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.

Tongyi servo driver selection recommendations are available in the company's SRC2000 selection guide.

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 technical personnel who use the Yuhesen drive for the development, production, and debugging of automatic transformation.

Second, Debugging Resources

2.1 Yu Hesen's VCU Document

2.1.1 Delivery of Control Frames

采用自由控制模式

2.1.2 Wheel Information Frame for Reporting

煜禾森VCU上报的编码器脉冲数的采样频率小于上报频率,如果采用脉冲数上报的话Roboshop会解算出错误的速度。所以最后采用上报左右轮实际速度方式

2.1.3 Parameters for Wheels

编码器线数:	1024线
电机减速比:	1:30
轮子半径：	150mm

Four, Parameter Configuration

Five, Configuration of Model Files

5.1 Setting canID

Note: The canID configuration should be set to 1 and 2 for the left two wheels and 3 and 4 for the right two wheels (order is not required) as demonstrated below:

5.2 Chassis Configuration

The chassis is configured with a four-differential model.

width 0.58

head 0.34

tail 0.36

height 0.365

5.3 Wheel Setting

轮半径0.15m
配置为walk
协议选YuHeSen

VI. Testing

Vii. Frequently Asked Questions