1. Scope of Application

This article is appropriate for debugging and configuring large and medium-sized drives.

Second, debug resources

Drive manual:
600W jack-up servo drive all-in-one.pdf
Servo Driver User Manual.pdf
Technical support documentation - can control run sample.pdf
Debugging software:
DriverStudio S20-202231.4. Zip

Three, Wiring and Transformation

1. Ensure that the driver is securely attached to the car body and verify that the driver is properly connected to the corresponding motor's three-phase wire and encoder line for reliable operation.
2. If the robot is equipped with multiple drives (number ≥2), connect all slave stations' CAN_L and CAN_H pins directly in a series connection.

2. Connect Driver4 to the Decci cartridge connector by inserting can_H and can_L into the appropriate slots. Connect the male end of the Decci DT06-2S connector to the cartridge. Finally, connect line 32 and 33 of T35 in the middle using (can1). (Note: Refer to Appendix I for pin definitions of each driver type.)

Four, Drive Configuration

Overview of Software

DriverStudio is a versatile PC debugging software. This chapter explains how to utilize DriverStudio for debugging and configuring low-voltage servo drivers.

4.1.0 Connecting Cables

Properly connect the upper computer by following the power cord and signal definitions shown in the figure below:

4.1.1 Connection

To open the DriverStudio icon, double-click it and select "Low Voltage Servo" from the Product selection. Then, click "OK" to bring up the following interface:

Slave station address: If all dip switches are OFF, the shaft address is determined by parameter 0x2700, and the factory default value is 1. If the DIP switch is not OFF, the shaft address is determined by the DIP switch. For more information, see DIP switch Description.
Baud rate: determined by parameter 0x2701. The factory default value is 115200.
Check: None.
After powering on the drive, select the serial port number corresponding to the communication cable and click Connect Device. If you do not know the address of the slave station, click Search Device to search for the address of the slave station and then connect the device.

4.1.2 Modifying Parameters

In the Basic Control Parameters interface, modify the instruction source from 0x2106 to 2: CANopen mode, and then click on Save Parameters.

Adjust the baud rate and CAN ID.

5. Robot Model Configuration Instructions

Based on the actual motor and deceleration configuration, select ZhongDa-CANOpen for motor parameters and brand.

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


Note: Deceleration ratio, number of encoder lines, maximum motor speed, and driver brand should be filled in according to the actual selection.

Six, error information

Fault and Warning List
Faults can be categorized into four types:
1. Non-resettable No.1 failure; This type of failure is related to hardware and can only be reset after the device is powered on again. If the device cannot be reset even after power-on, please contact Huawei technical support.
2. Resettable No.1 failure; Serious faults can be reset online after the cause is removed.
3. Resettable No.2 fault; Common faults can be reset online after the cause is removed.
4. Reset Warning; The device can continue to run without stopping and can be reset online.
According to 0x268E or 0x605E, the stopping mode of No.1 or No.2 failure can be selected as free stop, decelerating stop, quick stop, or dynamic braking stop.
1) Type I (No.1) non-resettable failure:

2) Type I (No.1) resettable fault:


3) Type II (No.2) resettable fault:

4) Warning, reset:

Vii. Supplementary Material

7.1 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, then 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 7.1.1:

Figure 7.1.1:

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 7.1.2 for details.

Figure 7.1.2:

4. Choose "Display (V)" and uncheck "Merge same ID data (M)". The CAN message is displayed in Figure 7.1.3.

5. You can control the motor by issuing instructions. For example:
2f 60 60 00 03 00 00 00
{Select 0x6060 Control Mode as 3 Speed Mode}
23 ff 60 00 e8 03 00 00
{Set 0x60ff target speed}
2b 0a 27 00 ff ff 00 00
{Set 0x270a instruction uniform time to 65535ms}
2b 40 60 00 0f 00 00 00
{Set 0x6040 Control word to 0f Enable} (
00 indicates that the function is disabled. In can mode, enable the motor to run immediately)