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 involves a significant number of sensors. We recommend utilizing our company's core controller standard wiring harness, TE23 and TE35. This document serves as a guide for operating with the core controller standard wiring harness as the blueprint.

The Nonatec servo driver selection recommendations are based on the company's selection guidance manual.

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 specification is intended for technicians in the company's R&D, manufacturing, and commissioning departments who utilize Nonatec drives for automated modifications.

Second, Debugging Resources

Refer to the link below for the driver configuration of the PC software and the driver of the IXXAT CAN card that enables communication with the computer:

PnDS 1.0 Release Package VCI V4 Windows 10/8/7

Three, Editing, Transformation, and Installation

Retrofit (Chassis Driver Part)

1. The driver must be securely attached to the car body, and the power supply (positive and negative terminals) of the driver must be correctly connected, as well as the power and encoder lines of the corresponding motor. Nanotec drivers come with their own wires, which should be used during installation.

The upper computer's driver power supply, power line, lock line, encoder line, and CAN communication bus are depicted in Figure 4.3.1.

* Note: The power and encoder lines between the driver and the corresponding motor must be connected one-to-one and should not be used for cross-correspondence. Figure 4.3.1

2. When installing the robot with multiple drivers (number ≥2), the CAN_L and CAN_H pins of the slave station can be directly connected. The connection should be in series as much as possible, as shown in the left figure of FIG. 4.3.3. Press the can_H into a Decci cartridge connector, press the can_L into a Decci cartridge connector, and connect the Decci DT06-2S male head. Finally, connect it with line 32 and 33 in TE35 (can1).

Note: In the process of transformation, if there are not enough wiring harnesses required for driver connection, rapid series at the driver end cannot be achieved. The connection mode shown in the right figure in 4.3.3 can be used, but it is not recommended.

Figure 4.3.2

3. In order to guarantee the quality of CAN communication, it is necessary to install a 120Ω terminal resistor on the driver that is farthest from the core controller. For instance, in FIG. 4.3.3, the terminal resistor on Driver1 can be opened by dialing.

Note: Customers can purchase the corresponding terminal resistor from the driver manufacturer when buying the driver.

4. Verify that the terminal resistance is properly 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. 4.3.3). Utilize a multimeter to measure the resistance between CAN_L and CAN_H on the CAN bus at the driver's side. Refer to Figure 4.3.5. 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 Figure 4.3.3. Use a multimeter to measure the resistance between CAN_L and CAN_H on the CAN bus of Driver1. If the resistance value is significantly greater than 120Ω (for example, a few KΩ), it indicates that the terminal resistance is not open at the end of the CAN bus and needs to be adjusted.

    Figure 4.3.3

    Figure 4.3.3 - Enhanced visualization of data.

5. Implement Emergency Stop for Driving

Method 1: Turn off the power to the drive to bring the vehicle to an emergency stop - not recommended

The Nonatec driver currently in use requires the emergency stop switch to be triggered in order to power off the driver and activate the emergency stop function for the entire machine. To implement this, it is recommended to utilize another normally closed contact of the emergency stop switch to control the relay that supplies power to the driver.

    Figure 4.3.4 (Note: The CAN cable of the driver is not connected using the recommended connection method shown in this figure)

As illustrated in Figure 4.3.4, the Nonatec driver links the relay control coil circuit and one normally closed contact string of the emergency stop switch to line 20 and line 9 of the core controller T23 to establish a complete loop. The control circuit string of the relay is connected to the circuit that the battery supplies power to the driver, as depicted in the red box area in the above figure.

Mode 2: Adopting Protocol Emergency Stop: We have implemented protocol emergency stop in Nonatec drivers. We highly recommend using protocol emergency stop for Nonatec drives (refer to the Configuration section in the Model file in Chapter 5 for emergency stop selection).

Four, Drive Configuration

Refer to the link below for the driver configuration of the PC software and the driver of the IXXAT CAN card that enables communication with the computer:

PnDS 1.0 Release Package VCI V4 Windows 10/8/7

Note: This tutorial is configured for version 1.1.0. If you need to reference this tutorial, please use version 1.1.0 software.

1. Hardware Connection - The computer establishes a communication link with the drive.

2. Install the driver for the above CAN box and the installation and configuration software Plug & Drive Studio 1.1.0. Double-click the shortcut for Plug & Drive Studio 1.1.0 to open it and click the home page. Click Connect Controller to open the Communication Connection Configuration page, select CANopen, and click Next, as shown in Figure 4.4.1:

    Figure 4.4.1

    Figure 4.4.1 - Enhanced visualization of data.

3. Confirm the Baud rate and ID of CANopen. Ensure that the IXXAT can adapter is selected, the Baud rate is set to 1MBd (the initial Baud rate of Nonatec's drive is 1MBd), and the Node ID is set to 1 (the default Node ID of Nonatec's drive is 1 or 127). Scan the Node ID at a Baud rate of 1Mbd, then click "Check Connection". If the connection is normal, click "Finish" to complete the connection.

    Figure 4.4.2

    Figure 4.4.2 - Enhanced visualization of data.

Note: If you have personally configured the baud rate and ID of the drive, you can adjust them to your own settings. If you do not have this information, you can download the Plug & Drive Studio 2.05 version from Nanatec's official website. You can then scan the drive's baud rate and ID on the settings page above.

4. Initialize motor parameters. This step can be performed once the overall configuration is complete and communication is established, but the motor is not functioning properly. (The NanoTec brand's WD16050 series motor, which is not available in China, may need to be purchased from abroad if necessary). First, confirm that the parameters are correct (these parameters are specific to the motor used in this paper and must be set according to the motor's own drawings).
   

By 2030: Motor Pole Number
2031: Peak Current
203b:01: Rated Current

Motor Diagnosis

Viewing Diagnosis Results

5. Revise the baud rate settings for our controller.

6. Initially, adjust the dial on the Nonatec drive, S1 to 8, S2 to 0. Refer to the image below for the dial's position (if the scale is not visible, remove the drive case).
   

    Figure 4.4.3

    Figure 4.4.3 - Enhanced visualization of data.

2. Open Object Dictionary, select Load Refresh Step 2, and read 2300. If 2300 equals 1, set it to 0 to close the internal program. Then, follow Step 3 to modify the baud rate to 133 (i.e. 250kbd). Next, adjust the CAN ID in Step 4 to an appropriate value. Typically, each driver requires a different CAN ID. For example, the driver on the left is usually assigned ID 1, while the driver on the right is assigned ID 2.

    Figure 4.4.4

    Figure 4.4.4 - Enhanced visualization of data.

3. Click on "More", select "Console", and click "OK" to open the console. The steps are as follows:

    Figure 4.4.5

    Figure 4.4.5 - Enhanced visualization of data.

4. Input the following save commands on the console that was opened in the previous step: 1010:01 =1702257011 and 1010:02=1702257011.

    Figure 4.4.6

    Figure 4.4.6 - Enhanced visualization of data.

5. Disconnect from the homepage, restart the drive, follow the above steps to reset the baud rate to 250kbd, set the Node ID to the desired value, reconnect, and test whether the parameters have been successfully modified.

1. Do not change the dial index.

2. If the baud rate is lower than 1Mbd, a warning will be triggered and no action will be taken (this is a bug in the upper computer software). In this case, the "Check Connection" button will become gray and unclickable, and you can directly click "Finish" to complete the configuration.

Adjust the heartbeat parameters as illustrated in Figure 4.4.7. Replace 100C with 01F4 and 100D with 01.

    Figure 4.4.7

    Figure 4.4.7 improved

Change the operation mode to speed mode as illustrated in Figure 4.4.8.

Figure 4.4.8
Save the modified parameters and restart the drive to enable communication control using our controller.
Figure 4.4.9

Note: If any parameter is entered in the object dictionary and it is found that the parameter automatically returns to the default value after refreshing, then you can consider inputting relevant instructions in the console: primary index: self-index = value (as shown in the figure above 6060:00=2, if the value is hexadecimal, 0x should be added before the hexadecimal)

6. Configuration of automatic brake function: This motor type comes with a brake function that can be set by the driver. To activate the automatic brake control function, set bit2 to 1 in 3202.
   Check the value of 3202 to ensure that bit2 is set to 1.

7. Restore default parameters by entering the related commands in the sequence shown in the following figure. If the red error shown in the figure occurs, please enter the same command multiple times and restart the drive.
   

Note: Input commands such as 1011:01=1684107116 successively. If the input fails for several times, you can close the software, disconnect the CAN card from the PC, and reconnect it again (if any command is successfully executed, please note whether the CAN ID and baud rate are restored to the default values).

If the driver fails to be correctly configured by performing the preceding steps, reset the driver parameters using this method and ensure that all parameters are the same as those in this document.

After resetting the parameters, be sure to re-initialize the motor according to this document.

Note: If you find that your ID and baud rate are correct but you cannot connect, you can close the software, disconnect the connection between the CAN box and PC, connect again, open the software, and try to connect. This is a bug in the Plug & Drive Studio 1.1.0 software.

5. Robot Model Configuration Instructions

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

The version of Roboshop is 2.1.X (with firmware version 1.9.0 or higher). Please consult Figures 5.1, 5.2, and 5.3 of the robot model:

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

    Figure 5.1

    Figure 5.1 - Enhanced Visualization

    Figure 5.2

    Figure 5.2 - Enhanced Visualization

    Figure 5.3

    Figure 5.3 - Enhanced Visualization

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

    Figure 6.2 - Enhanced Visualization

Perform a 24-hour task chain motion aging test and check the Robokit Log for any error alarms.

Vii. Supplementary Material

7.1 Using the 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. Refer to Figure 7.1.2 for details.

    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, and connect the CAN_H cable to wire TE35 33 of the RC2000 external wiring harness, and the CAN_L cable to wire TE35 32 of the SRC2000 external wiring harness. Refer to Figure 7.2.1 for details.

    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. Open udpconsole, test the driver function, and verify the displayed content in udpconsole.

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

    Figure 7.3.1

    Figure 7.3.1 - Enhanced Visualization of Data

Common Error Codes for Drives