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 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 company's research and development, production, and debugging technicians for robot automation transformation.
Second, Debugging Resources
Technosoft's special debugging software, EasyMotion_demo. Download it at https://technosoftmotion.com/THS_INTERNAL/P034-ESM/EasyMotion_demo.exe.
Three, Editing and Connecting
Retrofit (Chassis Driver Part)
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. If the robot is equipped with multiple drives (number ≥2), the CAN_L and CAN_H pins of the slave station can be directly connected and connected in series, as illustrated in Figure 4.3.1. Insert the can_H into a Decci cartridge connector, insert the can_L into a Decci cartridge connector, and connect the Decci DT06-2S male connector. Finally, connect it to line 32,33 (can1) in TE35.
Figure 3.3.1:
3. In order to guarantee the quality of CAN communication, activate the 120Ω terminal resistance on the driver that is farthest from the core controller. For instance, activate the terminal resistance on Driver1 by using the dial shown in Figure 3.3.1.
4. SRC 2000 controls whether the motor is enabled or disabled to achieve the function of emergency stop. It determines whether the motor can be enabled by controlling the on-off and off-off levels of the corresponding STO ports on the Technosoft driver.
5. The definition of "drive dip" is illustrated in FIG. 3.3.2. One dip to the bottom selects the CANopen working mode, while dips 2~8 set the drive ID. The dip switches are arranged in reverse order, with dips 8~2 corresponding to bit0~bit6, as shown in FIG. 3.3.2. Eight dips represent binary 0000001, indicating an ID of 1. Similarly, dial number 7 represents binary 0000010, indicating an ID of 2 in decimal form.
Figure 3.3.2 (Technosoft Dip Switch)
6. The emergency-stop wiring for Technosoft drivers is illustrated in Figure 4.3.3. The TE35 wiring harness [4] connects the emergency-stop output 1-access 24V to STO1+ and STO2+ of the J8 connectors for both drivers. Additionally, the TE35 wiring harness [5] connects emergency-stop output 1+ to the same STO1+ and STO2+ connectors. The STO1- and STO2- connectors for both drivers are connected to the controller's ground.
Figure 3.3.3 (Wiring Diagram for Technosoft J8 Emergency Stop)
7. The installation and emergency stop of the Technosoft driver have been completed at this stage. To fully utilize the driver's optimal performance, it is necessary to debug the driver once the motor is assembled with the reducer and wheel.
Four, Drive Configuration
1. Download and install EasyMotion_demo, the Technosoft debugging software. https://technosoftmotion.com/THS_INTERNAL/P034-ESM/EasyMotion_demo.exe.
2. Utilize RS232 communication mode to establish communication between the computer and the driver. It is advisable to employ a USB-232 converter and a 9-pin communication cable specifically designed for the Technosoft driver, as depicted in Figure 4.4.2:
Figure 4.4.1
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Figure 4.4.1:
3. Once the drive is powered on, double-click the EasyMotion_demo software icon. It can only be used normally after registration, as depicted in Figure 4.4.2.
Figure 4.4.2
Figure 4.4.2 - Enhanced visualization of data.
4. Choose the appropriate software connection mode, navigate to [Communications] - [Setup], and correctly select the com port to connect to the drive. Then, select a baud rate of 115200 and enable autodetection. Remove the [work offline] option and click [OK].
Figure 4.4.3
Figure 4.4.3 - Enhanced visualization of data.
5. Choose [new] from the red box and then click [OK];
Figure 4.4.4
Figure 4.4.4 - Enhanced visualization of data.
6. At this point, choose the appropriate driver and motor model based on the actual circumstances, as depicted in Figure 4.4.5:
Figure 4.4.5
Figure 4.4.5 - Enhanced visualization of data.
7. Click on [setup] - [new], as illustrated in Figure 4.4.6;
Figure 4.4.6
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Figure 4.4.6:
When you see the motor setup box and the drive setup box appear, select "user" and "motor" as indicated by the arrow. Fill in the red box with the actual parameters of the motor. For example, let's use the Dolphin motor as a reference, as shown in the image below:
Figure 4.4.7After filling in the encoder and Hall values correctly, check them with the software. Click on [test connections] - [start], and turn the motor by hand. When the encoder reading appears in the yellow area below, click [stop], as shown in Figure 4.4.8. Click [detect number of lines], click [start], and click [close] after the detection is finished. If the detected value is inconsistent with the filling, click [OK] and replace it with the detected data, as shown in Figure 4.4.9. The same applies to [test connections] and [detect hall configuration].
Note: An error occurs when detecting the encoder or Hall. It is recommended to slightly increase the detection current before detecting.
Figure 4.4.8
Figure 4.4.9
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Figure 4.4.9:
To begin setting up the drive, click on [drive setup], as shown in Figure 4.4.10:
1: Select the control mode [speed];
2: It will be automatically activated after power on; 3: It will also be automatically activated after power on;
3: Choose the baud rate of 250Kbps;
4: Select the ID [H/W] (hardware identification ID) and remember to use the dip switch to set the driver ID;
5: Fill in the driving voltage according to the actual situation. You can click on [detect] to fill in the value of the detection voltage;
6: Select the start mode [BLDC with Hall sensors] (BLDC stands for brushless DC motor, fill in according to the actual motor);
7: Click on [CANopen settings] to select the speed units to be delivered, where [Speed units] should be set to rpm and [Time units] should be set to s.
Figure 4.4.10
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Figure 4.4.10:
Click on [true&test], then click on [accept] in the pop-up window. Next, select [automatic true] and click on [start] to begin the setup process. The software will automatically configure the settings based on the steps outlined in the "automatic true step" (highlighted in red). Once the setup is complete, "automatic true done" will appear next to the [start] button, indicating that the configuration was successful.
Figure 4.4.11
Select the [Advanced TURing-Speed Controller] and click on [Test]. Then, click on [Start] to set the speed loop. The motor will move round and back periodically for about one minute. Click on [Stop] to stop the setting and finish the [Test] setting. Finally, click on [OK].
Figure 4.4.12
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Figure 4.4.12:
The parameters will take effect once the drive is powered on again.
Figure 4.4.13
should not be modified in terms of HTML tags and attributes. The text within the code can be improved as follows:
Figure 4.4.13:
4.5 Manually Adjust Drive Parameters
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5. Instructions for configuring robot models
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, Detection of Driving Functions
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.
7. Appendix
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], select [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 USB CAN Card Usage
1. Software Installation - Install the USB_CAN Tool software (Contact the CAN card vendor for software and user manuals).
2. Hardware Connection - Prepare a USB CAN card and connecting 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 7.2.1.
Figure 7.2.1
Figure 7.2.1 - Enhanced visualization of data.
3. Open the USB CAN tool and select [Device Operation (O)] [Start Device (S)]. Confirm the CAN parameters, setting the [baud rate] to 250Kbps and selecting [CAN channel number] as channel 1. Click [Confirm]. Figure 7.2.2 illustrates this process.
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 - Enhanced Visualization
Eight, Common Drive Error Codes
Figure 5.1
Figure 5.1 - Enhanced Visualization
Example: When the alarm code is received in Roboshop [Robokit Alarm Window]: When the alarm code is "0x8000", as shown in Figure 5.1, the alarm code is converted into binary "1000 0000 0000 0000". Upon observation, an error was found in the 15th bit of the driver, which corresponds to the table above. The driver reports the error as follows: Drive disabled due to enable or STO input. This occurs when the enable or STO input is in the disable state. The error can be reset when the enable or STO input is in the enable state.
Appendix 1: Description of Version Upgrade
Serial Number | Date | Version | Change Description |
|---|---|---|---|
1 | |||
2 | |||
3 | |||
4 |
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