Description

This document outlines the process of transforming robots to ensure that the company's products meet industry standards, maintain stable product quality, and provide guidelines for technical personnel to follow during the transformation process.

Robot automation transformation involves a significant number of sensors. We recommend utilizing our company's core controller standard wiring harness, TE23 and TE35. This document serves as a guide for operating with the core controller standard wiring harness as the blueprint.

The MOTEC servo driver selection recommendations are based on the company's selection guidance manual.

This document is for reference purposes only and cannot be used as a technical agreement or any other content for which we are responsible.

1. Scope of Application

This technical specification applies to the company's technical staff who utilize MOTEC drivers for automation conversion, development, production, and debugging.

Second, Debugging Resources

3. Transformation Process

Retrofit (Chassis Driver Part)

1. The driver must be securely attached to the car body, and the power supply (positive and negative terminals) of the driver must be properly connected, as well as the power and encoder lines of the corresponding motor. The MOTEC driver comes with a cable provided by the manufacturer upon purchase. Use the cable provided with the MOTEC driver during installation.

Figure 4.3.1 shows the driver power supply, power cable, encoder cable, emergency stop cable, upper computer CAN communication connecting bus, CAN communication connecting cable, status lamp, and power lamp on the left.

     Figure 4.3.1

     Figure 4.3.1 - Enhanced visualization of data

Note: The power and encoder lines between the driver and corresponding motor must be connected one-to-one and should not be used for cross-correspondence.

2. When installing the robot with multiple drivers (number ≥2), the CAN_L and CAN_H pins of the slave station can be directly connected. The connection should be in series as much as possible, as shown in the left figure of FIG. 4.3.3. Press the can_H into a Decci cartridge connector, press the can_L into a Decci cartridge connector, and connect the Decci DT06-2S male head. Finally, connect it with line 32 and 33 in TE35 (can1).

Note: In the process of transformation, if there are not enough wiring harnesses required for driver connection, rapid series at the driver end cannot be achieved. The connection mode shown in the right figure in 4.3.3 can be used, but it is not recommended.

     Figure 4.3.3

     Figure 4.3.3 - Enhanced visualization of data.

3. In order to guarantee the quality of CAN communication, it is necessary to install a 120Ω terminal resistor on the driver that is farthest from the core controller. For instance, in FIG. 4.3.3, the terminal resistor on Driver1 can be opened by dialing.

Note: Customers can purchase the corresponding terminal resistor from the driver manufacturer when buying the driver.

4. Verify that the terminal resistance is properly open:

Turn off and power down the system. Disconnect the CAN connection cables between the driver and controller (located between Driver4 and controller in FIG. 4.3.3). Utilize a multimeter to measure the resistance between CAN_L and CAN_H on the CAN bus at the driver's side. Refer to Figure 4.3.5. 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 Figure 4.3.3. 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 4.3.5. 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 4.3.4

     Figure 4.3.4 - Enhanced visualization of data.

5. Implement Emergency Stop for Driving

Method 1: Turn off the power to the drive to bring the vehicle to an emergency stop - not recommended

The MOTEC driver currently in use requires the emergency stop switch to be triggered in order to power off the driver and activate the emergency stop function for the entire machine. To implement this, it is necessary to utilize another normally closed contact of the emergency stop switch to control the relay that supplies power to the driver.

     Figure 4.3.5 (Note: The CAN cable of the driver is not connected using the recommended connection method shown in this figure)

As illustrated in Figure 4.3.5, the MOTEC driver connects the normally closed contact string of the relay control coil circuit and one of the emergency stop switches to line 20 and line 9 of the core controller T23 to create a closed loop. The control circuit string of the relay should be connected to the circuit that the battery supplies power to the driver, as indicated in the red box area in the above figure;

Mode 2: Control the drive IO implementation to enable emergency stop - recommended

Connect the COM+ Pin (13) on the CN3 interface of the driver to the DCDC 24V+ output. Connect the Input1 Pin (10) on the CN3 port of the driver to the emergency stop output 1+ (Line 5 in T35) on the SRC2000 controller, and connect the other emergency stop output 1- (Line 4 in T35) to the DCDC 24V- output. The connection description is illustrated in Figure 4.3.6:

     Figure 4.3.6

     Figure 4.3.6 - Enhanced visualization of data.

6. Method for Handling Motor Locking Wires

If holding the gate is required, refer to Figure 4.3.2 for the holding power interface and the dedicated output interface. Connect the power interface to a 24V power supply, and then connect the break+ to the dedicated output port of the break-holding gate and the motor's holding interface.

The Motec driver does not support zero speed lock, therefore the emergency stop mode must be configured as either IO emergency stop or power emergency stop. Please refer to Chapter 5 for robot model configuration. Figure 4.3.7

Four, Drive Configuration

One: Required Option

Refine the text in the following HTML code: MOTEC drive configuration software MotionStudio and software user manual. Contact the official after-sales service of the drive vendor.

1. Hardware Connection - The computer establishes a communication link with the drive. Prepare the special USB serial port debugging cable for the MOTEC drive. Connect the USB port to the computer, and connect the other end MD8 to the CN4 or CN5 port of the drive.

2. Install MotionStudio configuration software, double-click the MotionStudio shortcut to open it, select "Communications" to access communication settings, confirm the COM port selection, and click "Online" to connect the drive, as shown in Figure 4.4.1:

Note: The start address and end address are related to the CAN ID you set, meaning that the range should include the CAN ID you set (default is 1).

     Figure 4.4.1

     Figure 4.4.1 - Enhanced visualization of data.

3. Change the CAN baud rate of the driver to 250KHz, as illustrated in Figure 4.4.2:

     Figure 4.4.2

     Figure 4.4.2 - Enhanced visualization of data.

4. [Select CANopen communication protocol] Change the driver communication protocol to CANopen communication protocol, as illustrated in Figure 4.4.3:

     Figure 4.4.3

     Figure 4.4.3 - Enhanced visualization of data.

5. [Select Operation Mode] Change the drive operation mode to network command mode, as illustrated in Figure 4.4.4:

     Figure 4.4.4

     Figure 4.4.4 - Enhanced visualization of data.

6. [Working Mode] Change the working mode of the drive to "Speed Mode", as illustrated in Figure 4.4.5:

     Figure 4.4.5

     Figure 4.4.5 - Enhanced visualization of data.

7. [Drive Address] Assign different CAN IDs to each drive. Typically, for a two-wheel differential robot, the drive on the left is numbered as ID 1 and the drive on the right is numbered as ID 2, as illustrated in FIG. 4.4.6:

     Figure 4.4.6

     Figure 4.4.6 - Enhanced visualization of data.

8. [将输入端口定义为网络模式下的启用信号] 将定义的输入端口值作为网络模式下的启用信号更改为9999，如图4.4.7所示：

     Figure 4.4.7

     Figure 4.4.7 improved

9. [Emergency Stop and Stop Mode] Configure the emergency stop and stop mode to decelerate and stop the motor based on the pre-set reduction speed, as illustrated in Figure 4.4.8:

     Figure 4.4.8

     Figure 4.4.8 - Enhanced visualization of data.

10. [定义电机使能功能输入端口] 将电机使能功能输入端口定义为第1个输入端口，作为电机使能输入。请参见图4.4.9：

                   Figure 4.4.9:

11. The motor can be activated by the release mechanism, and the motor can be activated by the release mechanism. If the release mechanism is defined as 1, the motor can be activated. This is illustrated in Figure 4.4.10:

Figure 4.4.10

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

Figure 4.4.10:

Note: The "enable" setting automatically passes the IO configuration through the relevant enable line in the emergency stop interface. The parameter is read as 1 after the motor is normally enabled, and 0 if it is not enabled.

12. [Motor Enable Trigger Level] Define the motor enable trigger level as 0 and enable the low level, as shown in Figure 4.4.11:

     Figure 4.4.11

     Figure 4.4.11 - Improved Version

13. Locate the [current ring proportional gain], [current ring integral gain], [position ring proportional gain], [position ring integral gain], [speed ring proportional gain], and [speed ring integral gain] parameters. These parameters may vary depending on the driver model, so it is recommended to consult with the driver manufacturer's technical personnel to properly set them. Additionally, it is important to check the actual motor effect of the driver, including motor jitter and enable effect. Refer to Figure 4.4.12 for further guidance.

     Figure 4.4.12

     Figure 4.4.12 - Enhanced visualization of data.

Note: Only configure the relevant parameters of the first group of three-ring feedback shown in the above figure.

2: Optional (Configure lock-related parameter settings)

1. Setting for automatic locking brake and motor enablement linkage

2. Lock type configuration

5. Robot Model Configuration Instructions

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

The Roboshop version is 2.0.X (with firmware version 1.8.49 or lower). Please see Figure 5.1 of the robot model. The Roboshop version is 2.1.X (with firmware version 1.9.0 or higher), please see Figure 5.2 of the robot model:

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

     Figure 5.1: Improved User Interface Figure 5.2: 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.

The lock mode is configured for the robot model in Roboshop software. However, please note that the Motec driver does not support zero speed lock mode. Therefore, the emergency stop mode should be configured as either IO emergency stop or power emergency stop. This is illustrated in the following figure:

Six, Drive Function Detection

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.

Vii. Supplementary Material

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 USB CAN Card Usage

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, and connect the CAN_H cable to wire TE35 33 of the RC2000 external wiring harness, and the CAN_L cable to wire TE35 32 of the SRC2000 external wiring harness. Refer to Figure 7.2.1 for details.

     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 Method 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. Open udpconsole, test the driver function, and verify the displayed content in udpconsole.

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

     Figure 7.3.1

     Figure 7.3.1 - Enhanced Visualization of Data

Common Error Codes for Drives