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.

Second, Debugging Resources

Three, Modification and Installation

3.3 Class Kiva Jacking Part DI Usage Specification

3.3.1 Description of Cable Connection

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.

3.4 Modification (Chassis Driver Part)

3.4.1 Installation method for walking motor driver

1. The driver must be securely attached to the car body and ensure that it is properly connected to the three-phase wire and encoder line of the corresponding motor.

2. When installing the robot with multiple drivers (number ≥2), all CAN_L and CAN_H pins of the slave station can be directly connected. It is recommended to connect them in series, as shown 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, all can lines of the driver should be drawn out. All can_H should be pressed into the same Decci cartridge connector, and all can_L should be pressed into the same Decci cartridge connector. The male head of Decci DT06-2S should be connected, and finally, it should be connected with line 32 and 33 in TE35 (can1).

As some drivers lack a cascade port, they can only be connected in series by using wires from the bus, which must be shorter than 10CM.

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 3.4.2 can be used, but it is not recommended.

     Figure 3.4.1: Improved visualization of data

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. Method for detecting whether the CAN terminal resistance is correctly open:

Turn off and power down. Disconnect the CAN connection cables between the driver and controller (located between Driver4 and controller in FIG. 4.4.1). Utilize a multimeter to measure the resistance between CAN_L and CAN_H on the driver side CAN bus. If the resistance value is considerably less than 120Ω (e.g. 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 3.4.3

    Figure 3.4.3 - Enhanced visualization of data.

4. The Senchuang driver controls whether the motor is enabled or not in order to achieve the function of emergency stop. The ability to enable or disable the motor can be achieved by controlling the level of the corresponding IO port on the driver. As shown in Figure 4.4.4, the COM+ of all drivers is connected to the DCDC 24V+ output after parallel connection. Connect all driver IN1s in parallel to the SRC2000 emergency stop output 1+ (Line TE354), and connect the other emergency stop output 1- (line TE355) to the DCDC 24V- output. (The following figure is for reference only, please perform related operations according to the actual electrical schematic diagram.)

    Figure 3.4.4

    Figure 3.4.4 - Enhanced visualization of data.

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.

3.5 Motor Lock Line Handling Method

1. If the motor used has a locking mechanism, in order to ensure that the robot reaches its designated location even after the driver is powered off, the SRC2000 core controller directly controls the motor's locking mechanism. An external switch is connected to facilitate manual control of the locking mechanism, while still retaining the function of the robot's locking mechanism in case of power loss.

2. Connect the Brake+ and brake-wire of the two motors to the T23 [15] lock output and T23 [16] respectively. Connect the T23 [17] lock switch and T23 [16] to the short handle knob switch. The ground wire [16] of T23 is the common ground wire, and the final result is shown in Figure 3.5.1.

    Figure 3.5.1

    Figure 3.5.1 - Enhanced Visualization

Four, Drive Parameter Configuration

Premise:

Applicable Driver Types: One-Piece, One-to-One, One-to-One

It is important to focus on the configuration method of the one-drag two-type drive. The HLS one-drag two-type drive utilizes a mode where two drives share a physical package and communicate in the same manner. The two drives of the one-drag two-type drive are separated by node number, which is the location in SYNTORN software. The two nodes are independent of each other and require separate parameter configuration. The changes will take effect after the site is restarted.

Contact SYNTORN for drive configuration software and the software user manual.

SYNTRON20191028.7 z

4.1 Configuring Private Protocols

1. Change the CAN baud rate of the driver to 250KHz, and modify the value of parameter Fn_0f3 to 250, as illustrated in Figure 4.6.1;

Figure 4.1.1

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

Figure 4.1.1:

2. [Drive I/O] As we have used IN1 for wiring, we must make the corresponding configuration on the I/O configuration interface and modify the value of parameter Fn_012 to "-1", as illustrated in Figure 4.1.2.

Note: If the drive model does not have an IO emergency stop configuration, change the value of Fn_012 to "1".

(Fn_012: Emergency Stop Settings: 1: Internal Enable, 0: Internal Disable, -1~-8: Select Numbers 1-8.)

    Figure 4.1.2

    Figure 4.1.2 - Enhanced visualization of data

3. Change the bus control mode to "speed running mode" under [Working mode], and set the parameter FN_000 value to 3;

[Select Communication Mode] Change the working mode of the driver to CAN bus control mode and modify the parameter FN_003 value to 2;

The configuration is displayed in Figure 4.3.

Figure 4.1.3

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

Figure 4.1.3:

4. The drives are assigned different CAN IDs. For the dual-wheel differential robot, the left drive is assigned ID 1, the right drive is assigned ID 2, the jacking drive is assigned ID 3, and the rotating drive is assigned ID 4. Table 3.6.1 provides more details on the drive CAN IDs, and Figure 4.1.4 shows the configuration.

    Figure 4.1.4

    Figure 4.1.4 - Enhanced visualization of data.

Note: Parameter FN_0f4 represents the node address of the CAN bus. Changing the node address of the CAN bus will result in a change of the driver's CAN ID. FN_0f2 must be consistent with FN_0f4.

    Table 4.1.5

    Table 4.1.5 - Improved Version

5. [Communication Timeout] Disable the drive communication timeout and adjust the FN_1c0 parameter value to 0, as illustrated in Figure 4.16;

    Figure 4.1.6

    Figure 4.1.6 - Enhanced visualization of data.

6. Configure the Watchdog function (Only applicable for Sensei drive LS, DM, and SM series). Confirm that the value of FN_1c0 is 0, and set Fn_1cb to 1, Fn_1cc to -1, Fn_1cd to 500, and FN_1ce to 400, as shown in Figure 4.1.7.

    Figure 4.1.7

    Figure 4.1.7 - Enhanced visualization of data.

7. Set parameter Fn_07E to 1 and parameter Fn_07F to 1 for low-speed position closed-loop control, as illustrated in Figure 4.1.8.

    Figure 4.1.8

    Figure 4.1.8 - Enhanced visualization of data.

8. Once you have made the necessary parameter modifications, download them to the drive and then power off and restart the drive, as illustrated in Figure 3.6.9.

           Figure 4.1.9:

9. All parameters can also be loaded using a text file. To load the parameters, go to File > Load parameter file (*.txt). In the dialog box that appears, select Config to load. Once loaded, download to the drive as shown in Figure 4.1.10.

Figure 4.1.10

Here is the reference configuration file, which is not a generic one. If you have modified the configuration parameter, please update it accordingly.

HLS Configuration File

4.2 Canopen Protocol Configuration Method

• Make sure the driver version is 20200901. Run Dn_7b and Dn_7c to check the version. If not, contact HLS to update the version.

If the drive utilizes the CANopen protocol, restore the factory settings prior to configuring it. Write 1 to Fn_007 and restart it for the changes to take effect. It is necessary to restore the factory settings for each node individually.

The configuration process is identical to that of a private protocol, following Steps 1 through 9.

• After configuring the above parameters, you must send configuration messages through the CAN card to enable automatic NMT when the driver is powered on. For details on how to use the CAN card, refer to section 8.3 of this article.
  The USB_CAN_TOOL interface is shown in the figure. The ID field represents the ID of this message (the driver ID configured in the above steps).
  Send ID = 0x0600 + ID
  Drive reply ID = 0x0580 + ID
  For example, take the drive with ID 1:
  Send ID = 0x0601
  Drive reply ID = 0x0581
  If a packet is sent to the drive, the packet is considered successfully sent only when a reply packet is received from the drive. If no reply packet is received, the packet is considered to have failed to be sent. The possible causes for packet sending failure are as follows:

  • Driver power failure

  • Incorrectly connected CAN bus

  • The ID of the sent packet is different from that of the destination drive

  • The CAN bus needs to be connected to a terminal resistor
    

Note: The CAN bus is only connected to the driver when the configuration message is sent.

The following configurations utilize drive 1 as an example:

• Transmit a CAN message via the CAN card [Write 0x55AA to 1004h]
  Transmit ID: 0x0601
  Data content: 2b 04 10 00 AA 55 00 00
  Drive response ID: 0x0581
  The configuration is only considered complete upon receipt of the drive's response ID

4.3 Configuration of steering driver (steering wheel)

• The configuration steps are identical to those for the CANopen protocol.

• Manually input the execution speed and add/subtract speed of the steering drive. The Position Mode (Walk) drive does not require this setting.

For example, the following utilizes drive 1.

Send CAN data sequentially [manually send data]

Send ID 0x601 23 81 60 00 E0 93 04 00 [Speed set to 30000]

Send ID 0x601 23 83 60 00 E0 93 04 00 [Acceleration Set to 30000]

Send ID 0x601 with data 23 84 60 00 E0 93 04 00 [Speed Reduction Set to 30000]

Send ID 0x601 23 10 10 01 73 61 76 65 [Save Configuration]

Note: After sending each of the previous packets, you must receive a response packet from the driver to confirm the successful configuration of the parameter. Due to the lengthy process of parameter saving, the response to the configuration packet may be delayed. If no response is received, the packet will not be saved successfully. Repeat the previous steps and repeat for each device.

The settings will take effect after the device is powered on again.

5. Robot Model Configuration Instructions

5.1 Configure parameters of the walking motor according to the actual conditions of the motor and deceleration

The Roboshop version is 2.0.X (with firmware version 1.8.X and below). Please refer to Figure 5.1.1 of the robot model. The Roboshop version is 2.1.X (with firmware version 1.9.X and above). Please refer to Figure 5.1.2 of the robot model.

     Figure 5.1.1: Improved User Interface Figure 5.1.2: Enhanced Functionality

Note: The deceleration ratio, number of encoder lines, maximum motor speed, and driver brand should be filled in according to the actual selection.

5.2. Configure Top Elevation and Section DI Parameters

Roboshop version 5.2.1 is 2.0.X and firmware version is 1.8.X or later

1. Drag a DI onto any location on the car body, change the DI number to 6, set the function to none, type to none, and max distance to 0, as illustrated in Figure 5.2.1; (DI6 represents the rotating zero signal)

    Figure 5.2.1

    Figure 5.2.1 - Enhanced visualization of data.

2. Save and upload the model file, wait for 45 seconds, access the I/O configuration in Roboshop, and check the DI6 status based on the table provided in Figure 5.2.2 and Table 5.2.1;

    Figure 5.2.2

    Figure 5.2.2 - Enhanced Visualization of Data

    Table 5.2.1

    Table 5.2.1 - Enhanced Version

3. Repeat Steps 1 and 2 to properly configure DI2 and DI5 in the model file.

5.2.2 Roboshop version is 2.1.X and firmware version is 1.9.X or later

1. Add a DI device to the device selection on the left side of the robot model. Change the DI number ID to 6, set the function to "none", the type to "none", and the maximum distance to 0, as shown in Figure 5.2.3. (DI6 is the rotating zero signal).

    Figure 5.2.3

    Figure 5.2.3 - Enhanced visualization of data.

2. Save and upload the model file, wait for 45 seconds, open the I/O configuration in Roboshop, and check the DI6 status based on the table provided in Figure 5.2.4 and Table 5.2.4.

         Figure 5.2.4

         Figure 5.2.4 improved

Table 5.2.2

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

Table 5.2.2:

3. Repeat Steps 1 and 2 to properly configure DI2 and DI5 for the model file.

5.3 Setting Parameters for Jacking up and Rotating Drivers

Instructions for Kiva jack-up transformation, including specific steps referenced in https://shimo.im/docs/dL9kBMz8b8EcYqK5/: step 2, step 3, and step 4.

VI. Exception Handling

6.1 Resolving the Issue of the Sentron Drive (LS-10530D2) Not Being Able to Power On

If the drive cannot be enabled after power-on, modify the hidden bits 1004 and 1010 of the drive as follows:

1. Use the CAN card to write "2B 04 10 00 AB 55 00 00" to drive 1004, as illustrated in Figure 6.1.1:

    Figure 6.1.1

    Figure 6.1.1

2. Utilize the CAN card to input 23 1010 02 73 61 76 65 into the 1010 bit of the drive, as illustrated in Figure 6.1.2;

    Figure 6.1.2

    Figure 6.1.2 - Enhanced visualization of data

6.2 Handling the Situation Where Modifying Parameters of Other Drivers Cannot Be Enabled **

1. Request the motor number selected for the project from the supplier, ensure that F0007 is accurately filled in, verify the modification, and transmit the parameters to the driver.

2. Change the F0006 parameter to 1, confirm the modification, and transfer the parameter to the drive. Then, power off and restart the initiator. All drive parameters will be loaded into default parameters, as shown in Figure 6.2.1.

Figure 6.2.1

3. Adjust drive parameters based on sections 4.1-4.7, power off the drive, and then restart it.

Note: To restore factory settings, you only need to use Fn007 once. You do not need to write "1" again later, otherwise the drive will restore factory parameters again.

6.3 The ship steering wheel is unable to return to the zero position after steering

1. Adjust the speed of the steering wheel and the speed increment/decrement messages

6.4 Cannot Enable CANopen Drives After an Emergency Stop and Recovery

1. Contact the manufacturer of the driver to update the driver version to 20200901.

7. Detection of Driving Motor Function

1. Before installing the shell, double-check the connection to ensure it is correct.

2. Lift the body of the car so that the wheels are off the ground. Turn on the robot and connect it to the network using a 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. Ensure that the CAN messages are error-free.

3. Lower the car body and use the Roboshop software to control the robot's movements: push the robot forward, backward, left, and right before clicking the emergency stop button. However, the robot cannot be pushed (motor enable). Check the robot's state in Roboshop as "No emergency stop" and "drive no emergency stop," as shown in Figure 7.1. After pressing the emergency stop button, the robot can be pushed again (motor enable release), and check the robot's state in Roboshop as "emergency stop" and "drive emergency stop," as shown in Figure 7.2.

     Figure 7.1 and Figure 7.2

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

VIII. Appendix

8.1 Distribution and Definition of Communication Terminal Pins

8.2 Using Zhiyuan CAN Scope

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

2. Hardware Connection - Refer to the CANScope user manual to connect the power supply, USB debugging cable, plug in the CAN Port board, connect CAN_H to SRC2000 external wiring harness TE35 33 line, connect CAN_L to SRC2000 external wiring harness TE35 32 line. Plug the USB debugging cable into the computer.

3. Open the CANScope software, select [Port board], uncheck [Enable terminal resistance], select [message], set [baud rate] to 250Kbps, uncheck [bus response], select [Enable], and view the real-time CAN message as shown in Figure 8.2.1.

    Figure 8.2.1

    Figure 8.2.1 - Enhanced visualization of data.

4. Select [Status] [Error] to verify the presence of error packets. Refer to Figure 8.2.4 for details.

    Figure 8.2.2

    Figure 8.2.2 - Improved version

8.3 Usage Method for USB CAN Card

1. Software Installation - Install the USB_CAN Tool software (Contact the vendor of the CAN card for software and user manuals).

2. Hardware Connection - Prepare a USB CAN card and 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. As shown in Figure 8.3.1.

    Figure 8.3.1:

3. Launch the USB CAN tool, and then choose [Device Operation (O)] followed by [Boot Device (S)]. Confirm the CAN parameter settings, including the [baud rate] set to 250Kbps and the [CAN channel number] set to channel 1. Finally, click [Confirm]. Refer to Figure 8.3.2 for details:

    Figure 8.3.2

    Figure 8.3.2 - Enhanced Visualization of Data

4. Choose "Display (V)" and uncheck "Merge same ID data (M)". The CAN message will be displayed in Figure 8.3.3.

    Figure 8.3.3

    Figure 8.3.3 - Enhanced visualization of data.

8.4 Usage of udpconsole

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

1. Make sure the computer is physically connected to the robot using a network cable before opening the udpconsole tool.

2. Once udpconsole is open, test the drive function and monitor the display content at all times.

Error frames may occur during driver communication, as illustrated in Figure 8.4.1:

    Figure 8.4.1

    Figure 8.4.1 - Enhanced visualization of data.

8.5 Locked-turn Change in HSL-CANopen Protocol Location Mode (Page Zero, not tested, not recommended, only recorded)

Steering gear lock-in autonomous change configuration.docx

Nine Common Drive Error Codes

The error codes, when converted to decimal, correspond to the following table of digital alarm codes.

Example: The error code is 0x0B54. When converted to decimal, it corresponds to gridlock or stall with a value of 2900.