Description

This document outlines the automated transformation process for robots, which guarantees that the company's products adhere to industry standards, maintain consistent product quality, and provides technical personnel with guidelines to follow throughout the transformation process.

Robot automation transformation involves a significant number of sensors, therefore, we recommend utilizing our standard core controller wiring harness TE23 and TE35. This document utilizes the standard wiring harness of the core controller as a blueprint for operational guidance.

Note: This document is for reference purposes only and cannot be used as a technical agreement or any other content that assumes responsibility.

1. Scope of Application

This technical specification applies to the use of Leiser LD2 series Canopen communication driver by the company for the development, production, and debugging of technical personnel involved in automation transformation.

Second, Debugging Resources

LD2-CAN low voltage servo System user manual (2).pdf
MotionStudio_v1. 4.5. Zip

Three, Transformation and Installation

3.1 Transformation (chassis driver part)

3.1.1 Installation method for walking motor driver

1. The driver must be securely attached to the car body and ensure that it is properly connected to the three-phase wire and encoder line of the corresponding motor.

2. When installing the robot with multiple drivers (number ≥2), all CAN_L and CAN_H pins of the slave station can be directly connected. It is recommended to connect them in series, as shown 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, all can lines of the driver should be drawn out. All can_H should be pressed into the same Decci cartridge connector, and all can_L should be pressed into the same Decci cartridge connector. The male head of Decci DT06-2S should be connected, and finally, it should be connected with line 32 and 33 in TE35 (can1).

As some drivers lack a cascade port, they can only be connected in series by using wires from the bus, which must be shorter than 10CM.

Note: If there are not enough wiring harnesses required 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 4.4.1: Improved visualization of data.

     Figure 4.4.2: Comparison of different algorithms.

To ensure high-quality communication in a CAN network, it is recommended to install a terminal resistance (with a resistance value of 120 ohms) at the farthest drive from the core controller or at the end of the bus. Please note that customers can request to purchase matching terminal resistance from the driver manufacturer when purchasing the driver.

3. Method for detecting whether the CAN terminal resistance is correctly open:

Turn off and power down. Disconnect the CAN connection cables between the driver and controller (located between Driver4 and controller in FIG. 4.4.1). Utilize a multimeter to measure the resistance between CAN_L and CAN_H on the driver side CAN bus. 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 FIG. 4.4.1. Utilize a multimeter to gauge the resistance between CAN_L and CAN_H on the CAN bus of Driver1. If the resistance value is 120Ω, it is accurate, as depicted in FIG. 4.4.3. If the resistance value is considerably higher than 120Ω (for instance, a few KΩ), it indicates that the terminal resistance is not open at the end of the CAN bus and necessitates adjustment.

    Figure 4.4.3

    Figure 4.4.3 - Enhanced visualization of data.

4. Emergency Stop: When the high level is triggered, DI3 is connected to GND and COM_IN is connected to +24V, the emergency stop input is valid.

Four, drive parameter configuration walk (speed mode)

4.1 Upper Computer Configuration

4.1.1 Connection: LD2-CAN系列调试软件.zip

If you are using the USB_232 connection, please select the appropriate communication port.

4.2 Device Address (CAN ID)

The DIP switch is now active. If software configuration is necessary, turn the DIP switch off.

4.3 Watchdog Configuration

Save Vendor Parameters

Download Parameters

4.4 Disabling PDO, RPDO, and TPDO

All the aforementioned parameters will take effect upon the system being powered on again. Once the system has been powered on again, verify that the parameters have been successfully modified.

V. Drive Parameter Configuration: Steering Wheel (Position Mode)

Firmware for Absolute Location mode updated: LeadshineFirmwareLoader_v3.2.0_LD2_CAN_20230407.zip

Launch the computer software on top ; Verify that the displayed interface is correct, and select the desired directory for file burning; Proceed to burn the motor.

Wait for the firmware burning process to complete successfully before powering off and restarting the drive. (Do not power off the drive during the firmware burning process.)

5.1 Upper Computer Configuration

5.1.1 Connection: LD2-CAN系列调试软件.zip

If you are using the USB_232 connection, please select the appropriate communication port.

5.2 Device Address (CAN ID)

The DIP switch is now active. If software configuration is necessary, turn the DIP switch off.

5.3 Watchdog Configuration

Set the heartbeat interval to 300 milliseconds

5.4 Zero-Back Mode Configuration

Set the mode back to zero for a negative limit of 17, then return to zero (6098)
Set the speed back to zero at 20000 (6099 01)

Set acceleration and velocity for position mode

5.5 Limit and emergency stop switch

To begin, determine the line sequence of the limit switch. Typically, the line sequence for a sensor is: brown for positive, blue for negative, and black for signal. It is important to confirm this sequence with the manufacturer.
Next, determine if the steering gear limit switch is NPN or PNP. Below are two connections for different sensor types:

• For NPN type (low level trigger): connect all driver COMI in parallel to DCDC 24V+ output; connect all driver IN3 in parallel to SRC2000 emergency stop output 1+(TE35 Line 4), and connect the other emergency stop output 1- (TE35 line 5) to DCDC 24V- output.

• If PNP type (high level trigger): connect all driver COMI in parallel to DCDC 24V- output; connect all driver IN3 in parallel to SRC2000 emergency stop output 1+(TE35 Line 4), and connect the other emergency stop output 1- (TE35 line 5) to DCDC 24V+ output.

• Limit switch: use negative limit mark zero limit, access IN6**, ** and configure IN6 as negative limit and IN3 as emergency stop function according to the figure.

Save Vendor Parameters

Download Parameters

5.6 Disabling PDO, RPDO, and TPDO

All the aforementioned parameters will take effect upon the system being powered on again. Once the system has been powered on again, verify that the parameters have been successfully modified.

7. Appendix

7.1 Communication Sequence:

1. 232 Communication Sequence:

2. CAN communication sequence

7.2 Common Drive Error Codes

By referring to the error code on Roboshop, you can locate the corresponding error in the table.