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 requires the use of numerous sensors. We suggest utilizing our standard core controller wiring harnesses, TE23 and TE35. This document serves as a guide for operating with the standard wiring harness of the core controller.

1. Scope of Application

This technical specification applies to the company's research and development, production, and debugging technicians for robot automation transformation.

Second, Debugging Resources

3. Transformation Process

Retrofit (Chassis Driver Part)

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 drives (number ≥2), all CAN_L and CAN_H pins of the slave station can be directly connected and connected in series, as shown in Figure 4.3.1. The CAN_H signal from Driver4 is ultimately routed to a Deutsch cartridge connector, and the CAN_L signal is similarly routed to a Deutsch cartridge connector to access the Deutsch DT06-2S male connector. Finally, it is connected to Line 32,33 (CAN1) on T35;

    Figure 4.3.1

    Figure 4.3.1 - Enhanced Visualization

3. In order to guarantee the quality of CAN communication, it is necessary to open the 120Ω terminal resistor on the driver that is farthest from the core controller, as illustrated in Figure 4.3.1. Install the terminal resistor on Driver1, while the terminal resistors on other drivers (Driver2, Driver3, and Driver4) are either disabled or not installed.

4. Verify that the terminal resistance is properly open:

Turn off the power and disconnect the CAN connection lines between the driver and controller (located between Driver4 and the controller in Figure 4.3.1). Use a multimeter to measure the resistance between CAN_L and CAN_H on the driver side of the CAN bus. Refer to Figure 4.3.2. 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 Figure 4.3.1. Use a multimeter to measure the resistance between CAN_L and CAN_H on the CAN bus of Driver1. If the resistance value is 120Ω, it is correct, as shown in Figure 4.3.2. If the resistance value is significantly greater than 120Ω (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.

    Figure 4.3.2

    Figure 4.3.2 - Enhanced visualization of data.

4.4 Driver Configuration

1. Download and install Leiser's specialized debugging software:

[Rezai, Motor and Drive Information. RAR] https://seer-group.coding.net/s/d72b2284-0618-4165-bd4c-a48cc857e1a0

2. We recommend using RS232 communication mode to establish communication between the debugging computer and the driver. It is also recommended to use a USB-232 converter and Lasay's special wiring harness, as shown in the figure.

3. Utilize the upper computer software to establish a connection with the Leiser drive, launch the LD5, and select Find Device

4. Locate the device, click on Connect, and then click OK in the pop-up dialog box that appears.

5. If this message appears in the status bar, the connection is functioning properly.

6. Choose parameter storage management, switch the control mode to 1, speed mode, and perform a trial run test.

[Please refer to the LD5-400-can-Drive configuration in the documentation]

Once you have finished making the necessary changes, click on the "Deliver parameter" button.

7. The results of the trial run are as follows: set the ladder parameters and click the Start button.

Change the control mode to 8 (CANopen mode) for the experiment and click on Save.

9. Activate the second drive motor and conduct a test run using the same parameter configuration. It has been observed that the curve is slightly different and not as optimal as the curve produced by the first motor.

10. As per step 6, change the second drive back to canopen and save the changes. Power on the drive once again and program the code in accordance with the canopen protocol after completing the drive configuration.

11. Open RoboShop to configure the motor. Try using the contents of the CANopen protocol to configure the electric motor, including the CAN port, baud rate, and motor brand.

4.5 Press keys to set the parameters of the drive. Refer to the LD5-400-CAN-Drive Instruction for press keys:

(1) The panel displays "click ENT".

(2) If the parameter is not equal to 1, then set it to 1.

(3) Configure the slave station number PA000 to 4 (ensure it matches the model file here).

To configure the baud rate, set the PA-000 to 3 (250K), as illustrated in the table below.

Assign the nodeID value as PA-001

Parameter Setting Mode - "PA_638" changes the parameter value to 0.

If it is not zero, change it to zero.

(4) EEPROM Writing Mode

(5) 重新启动驱动器

1. Use USBcan to open the drive device. Select frame ID 0x603 and 0x604, as the device corresponds to 3 and 4.

Send CAN data sequentially [manually send data]

Frame ID: 0x000 80 05

Frame ID 0x603 2b 17 10 00 64 00 00 00 00 [Write 64 to 1017]

Frame ID 0x603 23 10 10 01 73 61 76 65 [Save Configuration]

The frame identifier is 0x000 01 00.

Simultaneously, transmit CAN data to Node 4 device:

Frame ID: 0x000 80 05

Frame ID 0x604, 2 bytes, 23.2°C, 100% humidity [Write 64 to 1017]

Frame ID 0x604 23 10 10 01 73 61 76 65 [Save Configuration]

The frame identifier is 0x000 01 00.

2. Launch the roboshop's upper computer software, and configure the model file to operate the motor.

5. Instructions for configuring robot models

Adjust the walking motor parameters based on the motor and deceleration's actual conditions:

Note: These parameters should be filled in according to the actual conditions of the driver, motor, and reducer selected;

                                 Figure 5.1

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

Six, Detection of Driving Functions

1. Prior to installing the shell after vehicle assembly, double-check the cables to ensure proper connection.

2. Elevate the car body to raise the wheels off the ground. Activate the robot and connect it to a network cable. Utilize Roboshop software to control the robot and set the wheels in motion. Employ the CanScope clip to detect CAN messages on the CAN bus for a minimum of 1 hour. The CAN messages are devoid of errors.

Step 3: Place the car body on the ground and utilize the Roboshop software to control the robot's movements, including forward, backward, left, and right.

4. Prior to pressing the emergency stop button, attempt to push the robot. If it does not move (motor is disabled), verify that the Roboshop robot is in the "No Emergency Stop" and "Drive No Emergency Stop" state, as depicted in Figure 6.1. Once the emergency stop button has been activated, push the robot again to enable the motor and ensure that it is now in the "Emergency Stop" and "Drive Emergency Stop" state in Roboshop, as illustrated in Figure 6.2.

Figure 6.1

Figure 6.2

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

7. Appendix

7.1 Using Zhiyuan CAN Scope

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

2. Hardware Connection - Refer to the CAN Scope user manual to connect the power supply, USB debugging cable, plug in the CAN Port board, and connect the CAN_H to the SRC2000 external wiring harness TE35 No. 33 wire. Connect CAN_L to SRC2000 external wiring harness TE35 No. 32. Plug the USB debugging cable into the computer.

3. Launch CANScope software, choose [Port board], uncheck [Enable terminal resistance], select [Message], set [baud rate] to 250Kbps, uncheck [bus response], select [Enable], and view real-time CAN messages as displayed in Figure 7.1.1.

    Figure 7.1.1

    Figure 7.1.1 - Enhanced visualization of data.

4. Choose [Status] [Error] and verify if there are any error packets. Refer to Figure 7.1.2 for details.

    Figure 7.1.2

    Figure 7.1.2 - Enhanced visualization of data

7.2 Usage of the USB CAN Card

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

2. Hardware Connection - Acquire a USB CAN card and cables, then 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 7.2.1 for guidance:

    Figure 7.2.1

    Figure 7.2.1 - Enhanced visualization of data.

3. Open the USB CAN tool, select [Device Operation (O)] and then select [Start Device (S)]. Confirm the CAN parameters, setting the [baud rate] to 250Kbps and selecting [CAN channel number] as channel 1. Finally, click [Confirm]. Refer to Figure 7.2.2 for details.

    Figure 7.2.2

    Figure 7.2.2 - Enhanced visualization of data.

4. Choose "Display (V)" and uncheck "Merge same ID data (M)". The CAN message is displayed in Figure 7.2.3.

    Figure 7.2.3

    Figure 7.2.3 - Enhanced Visualization of Data

7.3 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. Prior to launching the udpconsole tool, ensure that the computer is physically linked to the robot via a network cable.

2. Launch udpconsole to test the driver functionality and verify the displayed content on udpconsole.

Error frames may occur during driver communication, as illustrated in Figure 7.3.1:

Figure 7.3.1

Eight, Analysis of Roboshop Error Codes

For instance:

Roboshop shows the motor error code as 0x6100 and only considers the lower 12 bits of binary as the alarm code, which matches the panel display. For instance, if you extract 0x100 from 0x6100, it indicates the alarm Er100, which comprises the main code and the auxiliary code, 100, indicating an overloaded drive.