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.

This document is applicable to the Mingzhi MBDV series servo drivers. For specific selection recommendations, please refer to the company's selection guide.

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 companies using the Mingzhi MBDV-520AC series drive for automation transformation in R&D, production, and technician debugging.

Second, Debugging Resources

Manual for Driving:

M3 EtherCAT User Manual

MBDV Hardware Manual (CN20210526)

Software for configuring drives:

Luna - Installation - Version 1.1.21.0528

Three, Transformation and Installation

3.1 Class Kiva Jacking Part DI Usage Specifications

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.

3.2 Transformation (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 4.4.2 can be used, but it is not recommended.

     Figure 3.4.1: Figure 3.4.2:

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. 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 wiring diagram for the STO (emergency stop) of the Mingzhi MBDV driver is illustrated in Figure 4.4.4. To connect, parallel SF1+ and SF2+ of all drivers to the DCDC 24V+ output. Parallel SF1- and SF2- of all drivers to the SRC2000 emergency stop output 1+ (TE35 Line 4), and connect another emergency stop output 1- (TE35 line 5) to the DCDC 24V- output. Refer to the Appendix for STO wiring instructions.

    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.

5. To control the motor lock gate through the lock gate output outlet on the driver, the lock gate interface must be used. In order to ensure that the lock gate output speaker outputs voltage correctly, 24V power must be supplied to the driver's auxiliary power (AUX).

Four, Drive Parameter Configuration

4.1 Driver Debugging

4.1.1 Tools:

(Refined:

Tools:

Mini-USB data transfer cable

Manual for Driving:

M3 EtherCAT User Manual

MBDV Hardware Manual (CN20210526)

Software for configuring drives:

Luna - Installation - Version 1.1.21.0528

4.1.2 Connect to the upper computer and upload current parameters

4.1.3 Basic Parameters: Modify the ID, baud rate, and trigger time and behavior of the watchdog

If the DIP switch identification is supported, the DIP switch configuration takes priority over the software configuration.

4.1.4 减速停车：“AM value”对应[通用]-[伺服制动减速度]。如无特殊需求，可使用默认值；如需使用该功能，请根据现场情况合理配置该参数。

4.1.5 Dynamic Brake: MBDV Provides the "Dynamic Brake" Function, Enabling the Motor to Stop More Quickly. The Following Configuration is for Reference, Which Can be Set According to Site Requirements.

4.1.6 Emergency Stop Function: Configure the emergency stop function

4.1.7 Setting Locking Logic: Enable unlocking or disable locking

4.1.8 Pulse number per revolution of the motor (count value) configuration, the default is 10000. The configuration parameter of model file [encoderLine] is the pulse number per revolution of the motor divided by 4, as shown in the figure below: encoderLine = 10,000/4 = 2500; If the drive parameter is modified, the model file configuration parameter needs to be modified accordingly

4.1.9 Saving Parameters: The Luna software version is 1.1.21.0528 (including earlier versions). After modifying parameters, you need to send the SA6 command to save the modified parameters. Enter "SA6" and press Enter. If the Luna version is later than 1.1.21.0528, skip this step.

Figure 4.5.5.1

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

Figure 4.5.5.1:

Figure 4.5.5.2

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

Figure 4.5.5.2:

4.1.10 The above parameters will take effect again after restarting. To prevent modification failure, read the corresponding parameters again after restarting.

4.2 Drive Firmware Write Burning

4.2.1 Preparing for Update

1 Line for Debugging:

Mini USB

2. Using Software:

Luna - Setup - 2.1.21.0820. Zip

4.2.2 Procedure for Updating:

1. Connect the software

Connect the drive to the computer using a mini-USB cable, launch the software, and locate the firmware for downloading.

2. Begin downloading the firmware

3. Finish the upgrade

Turn on the driver after the upgrade is finished.

VI. Frequently Asked Questions

6.1 ID Cannot Be Changed:

Verify if the DIP switch ID is configured correctly. The DIP switch takes precedence over the software configuration. To utilize the software configuration, ensure that the ID section of the DIP switch is turned off.

6.2 See door dog report error cannot be cleared

Verify if communication is functioning properly. If drive communication is normal and the watchdog error persists, review the watchdog configuration and choose "Synchronizing Message" as the trigger type while deselecting other options [RPdos].

Vii. Appendix

7.1 Communication Terminal Pin Distribution and Definition

7.2 STO (Emergency Stop) Cable Sequence

7.2 Emergency Stop (STO) Cable Sequence

7.3 How to use the DIP switch of a drive

For example, consider the MBDV-520AC drive:

SW1, SW2, and SW3 can be configured with IDs ranging from 1 to 7. If the aforementioned settings are required, set all the DIP switches to off and use the software to set IDs.

Configure the baud rate, disable dialing, and set the baud rate using software.

Set terminal resistance for SW5. Turn ON to activate terminal resistance.

7.4 Using 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 7.4.1

    Figure 7.4.1 - Enhanced visualization of data.

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 7.4.2

    Figure 7.4.2 - 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 7.4.3

    Figure 7.4.3 - Enhanced visualization of data.

Common Error Codes for Eight Driving

8.1 Error Codes

Convert the error code to binary, with 0 bits on the far right. When a bit is set to 1, the drive is in the state defined by the current bit. For instance, if the error code is 0x8000000, it is converted to 1000 0000 0000 0000 0000 0000 0000 0000, which corresponds to position 27 being 1. The corresponding error status triggered by the bus watchdog can be seen from the table. Multiple error states can exist simultaneously.