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The configuration of the SRC2000 model file differs from that of the SRC800/SRC3000 model file

Zebra printer prints QR code instructions

Qr code paste requirements for navigation and secondary positioning

Specification for one dimension code of the tank

Material box DM code instructions

Ubuntu 18.04 LTS Operation Instructions

【Moxa】1131a Industrial AP

【Moxa】1137c Network client configuration

【Moxa】1137c User Manual

[Node pass] 2458-3x3-AC Industrial AP

Laser installation methods and precautions

2D laser behavior table

SICK NanoScan3 Laser sensor

Robosense Helios 16P Multiline Lidar

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TiM310 Usage instructions

Driver behavior table

Step driver configuration of FM860

Large and medium driver

ISMC driver (Pure Hall no encoder)

SEW Driver (under test)

HLS LS driver (private version, canopen version)

Mingzhi M2DC driver (Supplier has been discontinued)

Ming Chi MDX Drive (Supplier discontinued)

Motec Driver (older PC)

Motec Driver (new upper computer)

ZLTECH-ZLAC8030L driver

Qingneng Techon drive

ZAPI driver -ACECOMBIX

Curtis Drive 1232E parameter adjustment guide

Curtis Drive F2A parameter adjustment guide

Hikang code reading camera

Pepplus Plus code reader camera

Dahua code reader camera

Grazing star code reader camera

SICK code reader camera

2D camera internal parameter calibration

Range sensor literacy

SSH-10-sensor Indicates the distance sensor

Benewake-sensor Distance sensor

Composite robot terminal device

Dahuan PGC series gripper

Kun Wei power control

SICK- Series cable encoder

kuebler cable encoder

Checklist- Battery protocol adaption

SRC-2000(S) controller battery adaptation Description

Wireless charging - Hertz

Lithium flat charging pile

Function configuration of the original handle of forklift truck

Light belt write code operation instructions

Standard IO extension

I/O sensor configuration Description

Curtis Drive F2A parameter adjustment guide

1. Scope of Application

This article is relevant to debugging and configuring the Curtis-F2A.

Second, Debugging Resources

Software debugging:

This software license code can only be installed and used on one computer. If it is used on other computers, it needs to be re-authorized, and the license activation code is charged.

PEAK (No license is required for this software)

Note: No license is needed for the software PEAK

Software Name: PcanView.exe
You can download the PEAK drivers and software from the official PEAK website or use the drivers and software included in the following packages.
PEAK Software.rar

Tools for Debugging:

PEAK Data cable connection

Step Three: Wiring and Parameter Modification

3.1 Electrical Connection

The wiring is done according to the motor schematic diagram of the actual project.

3.2 Parameter Modification Procedure

Connection Peak

Connect the PEAK device to the F2A drive, taking note of the distinction between CANH and CANL. The meaning of these terms is:

Launch the PcanViewe.exe software.

Configure the baud rate to 250K.

After clicking OK, I can read the data above in PCAN-view.

Launch Curtis Integrated ToolKit

Must be loaded first: CurtisF2A. The corresponding firmware program can fully unlock the internal parameters: F2A.

Select Communication and click Connect.
Select Node 0x26 and wait for device load to complete.
Click Programmer.

3.3 Attention Items

Notice:

Always verify that the connections to PEAKCANH,CANL, andF2Aare correct before connecting.
For Cortez's softwareCurtis Integrated ToolKit, the company only has one authorized computer. Other engineers must purchase software authorization to debug on other computers.

Four, Drive Configuration

4.1 F2A Drive Working Mode

We utilize the Curtis-F2A Series of drives for implementation with the F2A. The velocity pattern is optimized for performance.

Note:
F2AThere is a problem with the position mode. When stopping, the walking motor will hold current, which will cause abnormal walking data feedback and motor aging.

Some problems you may encounter when using servo mode:

When lifting the load fork (vehicle walking in a static state), there may be abnormal speed feedback on the walking motor, causing the alarm "out of path". In serious cases, it may cause lost positioning, which is dangerous during delivery.
The walking motor has holding current. If it is blocked or stopped abruptly when starting multiple times, the F2A current cannot be attenuated and the F2A driver will report an error.

4.2 F2A Internal Parameters Requiring Modification

Speed Mode Express - Improved speed mode

KP should be set to 30%. If the walking wheel does not appear to shake, it can be adjusted to 40%.
KI should be set to 40%.
Brake Rate should be set to 0.1 seconds.

Speed Mode - Response - Fine Tuning

Max Speed Acceleration set to 0.1 seconds;
Max Speed Deceleration set to 0.1 seconds;

Restraint - Position Hold

Soft Stop Speed should be set to 0 RPM;
Position Hold Enable should be set to ON;
KP should be set to 50%;
Kd should be set to 15%;

Application Setup - EM Brake Control

Zero Speed Threshold should be set to 70rpm.
Brake Set Time should be set to 304ms.
Torque Release Time should be set to 200ms -- 100ms or even 50ms if the overshoot is bad;
Brake Release Time should be set to 48ms;

Parameters related to descending proportional valve

Driver_1_Ki set to 2.5%.
Driver_1_Kp set to 25%.
Driver_1_Max_Current set to 0.8.
Driver_1_Min_Current set to 0.

4.3 Modification Description of Kinematics Parameters in Roboshop

Confirmation of parameter modification for in situ rotation overshoot problem.

In Roboshop, check the following parameters in the parameter configuration:

Parameter Name	Suggested Value	Default Parameter	Remarks
jerkRot	4	10
Load_MaxManualRotAcc	15	30	Keep the default value
Load_MaxManualRotDec	15	60	Keep the default value
Load_maxRot	60	60	Keep the default value
Load_maxRotAcc	15	15	Keep the default value
Load_maxRotDec	15	15	Keep the default value
MaxRot	60	60	Keep the default value
MaxRotAcc	30	30	Keep the default value
~~MaxRotDec~~	30	30	Keep the default value