three sensors are NPN type and emit signals that can be detected by the SRC core controller.

4.4 Modification (Chassis Driver Part)

4.4.1 Method for Installing Walking Motor Driver

1. Ensure that the driver is securely fixed 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. If the robot is equipped with multiple drivers (number ≥2), connect all CAN_L and CAN_H pins of the slave station directly. Whenever possible, connect them in series as illustrated in Figure 4.4.1. If only one communication interface is provided by the driver and the can lines of the driver cannot be connected in series, draw out all can lines of the driver and press all can_H into the same Decci cartridge connector, and all can_L into the same Decci cartridge connector. Connect the male head of Decci DT06-2S and finally connect it with line 32 and 33 in TE35 (can1).

As some drivers lack a cascade port, they can only be connected in series by attaching a lead wire from the bus, with the length of the lead wire being 10CM shorter.

Note: If there are not enough wiring harnesses required for driver connection during the transformation process, rapid series at the driver end cannot be achieved. The connection mode shown in Figure 4.4.2 can be used, but it is not recommended.

Figure 4.4.1 and Figure 4.4.2

To ensure high-quality communication in a CAN network, it is recommended to install a terminal resistance (with a resistance value of 120 ohms) at the farthest drive from the core controller or at the end of the bus. Please note that customers can request to purchase matching terminal resistance from the driver manufacturer when purchasing the driver.

3. To detect the CAN terminal resistance, follow these steps: First, shut down and power off the system. Next, disconnect the CAN connection lines between the driver and controller (located between Driver4 and controller in FIG. 4.4.1). Then, use a multimeter to measure the resistance between the CAN_L and CAN_H on the driver side of the CAN bus. If the resistance value is significantly less than 120Ω (for example, 60Ω), there are at least two open terminal resistors.

Disconnect the connection line between Driver1 and Driver2 in FIG. 4.4.1. Utilize a multimeter to gauge the resistance between CAN_L and CAN_H on the CAN bus of Driver1. If the resistance value is 120Ω, it is accurate, as depicted in FIG. 4.4.3. If the resistance value is considerably higher than 120Ω (for instance, a few KΩ), it indicates that the terminal resistance is not open at the end of the CAN bus and necessitates adjustment.

Figure 4.4.3

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:

4.5 Drive Parameter Configuration

Drive Type: One-to-One, One-to-Two. This document uses the DS20270C drive as an example.

Tools:

USB to RS-485 converter

Manual for Driving:

DS Series 2-in-1 Drive Operation Manual

DS RS Series Servo Driver Communication Manual Version 8

Get the SyntronTS V17.0 drive configuration software: SyntronTS V17.0

1. Connect the computer to the drive using the USB-485 converter. Open the drive configuration software and enter the [Setup Wizard] by default. Follow the guidance to fill in the necessary information. Make sure to first turn the dip switch on the side of the drive to the style shown in the figure. Failure to do so may result in the drive not connecting to the upper computer.

2. In the device selection bar, you can choose the target driver. The standard single-axis DS/RS servo driver model is DS102xx, and the dual-axis (two-in-one) DS/RS servo driver model is DS202xx. Temporarily select DS202xx. Select a drive model.
   

3. Open the communication settings, select the correct COM port, and the default baud rate is 115200bps. Click OK to proceed to the next step.
   

4. The positive reversal limit does not need to be filled in, proceed to the next step. Fill in the rotational speed and rated current according to the manual. If you cannot find the default value, you can refer to the manual.

5. Once the [Setup Wizard] is finished, click on [network link]. When the connection is successful, the output window will display "Success". Double-click on [Parameter Editor] to access the drive parameter settings.

6. [Power off and save] When the machine is idle, the F axis 1 and axis 2 parameters represent the two sets of parameters for one or two drivers respectively. The parameters of both axes should be consistent unless there are special requirements.
   

7. Click the "Select All Parameters" button located in the Parameter Editor toolbar to select all parameters. To select no parameters, click the "Select No Parameters" button. If you have already selected some parameters, you will need to transfer the Select All button. The blank area on the right-hand side of the parameter table is the temporary transit area. Click on this area and then select all parameters by clicking the Select All button.

8. When the communication connection is functioning properly, click the "Write parameters" button to initiate the parameter writing process. A progress bar will appear indicating the status of the write operation. Once the progress bar is complete, the drive will have successfully written the selected parameter value. Important: Do not write all parameters as this may result in the modification of default servo parameters, leading to abnormal servo operation.

9. Set F0.1.002 and F1.1.002 to 20 (Configure the drive to use CANopen communication mode. Without this configuration, the drive will not function properly). Note: If you need to configure F parameters, other axis parameters, or P parameters, you must save the current parameter settings to the database (relevant options are available in the software toolbar).
   
   If you do not need to change the parameter settings on the current page, click "Write Parameter" (relevant options are available in the software toolbar) to save the relevant parameters. The results will be as follows:
   
   
   If you do not need to change the parameter settings on the current page, click "Write Parameter" (relevant options are available in the software toolbar) to save the relevant parameters. The results will be as follows:
   

10. Drive ID, baud rate, and watchdog settings. Please note the format of the drive ID.

If you do not need to modify the parameter settings of the current page, click "Write Parameter" (related options are available in the software toolbar) to burn the relevant parameters. The results are as follows:

Note: The pages set by these three parameters need to be burned separately, and only one page can be burned at a time.

11. When using the emergency stop configuration, Pn.1.000 is set to 0. The destination does not enable this IO. The model file configures the emergency stop protocol.
    

12. After modifying the "Save power off" checkbox and writing the parameters, the above parameters will take effect after restarting. To prevent modification failure, read the corresponding parameters again after the restart.

13. When the configuration parameters are written and the drive is restarted to read the related configuration parameters, it is the same as the settings in this document. Therefore, you can consider resetting the parameters to default. The method of resetting the motor's default parameters is as follows:
    !

(That is, burn Pn6.001=111 on the parameter setting page for the "p" parameter and restart the drive to restore factory settings.)

V. Frequently Asked Questions

1. Parameters should not be written in.

When writing parameters, you cannot select all parameters for writing. If you select any parameter to be written, some parameters may be modified.

2. Once the driver configuration was successful, RoboShop reported no errors but was unable to control the rotation of the wheel. After restarting, RoboShop was able to re-read and verify whether the configured parameters were correct.

3. The DS20270C drive cannot be pushed once an emergency stop has been activated.

The motor in this driver remains enabled even after an I/O emergency stop, therefore the model file must be configured for protocol emergency stop, and verify that the parameter configuration of Pn.1.000 is 0.

VI. Appendix

6.1 Distribution and Definition of Communication Terminal Pins

DS20270C

->

DS20270C

6.2 USB CAN Card Usage

1. Software Installation - To install the software, please contact the after-sales service of the CAN card vendor for the software and user manuals.

2. Hardware Connection - Prepare a USB CAN card and connecting cables. Connect the CAN_H cable to the SRC2000 external wiring harness TE35 33, and connect the CAN_L cable to the SRC2000 external wiring harness TE35 32. Refer to Figure 6.3.1 for details.

Figure 6.3.1

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Figure 6.3.1:

3. Launch the USB CAN tool and navigate to [Device Operation (O)] [Boot Device (S)]. Verify the CAN parameters, setting the [baud rate] to 250Kbps and selecting [CAN channel number] as channel 1. Finally, click [Confirm]. Refer to Figure 6.3.2 for guidance.

Figure 6.3.2

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

Figure 6.3.2:

4. Choose [Display (V)] and uncheck [Merge same ID data (M)]. The CAN message will be displayed in Figure 6.3.3.

Figure 6.3.3

Seven, Common Drive Error Codes

The DS series 2-in-1 drive does not support error code queries.

1. Parameter System One

2. To check the error code reported by the motor using the upper computer software, follow these steps:

3. Confirm the communication line interface (RS485A+, B-) which is 485.

4. Determine the RJ45 port of the drive and identify the two cables that are the 485 communications cable (RS485A+, B-).

5. Open the upper computer software and confirm successful communication, as shown in the figures below:
   
   

6. You can modify the parameters in the figure below to see if the motor parameters can be read. If successful, the communication is successful. The parameters are described as follows:
   

7. The motor error code is as follows:

2. Parameter System Two

Viii. Configuration for Emergency Stop of I/O (Temporarily Abandoned)

1. Configure IN1 for the LS-DS20270C driver in emergency stop mode, as illustrated in Figure 4.4.4. Connect the COMins of all drivers in parallel to the 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 DCDC24V- output; Figure 4.4.5 shows the emergency stop wiring diagram of the DS20270C drive (The figure below is for reference only, please follow the actual electrical schematic diagram for wiring related operations). HLS does not support enabling the DS series drive after the emergency stop, and the drive will remain enabled after the emergency stop starts.

Figure 4.4.4 and Figure 4.4.5

Note: The fourth and fifth lines of TE35 are labeled as dry contacts without positive or negative points. In actual wiring, it is not necessary to differentiate between positive and negative points.

For configuring emergency stop, use IN1, Pn.1.000 to write 3109, Pn.1.000. The parameters are described in the following figure.