Description

This document aims to specify the process of robot transformation and addresses the handle mismatch problem in the Linde forklift series during the transformation process. It is intended solely for explaining the specific configuration.

I. Principles and Classification of Forklift Handle Control

Functions of the original forklift truck handle:

• Manage forklift movement forwards and backwards;
• Adjust the forklift truck's steering wheel to change the rudder angle;
• Control the forklift fork's elevation;

Currently, there are two control modes for the original handle during the transformation process of a forklift truck:

1. The control of forklift movement, including forward, backward, steering angle adjustment, lifting and lowering, is linked to the conversion process through three potentiometers made by Curtis. The driver, located above the drive, uses the input signal to control the corresponding forklift's actions. This control method does not require any configuration according to this document.

• The control for forward and backward function is a potentiometer, connected to the corresponding pin of the Curtis driver.
• The control for rudder angle adjustment is a potentiometer - steering point, connected to the corresponding pin of the Curtis driver.
• The control for rise and fall function is a potentiometer, connected to the corresponding pin of the Curtis driver.

2. The forklift's forward and backward movement, as well as the rise and fall of its forks, are controlled via CAN data. Steering is controlled by a steering potentiometer.

• The control for the forklift's forward and backward function is operated by a potentiometer. However, there is a small controller inside the handle that converts the voltage signal into CAN data output.
• The control for the forklift's fork rise and fall function is also operated by a potentiometer. The voltage signal is converted into CAN data output through the small controller inside the handle.
• The control for the rudder angle adjustment is a potentiometer that connects to the Curtis actuator's analog corresponding pins. This will output a group of CAN signals for processing in the software.

2. Usage Scope

Currently, this configuration is only utilized for Linde models with the original handle, which communicates through the CAN communication protocol.

Three, Principles of Configuration

Functional principle of the adapted handle:

1. By configuring Manipulators, the controller can analyze the protocol to obtain speed data for response walking and lifting.
2. The potentiometer information of the drive is used to convert steering data into output data, which is read by the controller and converted into angle data before being sent to the steering driver.

Principle for handling configuration:

1. Ability to differentiate between manual and automatic mode for the controller.
2. In manual mode, the controller utilizes the CAN protocol to send control commands to the driver in order to complete the actions of walking, turning, and lifting the fork.

IV. Description of Robot Model Configuration

1. Determine which circuit the handle is connected to based on the original car's electrical schematic diagram. Configure the corresponding port with a 500k baud rate, and ensure that the handle is compatible.
2. Refer to the electrical schematic diagram to identify which hand automatic switch is connected to DI. Configure the trigger to activate the manual automatic mode switch.

For instance, if the automatic hand switch is linked toDI0, then:

• Configure a Trigger and set the source for DI. Fill in the form below.
• Set the external control mode to ascending edge trigger and configure the type for risingEdge.
• Configure the function to switchToExternalControl.

See the image below:

This configuration implies that if DI0 is set to high above the hand auto switch, the controller mode will switch to "manual control mode". However, for the 1232E drive, it will remain in automatic mode.

3. Configure an additional Trigger to switch from manual mode to automatic mode.

Still manually turned on and off usingDI0as an example:

• Configure a Trigger and set the source for DI. Fill in the form below.
• Set the external control mode to ascending edge trigger and configure the type for fallingEdge.
• Configure the func into switchToSRCControl.

See the image below:

The significance of this setup is that when DI0 is set to low on the hand auto switch, the controller will switch to "Auto control mode", but for the 1232E drive, it remains in auto mode.

4. Manipulators: Configuration method for

• Select Manipulators and check "Enable device";
• Choose canPort for port1 [according to the actual CAN connection configuration];
• Set brand to none;
• Choose CANHandleBrand for LINDE-1183-CANHANDLE.

Please refer to the image below:

V. Exception handling

1. As the can protocol of Linde's original handle has not been fully deciphered, if the handle fails to respond to actual actions after a certain period of time, please press the handle reset button to reset it. The handle will function properly after resetting.