1. Scope of Application

This technical specification applies to technicians involved in the company's R&D, production, and debugging processes who utilize the Tiantai driver for automatic transformation.

Second, Debugging Resources

Manual for Driving:

• Driver Manual Driver Manual 1.3.2v. pdf

• CANopen Object Dictionary CANopen Object Dictionary 1.2v. pdf

Software for configuring drives:

• TTMotorTTMotor0330.zip

• USB_CAN_TOOLS

• The firmware version 409 is available for download in GD32DS220409.zip

Three, Editing, Transformation, and Installation

3.1 Class Kiva Jacking Part DI Usage Specifications

3.1.1 Description of Cable Connection

Usage Specification for Jacking Part DI

Note 1: The three DI's cannot be utilized for any other purposes in the jacking vehicle;
Note 2: Ensure that all three sensors are NPN type and emit signals detectable by the SRC core controller.

3.2 Transformation (Chassis Driver Part)

3.2.1 Method for Installing the Walking Motor Driver

1. Ensure that the driver is securely fixed to the car body and verify that the driver is properly connected to the three-phase wire and encoder line of the corresponding motor.

2. If the robot is equipped with multiple drivers (number ≥2), connect all CAN_L and CAN_H pins of the slave station directly. Whenever possible, connect them in series as illustrated 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, draw out all can lines of the driver and press all can_H into the same Decci cartridge connector, and all can_L into the same Decci cartridge connector. Connect the male head of Decci DT06-2S and finally connect it with line 32 and 33 in TE35 (can1).

As some drivers lack a cascade port, they can only be connected in series by using a lead wire from the bus. The length of the lead wire should be 10CM shorter.
Note: If there are not enough wiring harnesses 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 3.4.1 **
To guarantee the communication quality of CAN, a terminal resistance (with a resistance value of typically 120 ohms) should be installed at the farthest drive from the core controller or at the end of the bus. (Note: Customers can request to purchase matching terminal resistance from the driver manufacturer when buying the driver.)

3. To detect the CAN terminal resistance, follow these steps: First, shut down and power off the system. Next, disconnect the CAN connection lines between the driver and controller (located between Driver4 and controller in FIG. 4.4.1). Then, use a multimeter to measure the resistance between the CAN_L and CAN_H on the driver side of the CAN bus. If the resistance value is significantly less than 120Ω (for example, 60Ω), there are at least two open terminal resistors.

Disconnect the connection line between Driver1 and Driver2 in Figure 4.4.1. Use a multimeter to measure the resistance between CAN_L and CAN_H on the CAN bus of Driver1. If the resistance value is 120Ω, it is correct, as shown in Figure 4.4.3. If the resistance value is significantly greater than 120Ω (for example, a few KΩ), it indicates that the terminal resistance is not opened at the end of the CAN bus and needs to be adjusted.

Figure 4.4.3

Four, Drive Parameter Configuration

Driver Type: Motor and Driver Combined.

4.1 Modify motor parameters using the can card

1. Connect the USB CAN box to the Tiantai motor (motor connector 1 is CAN_H, 2 is CAN_L). If the configuration of the Tiantai motor has not been modified, the default baud rate of the Tiantai motor driver is 500kbps. If you cannot connect at 500kbps, you can try changing the baud rate to 250kbps in the USB CAN tools software and try connecting again (note: the CAN channel of the USB CAN box requires a resistance of 120 ohms).

Figure 4.1.1

2. Once the USB CAN card has established normal communication with the Tientai motor, send a skip message to transition the motor from bootloader state to App state. The message should be sent as shown below:
   Figure 4.1.2

1. The packet ID refers to the motor's ID.

2. If "AA BB" is returned, the jump is considered successful.

3. Verify the motor ID (left motor is 1, right motor is 2, walking motor is 3, and jacking motor is 4). If it does not meet the requirements, send the following message and set ID 2B 26 20 00 0x 00 00 00 (replace x with the correct ID value), as shown in Figure 4.1.3.
   Figure 4.1.3

1. Take note that the send ID in the above figure is 0x600+ the motor ID number.

2. If a data frame beginning with 60 is returned, the data has been successfully written.

3. The factory default ID of the Tiantai motor has been allocated based on requirements. If it is not necessary, it cannot be modified.

4. The baud rate of Tentai drive (The default baud rate of Tentai drive is 500kbps. Some shipped drives have an 800k baud rate, which is actually 250kbps. The method for changing the baud rate from 250kbps to 500kbps is shown in the appendix).
   Here's how to change the baud rate from 500kbps to 250kbps:
   Figure 4.1.4

5. Verify the emergency stop mode of Titai Drive and send a message using CAN USB tools: 40 5A 60 00 00 00 00 00.

Figure 4.1.5:

02: enables emergency stop functionality

If the emergency stop mode is not set to 02, you must send the following packets to set the emergency stop mode to 02: 2B 5A 60 00 02 00 00 00

Figure 4.1.6

5. Adjust the watchdog settings (change the 23 16 10 01 E8 03 03 07 field to 23 16 10 01 F4 01 55 00, which sets the watchdog trigger time to 500ms and watchdog ID to 755).
   Figure 4.1.7

6. Save parameters: Use the CAN USB tools to send the 23 10 10 01 73 61 76 65 packets and save the parameter changes to the Flash.
   

Figure 4.1.8

should not be modified in terms of HTML tags and attributes. The text within the code can be improved as follows:

Figure 4.1.8:

All settings will only take effect after the motor is restarted.

4.2 Check motor parameters through upper computer software

1. Confirm the baud rate of the Tentai upper computer. If it is currently set to 250kbps, connect the CAN card. Ensure proper communication by verifying that the CAN communication channel is correct (note: the CAN card can only use channel one).
   

Figure 4.2.1

Ensure that the motor ID is accurate to establish communication.

Figure 4.2.2

To open the computer software, follow these steps: Ensure that the version is 220107.

Figure 4.2.3

Determine the bootloader version.
Follow the above steps and connect the motor to the can box. In bootloader state (i.e. when the can box receives data of 00 00 00 00 00 00 00 00), send the motor's ID number (2 for left, 1 for right rotating, 3 for top, and 4 for bottom) and the data of 20 20 queries frame. Confirm that the version number is CC DD 10 40 (which supports 250kbps baud rate from the current version of Tentai).
Figure 4.2.4

5. Model Configuration

The Roboshop version is 2.0.X (with firmware version 1.8.X and below), as depicted in Figure 5.1 of the robot model. The Roboshop version is 2.1.X (with firmware version 1.9.X and above). Please consult Figure 5.2 of the robot model.

Figure 5.1

VI. Appendix

6.1 Usage of the USB CAN card

1. Software Installation - To install the software, please contact the after-sales service of the CAN card vendor for the 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. Refer to Figure 6.3.1 for details.

Figure 6.1.1

should not be modified in terms of HTML tags and attributes. The text within the code can be improved as follows:

Figure 6.1.1:

3. Launch the USB CAN tool and choose [Device Operation (O)] followed by [Start Device (S)]. Verify that the CAN parameter is correct, with a [baud rate] of 250Kbps and [CAN channel number] set to channel 1 (as indicated by the tool in Figure 6.1.1). Click [OK] to confirm. Refer to Figure 6.1.2 for a visual representation:

Figure 6.1.2

should not be modified in terms of HTML tags and attributes. The text within the code can be improved as follows:

Figure 6.1.2:

4. Choose [Display (V)] and uncheck [Merge same ID data (M)]. The CAN message will be displayed in Figure 6.3.3.

Figure 6.1.3

should not be modified in terms of HTML tags and attributes. The text within the code can be improved as follows:

Figure 6.1.3:

6.2 How to change the communication mode of AMB-800k Skylight drive SDO to PDO

6.2.1 Verifying the Motor Firmware Version

Retrieve the motor's firmware version by following the instructions in Section 4.2. If the firmware version is prior to 220409, update it to 220409 by following the guidelines in Section 6.3.
Upon successful modification, the motor's baud rate will be 500kbps, eliminating the need to adjust the baud rate from 250kbps to 500kbps as outlined in Section 6.2.2.

6.2.2 Baud rate change from 250kbps to 500kbps

Confirm the baud rate of the motor currently in use. If the baud rate specified in the model file is 250kbps, modify the motor parameters as follows: change the baud rate from 250kbps to 500kbps.

One: Modify 4 motor parameters simultaneously through the CAN bus.

1. Disconnect the controller's can bus (located in the controller's wiring harness) from the car body's can bus.

2. Connect the can box tool to the car body's can bus, as mentioned above. Open the USB can tool software (e.g. version 6.1.2) and set the baud rate to 250bps. Once connected, four motor packets (with packet IDs of 0x701, 0x702, 0x703, and 0x704) containing data of 7F will be received.

Figure 6.2.1.1:
If the received data to 00 00 00 00 00 00 00 00 is required in accordance with section 4.1, shown in step 2, send 10 10 to jump between the bootloader and app.

3. Set the baud rate to 500kbps (2B 27 20 00 05 02 00 00) for transmitting the subsequent packets, which align with the procedures for adjusting motor parameters in Section 4.1.

Figure 6.2.1.2

4. Save the changes made to the baud rate parameters. For more information, please refer to step six in Section 4.1 (the ID needs to be modified to set each of the four motors individually).

Figure 6.2.1.3

5. Turn off and restart the vehicle (try to disconnect the battery to prevent any related DO failures, which could cause uncontrolled power supply on/off of the motor by the controller). Set the baud rate of the CAN USB tool to 500k as per step 1, and enable communication. Check if all four motor packets are received (ID: 0x701, 0x702, 0x703, 0x704). If yes, the modification is successful, and the communication cables between the controller and driver can be reconnected.

Figure 6.2.1.4:
Two: Individually adjust the baud rate of the four motors.

1. The CAN communication lines of the four motors are disconnected from the CAN bus of the car body, and the CAN card is used to connect and communicate with each of the four motors individually.

2. The baud rate can be modified in the same way as the first motor, but only one motor can be communicated with at a time. The baud rate ID can be set and selected according to the motor (left motor ID is 0x601, right motor ID is 0x602, rotary motor ID is 0x603, jacking motor ID is 0x604). This means that only one connection is needed to send one message according to the motor ID. Refer to Figure 6.2.1.2 for more information.

3. Save the parameters, for example, 6.2.1.4.

4. After confirming the correct parameters, the communication lines between the controller and Taitai motor can be restored to normal.

6.2.3 Modifying the Model File as Follows

1. Modify the baud rate of the model file to 500Kbps

2. Modified motor brand (the names of 4 motors have been changed to TianTai-LVSI-CANOpenPDO)

3. Power off and then power on again.

Note: If you have any inquiries, kindly consult the FAQ in Chapter 7.

6.3 Changing the Motor Firmware Version (CAN Card + Upper Computer)

1. If you have established a connection and communication with the controller, you must disconnect the communication between the controller and the Tientae driver. Then, turn off the power and restart (turn off the battery power). Connect the CAN box tool to the CAN bus of the car body (the baud rate can be confirmed in the model file of 6.2.2). If not, please ensure that the motor's power supply is normal. Change the baud rate to 500kbps, 125kbps, and 1000kbps for testing if the CAN box connection is correct. If it still cannot be connected, please contact Tiantai drive technicians' remote support.

2. Update firmware

1. Choose the appropriate firmware; 2. Select the motor ID; 3. Click on Upgrade (if the CRC check word is correct in one column of the file, the upgrade is successful). If you cannot see the communication of a motor, connect the CAN box to the motor separately, power off and restart, and follow the above steps again. If it still cannot be connected, make sure that the power supply of the motor is normal, and the CAN card message (250kbps or 500kbps by default, if the communication fails, it can be tested by changing the baud rate to 125k1000k baud rate) is normal (the message of the motor can be read through the CAN USB tool), then restart the TTMotor software. If the fault persists, contact the driver vendor for remote support.
2. If the firmware version is 409, you need to import separate parameters for the four motors.

Note: Motor parameters are in the compressed package of 409 firmware version. Different parameter documents are selected according to different motor IDs.
The button to save parameters needs a certain amount of time. Do not click it many times. After clicking the button to save parameters, it will be in the gray state of non-motor.

3. If the upgrade progress becomes stuck, power off the vehicle and restart it. Then, connect the can box with the related motors and try upgrading again. If multiple jams occur, please contact Tientai Drive for remote support.

6.4 Changing the Motor Firmware Version (Script)

Script: send-zip

1. Connect the controller to the network using a cable and double-click to open SSH created by MobaXterm

2. Drag the program and firmware into the left file box

3. Execute the following command, power off and restart

Disable startup_robod.service with sudo systemctl disable startup_robod.service
Disable startup_rbk.service with sudo systemctl disable startup_rbk.service
Remount with sudo mount -n -o remount,rw /
Unmount /dev/mmcblk0p3 with sudo umount /dev/mmcblk0p3
Disable startup_robod.service with sudo systemctl disable startup_robod.service
Disable startup_rbk.service with sudo systemctl disable startup_rbk.service

4. After restarting, make sure that the motor is fully charged, log in via ssh, and execute the following command:

Use the command "sudo chmod +x send" to make the file executable.
Then run "./send" followed by the file name and the number of the drive.

5. The command line window will flash when the file is read

6. Once complete, proceed to upgrade the next motor

sudo ./send file name to Drive number 2

7. Restore RBK and RoboD

Enable startup_robod.service with sudo systemctl enable startup_robod.service
Enable startup_rbk.service with sudo systemctl enable startup_rbk.service
Remount with sudo mount -n -o remount,rw /
Unmount /dev/mmcblk0p3 with sudo umount /dev/mmcblk0p3
Enable startup_robod.service with sudo systemctl enable startup_robod.service
Enable startup_rbk.service with sudo systemctl enable startup_rbk.service

8. Turn off and restart the device. The upgraded version will be displayed on the roboshop interface.

Vii. Frequently Asked Questions

1. This drive only supports the emergency stop protocol, so the model file must be configured accordingly.

2. The above motor parameters have been confirmed to be correct, but the motor is not functioning normally. Therefore, it is necessary to learn the 8325 motor at this time. If the motor learning process fails, the driver online upgrade tool should be used to upgrade the firmware to the old version (you can contact Tiantai for the firmware response or download it from the link provided in this document) and then learn the 8325 motor. Finally, brush back the current version of the firmware in use. If the process fails, please contact Tiantai Electric technicians for technical support.

3. After modifying the baud rate, only a portion of the motor can communicate according to the modified baud rate (500kbps) (with a back packet).

To disconnect the motor from the bus, do not backpack it. Instead, connect the motor separately with the can card. Set the baud rate of the can usb tool to 250kbps, 500kbps, 125kbps, and 1000kbps respectively to check if communication is successful. If communication succeeds, change the baud rate to 500kbps as per section 6.2.1.

4. To reset the driver parameters to their default values, ensure successful communication between the driver and the motor.

That is, based on the motor's ID, send the following messages: 23 01 20 00 0x 00 00 00 and 23 11 10 01 6C 6F 61 64 (where 0x represents the motor's ID).

5. The Tentai Drive's upper computer software, TTMotor, can only utilize channel one on the CAN box.

6. If continuous transmission fails while using Tentai Drive's upper computer software, TTMotor, try unplugging and plugging in the CAN box and USB connection cable of the computer, close and reopen the TTMotor software, and modify the connection's baud rate multiple times. If the issue persists, contact Tiantiai Drive's relevant personnel for remote support.

Common Error Codes for Drives