I. Explanation

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.

Note: This document is for reference purposes only and cannot be used as a technical agreement or any other content that assumes responsibility.

II. Scope of Application

This technical specification applies to companies using Eston's high voltage series CANopen communication drivers for automation transformation, including the development, production, and commissioning of technical personnel.

Three, Debugging Resources

ESView Version 3.3.1.0 Installation Package

IV. Transformation Process

4.1 Class Kiva jacking part DI usage specifications

4.1.1 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.

4.2 Modification (Chassis driver part)

4.2.1 Installation Method of 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 4.4.1: Improved visualization of data.

     Figure 4.4.2: Comparison of different algorithms.

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 4.4.3

    Figure 4.4.3 - Enhanced visualization of data.

4.5 Drive Parameter Configuration

Tools:

USB to RS-485 converter

Manual for Driving:

ESTUN Servo CANopen User Manual Version 1.04

Pronet Plus Series AC Servo User Manual Version 1.05

Software for configuring drives:

ESView Version 3.3.1.0 Installation Package

Preparing for Debugging

Once the drive is powered on for the first time, the operator panel on the front of the servo drive will display the content shown on the left, provided that power is supplied correctly. This display indicates that both forward drive (P-OT) and reverse drive (N-OT) are prohibited.

The CANopen main line of the drive does not support IO emergency stop. Please configure protocol emergency stop.

Once done, the driver's parameters must be configured. The driver's manual operation section consists of a display screen and buttons. The keys, from left to right, are the MODE key, INC key, DEC key, and ENTER key.

Press the MODE key to access three modes: Pn, Un, and Fn. Let's take Pn mode as an example. Use the INC and DEC keys to select the parameter number for this mode. Once you've selected the parameter number, press the ENTER key to enter the parameter. To modify the parameter, press and hold the ENTER key until the digit in the lower right corner starts flashing. Then, press the ENTER key to select the corresponding digit and use the INC and DEC keys to make the necessary changes. Once you've finished modifying the parameter, press the MODE key to exit and move on to the next parameter modification.

Please confirm the driver firmware version before configuring the parameters. Currently, we only support the Eston-customized version.

1. Verify the firmware version of the drive

Press [MODE] to locate Fn007 and press [ENTER] to confirm. Press [MODE] multiple times to view the complete firmware version. The screenshot is shown below. If not, update the firmware. For more information, refer to 4.7.

2. Reversing the motor's direction

Step 1: Drive into the bb (panel display "bb") or alarm state (not enabled state) to perform alignment operation.

Step 2. Configure the appropriate Pn840 parameters (consult the driver manufacturer for guidance on parameter settings for different motor models), then power off and restart.

Step 3. Once the drive is powered on, input parameter number Fn007, press the INC key, followed by the DEC key, DEC key, and INC key in that order. Then, unlock Fn014 and press the Enter key to exit. Next, press the INC key and DEC key to locate Fn014, and press the ENTER key to enter Fn014. The display will show [load] . Long press the ENTER key to hold the break time. When [load] changes to [done] , the correct information will be written to the motor. Finally, re-power the drive.

Step 4. Once the device is powered on, it may sound an A59 alarm (which can be cleared by pressing ENTER). Enter Un018 to verify if it is 032C (to confirm if the parameters have been written).

Step 5. Enter Fn007 again and press the keys in the following order: INC key, DEC key, DEC key, INC key to unlock Fn012. Press the Enter key to exit, and then press the INC key and DEC key to locate Fn012. Press the Mode key and a series of numbers will change (the motor will be in phase alignment at this time). Wait until the number remains unchanged, press the INC key to write the phase into the motor, and then press the Enter key to exit. Power on the device again to complete the alignment process.

3. Configure parameters using the panel:

• The Pn000 value has been updated to 0110

• Pn700 has been changed to 151 (please avoid using 485 communication control)

• Pn006 has been updated to H0023 (bus mode has been changed to canopen)

• Pn703 has been updated to H0003 (can communication baud rate has been changed to 250Kbps)

• Pn704 is the can communication ID. The walking driver has been changed to 1, and the jacking reversing driver has been changed to 3

4. The parameters become effective once the driver is powered on.

5. Things to keep in mind:

Wire for CAN communication must be connected in a daisy chain configuration. CAN also requires terminal resistance to be added.

4.6 Restoring Drive Parameters to Factory Defaults

Step 1: Press the MODE key to select the auxiliary function mode.

Step 2. Press the INC or DEC key to select the function number for restoring the parameter's default value.

Step 3. Press ENTER to enter the factory default mode for restoring parameters.

Step 4. Press and hold the ENTER key for a certain amount of time. Once the LOAD indicator changes to DONE, the parameter will be reset to its original factory value.

Step 5. Let go of the ENTER key to go back to the function number display.

Note: The status displayed by the simple code is , indicating that the servo is ON and the motor is powered on. At this time, restoring the parameters to the factory settings cannot be performed.

4.7 Upgrading the Drive Firmware

Writing Tool:

PROG Loader - Enhanced Programming Tool

Software for controlling hardware:

PX Clear - PRONET_A_DSP_28374_APP_d_V601B0_GL1C1B0.ebin

Follow these steps to download the firmware update for your drive:

Step 1. Begin by disconnecting the power supply from the drive. Then, press and hold both the ▲(INC) and ▼(DEC) keys on the drive operating panel simultaneously until the drive powers on again. The display tube on the operation panel will appear as shown below, indicating that the server drive has successfully entered Boot mode.

Step 2. Once the drive is in Boot mode, connect it to the computer using a communication cable.

Step 3. Launch the PROG Loader application

Step 4. Click "Detect" to automatically detect the operational status of the serial port on your PC and list them as follows: "Free" indicates that the port is not in use.

The ProNet_B101 port is currently in use. Its model is ProNet_B101.

Select the drive you wish to connect to and click "OK".

Step 5. Click on the Browse button next to Please specify the BIN file, and select the appropriate firmware upgrade file from the dialog box that appears. The file extension should be either *bin or .ebin.

Step 6. Click on the "Update Firmware" button. The page will display the firmware upgrade process.

V. Frequently Asked Questions

5.1 Pin Definition

VI. Appendix

6.1

→

Six point one

Note: If you are using an absolute value encoder, make sure to connect the encoder battery. Otherwise, you may encounter the following error.

6.2 Troubleshooting Common Errors (For reference purposes only. If the issue cannot be resolved, please contact the manufacturer of the driver.)

6.2.1 A mistake has been reported in A01

An A01 parameter failure is reported, indicating that the sum check result of a parameter is abnormal. In this case, after pressing the ENTER key to clear the alarm, the drive still cannot function properly. You will need to restore the factory defaults and reset the drive parameters. The operation process is as follows:

Step 1: Restore the drive to its factory defaults by following the steps provided in restoring parameters to the factory defaults.

Step 2. Configure all drive parameters based on the steps and parameter values specified in the drive parameters.

Step 3. Once the parameters have been set, turn on the power and restart the drive. If the digital display shows the following figure, A01 indicates a faulty contact and the drive will recover.

6.2.2. A error occurs at A25/26/27

An error of motor power line U/V/W overcurrent was reported by A25/26/27. The alarm was triggered due to mechanical jam or incorrect UVW phase sequence connection of motor power line. Generally, A25/26/27 error occurs when the current on the three lines of the motor is too high. This error can be cleared by pressing the ENTER key, and the drive can return to its normal state and continue working after it is cleared.

If the A25/26/27 error cannot be cleared by pressing the ENTER key, turn off the drive and restart it.

6.2.3. An error has occurred on A45/46/47/48/51.

An error was reported by A45, indicating a multi-turn information error of the absolute value encoder.

An error of absolute encoder multiturn overflow was reported by A46.

A47 indicates that the battery voltage is below 2.5V, and the multi-turn information is lost.

A48 indicates that the battery voltage is below 3.1V and the battery is running low.

The A51 encoder detects overspeed alarms and may provide incorrect multi-turn information due to the following reasons:

(1) The battery is either not connected or the battery voltage is insufficient.

(2) If the battery voltage is within normal range, the driver is not connected, and the motor is excessively rotating and accelerating due to external factors.

The process for resolving A45/46 errors involves clearing the absolute value multi-circle information and errors, as well as clearing any errors related to the absolute value encoder. The following steps should be taken:

Step 1. Clear the information and errors related to absolute value multi-circles. Press the MODE button to choose the auxiliary function mode. Press the INC or DEC button to select the function number that clears errors related to the absolute value encoder.

Step 2. Press ENTER. The information below will be displayed.

Step 3. Press the MODE button to clear.

Step 4: Remove the absolute value multi-circle information and complete the error operation.

Step 5. Clear the information and errors related to the absolute value multi-circle encoder. Press the MODE key to select the auxiliary function mode. Press the INC or DEC key to select the function number that clears errors related to the absolute value encoder.

Step 6. Press ENTER. The following information will be displayed.

Step 7. Press the MODE button to clear.

Step 8. Resolve errors associated with the absolute value encoder.

An error has been reported by A47/48/51. The battery on the driver encoder cable needs to be replaced before proceeding. Once the battery has been replaced, follow the previous steps to address the error reported by A45/46. Power off and restart.

6.3 Browsing Error Codes:

If error code 0xFF42 is reported, only consider the last two digits. Convert hexadecimal 42 to decimal 66, which corresponds to alarm A66 in the following table.

6.4 Comprehensive Error Codes

6.5 Adjust the settings on the host computer for the drive. This step is for reference purposes only.

1. Connect the computer to the drive using the USB-485 converter. Open the drive configuration software, select the appropriate port number, and click "Quick Connect Device".

2. Configure the drive parameters, select "Upload All", ignore any errors indicating "abnormal parameters", change the Pn000 parameter to 0110, and download all modified parameters.

Modify the bus mode, baud rate, and CAN ID. Once modified, the display will show [OK].

4. Click "Parameter Edit" to reload the parameters. If there is an error of "parameter damage", please contact the driver manufacturer for assistance. If no error is reported, the configuration is complete.

5. The parameters will take effect once the driver is powered on again. After restarting the driver, verify that the parameters have been successfully set.