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 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 RoboteQ Drive company's technical personnel responsible for research and development, production, and debugging of automated systems.

Second, Debugging Resources

Three, Drive Configuration

3.1 Communication Connection

• 9-pin

• 25-pin

3.2 CANopen Parameter Settings

3.3 Walking Configuration

3.3.1 Walking Driver Parameter Settings

Function Description: Current limiting, trigger current, trigger delay, trigger response, and maximum/small duty cycle. Please refer to the relevant motor data and use the default parameter settings provided here.

Maximum Speed: The maximum desired speed of the motor.

Acceleration: the rate at which the motor increases its speed

Deceleration: reduction of motor speed during deceleration

PI Parameters: Refer to section 3.2

4.3.2 Setting the Walking PID (Incremental)

PID parameter tuning:

Adjust the response speed of P

I: Enhance stability

D: Fine-tune reaction overshoot

• First, adjust the P value to ensure stable motor speed upon reaching the set speed.
• Next, adjust the I value to minimize motor error when setting the final speed.
• Finally, adjust the D value to enable the motor to quickly reach the set speed without any shock when changing the set speed.

4.3.3 Setting Encoder Parameters

The number of pulses per revolution is determined by the encoder resolution.

• If the encoder is coaxial with the motor, indicate the encoder resolution, such as 1024, without passing through the reducer. If it is one-to-one with the motor, write 1024.
• If the encoder is connected to the motor through the reduction box, and the speed measuring gear and motor gear have a one-to-one ratio, then write 1024/reduction ratio.

4.4 Steering Configuration

4.4.1 Setting Rudder Angle Driver Parameters

Function Description: Current limiting, trigger current, trigger delay, trigger response, and maximum/small duty cycle. Please refer to the relevant motor data and use the default parameter settings provided here.

Maximum Speed: The maximum desired speed of the motor.

Acceleration: the rate at which the motor increases its speed

Deceleration: reduction of motor speed during deceleration

PI Parameters: Refer to section 4.4.2

4.4.2 Configuring Rudder Angle PID

PID parameter tuning:

Adjust the response speed of P

I: Enhance stability

D: Fine-tune reaction overshoot

• Initially, adjust the P value to enable the steering wheel to attain the designated position and sustain stability
• Upon altering the setting position, the steering wheel should promptly reach the new position without any jolts
• Lastly, fine-tune the I value to minimize the motor's error in the final setting position

4.4.2 Configuring Encoder Parameters

The number of pulses per revolution is determined by the encoder resolution.

• If the encoder is coaxial with the motor, indicate the encoder resolution, such as 1024, without passing through the reducer. If it is one-to-one with the motor, write 1024.
• If the encoder is connected to the motor through the reduction box, and the speed measuring gear and motor gear have a one-to-one ratio, then write 1024/reduction ratio.

4.5 Two tow two configuration (one steering, one walking)

Two hard drives

Drive 1:

Motor1 is connected to the motor and configured in Closed Loop Speed mode.

The Motor2 is connected to the steering motor and configured in Closed Loop Count Position mode.

• Script: One drag two turn walk -20230111.zip

Drive Two:

Motor1 is connected to the motor and configured in Closed Loop Speed mode.

The Motor2 is connected to the steering motor and configured in Closed Loop Count Position mode.

• Script: One drag two turn walk -20230111.zip

4.6 Two one-tow two configuration (two walking), double jacking configuration

Four-wheel drive

Drive 1:

Motor1 is connected to the motor and configured in Closed Loop Speed mode.

The Motor2 is connected to the walking motor and configured in the Closed Loop Speed mode.

• Script: One drag two pairs walking.zip

Drive Two:

Motor1 is connected to the motor and configured in Closed Loop Speed mode.

The Motor2 is connected to the walking motor and configured in the Closed Loop Speed mode.

• Script: One drag two pairs walking.zip

Drive Three:

The Motor1 is connected to the linear motor and configured in closed loop speed mode.

• Script: unilinear.zip

Drive Four:

The Motor1 is connected to the linear motor and configured in closed loop speed mode.

• Script: unilinear.zip

4.7 Two one-tow two (two steering configurations), two separate walking drives

Drive 1:

The Motor1 is connected to the steering motor and configured in Closed Loop Count Position mode.

The Motor2 is connected to the steering motor and configured in Closed Loop Count Position mode.

• Script: One drag two pairs turn.zip

Drive Two:

The Motor1 is connected to the steering motor and configured in Closed Loop Count Position mode.

The Motor2 is connected to the steering motor and configured in Closed Loop Count Position mode.

• Script: One drag two pairs turn.zip

Drive Three:

Motor1 is connected to the motor and configured in Closed Loop Speed mode.

• Script: single line.zip

Drive Four:

Motor1 is connected to the motor and configured in Closed Loop Speed mode.

• Script: single line.zip

4.8 Saving Settings

4.9 Script Configuration

4.9.1 Setting the Digital Input Limit Function (for Marking Rudder Angle with Zero)

Click the "Save to Controller" button once the configuration is complete.

4.9.2 Downloading the script Code and setting the script to run automatically

4.9.3 Adjusting the Steering Wheel to the Zero Position and Speed

Configure the script to run automatically and set parameters related to CANopen.

Viewing Error Codes

Five, configuration of drive model files

5.1 Connecting to the SRC-2000 Controller

5.1.1 Connecting Network Cables

Connect the computer and SRC2000 controller using a network cable.

5.1.2 Opening Roboshop Software

5.1.3 Adding Robots to the list in Roboshop

5.1.4 Connecting and Configuring a Robot

5.2 Configuring a Model File

5.2.1 Pull the robot model file

5.2.2 Add Four Wheels

5.2.3 Setting the Model ID of Roboshop

Model CAN ID Configuration: x1x2

• x1: indicates the identification of the CANOpen Node on the drive
• x2: denotes the corresponding output number on the drive

For instance:

When the motor is connected to motor2 of the drive with a CANopen Node ID of 1, the CAN ID is set to 12.

5.2.4 Configuring Wheel Attributes

Front Steering Wheel

Note: The deceleration ratio, number of encoder lines, maximum motor speed, and driver brand should be filled in according to the actual selection. The number of encoder lines can be viewed through the drive debugging software's motor encoder parameter configuration.

Front Wheel

Rear Steering Wheel

Rear Wheel

5.2.5 推送模型文件

VI. Testing

Vii. Frequently Asked Questions

Script for finding the origin logic:
1. Firstly, assign a value that exceeds the positive limit for the steering motor to turn, and then check if the positive limit is triggered. If it is triggered, stop and set the encoder value of this position to the encoder pulse number from the front to the limit to complete the distance finding.