1. Scope of Application

This technical specification applies to companies using Qingneng Destran drives for automatic transformation and requires technical personnel for development, production, and debugging.

Second, Debugging Resources

USB-485 Converter
   

Manual for Driving:

[Drive Manual] https://seer-group.coding.net/s/d08d5fcf-e1d6-4b0d-ad02-2d52db7e4dd0

Drive profile software DriveStarterS V1.0.1.1_Test:

[Drive Configuration Software] https://seer-group.coding.net/s/47aaf622-b164-4585-bf99-cc15d35150d7

Three, Editing, Transformation, and Installation

3.1 Class Kiva Jacking Part DI Usage Specifications

3.1.1 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.

3.2 Transformation (chassis driver part)

3.2.1 Installation method of the 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 3.4.2 can be used, but it is not recommended.

Figure 3.4.1 and 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 the system. 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 CAN bus at the driver's side, as illustrated in Figure 4.4.3. If the resistance value is notably 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 emergency stop setup for the Qingneng Deschuang driver is illustrated in Figure 3.4.4. Connect the common terminals of all drivers in parallel to emergency stop output 1+ (TE35 Line 4), and connect the STO terminals of all drivers in parallel to emergency stop output 1- (TE35 Line 5). (Any STO activation will trigger the emergency stop, so only one STO can be utilized.)

     Figure 3.4.4 and Figure 3.4.5

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.

Four, Drive Parameter Configuration

Tools:

USB to RS-485 converter

Manual for Driving:

[Drive Manual] https://seer-group.coding.net/s/d08d5fcf-e1d6-4b0d-ad02-2d52db7e4dd0

Drive profile software DriveStarterS V1.0.1.1_Test:

[Drive Configuration Software] https://seer-group.coding.net/s/47aaf622-b164-4585-bf99-cc15d35150d7

1. Connect the computer to the drive using the USB-485 converter, open the drive configuration software, select the appropriate port number, and click on the Quick Connect device.

2. Select Control Mode and choose CANopen mode.
   

3. Select [Parameter] -- [Servo parameter], modify the drive ID and baud rate as needed, and click [Set Save value] to save the parameters.

4. After adjusting the parameters, power cycling the driver will activate the changes.

5. The driver's terminal resistor must be connected in order to establish communication.

5. Robot Model Configuration Instructions

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

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

                                         Figure 5.1

Note: The deceleration ratio, number of encoder lines, maximum motor speed, and driver brand should be filled in according to the actual selection.

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], choose [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. As illustrated in Figure 7.1.2:

    Figure 7.1.2

    Figure 7.1.2 - Enhanced visualization of data

7.2 Usage of the USB CAN Card

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, then 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. Refer to Figure 7.2.1 for guidance:

    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 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. Launch udpconsole to test the driver functionality and verify the displayed content on udpconsole.

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

** Figure 7.3

→

** Figure 7.3

(No changes made)

Common Error Codes for Drives

9. Appendix

9.1 Driver Wiring Diagram