Version

1. SRC2000: The firmware version must be greater than 2.1.50.
2. SRC800 is currently not supported.

Data

1. CAN Communication Protocol CANopen-Functions_MDX-B_EN.pdf
2. Operation Instruction
3. Product Manual

Electrical

1. Configuration of hardware stop modes (inhibit mode, STO mode)
2. Mounting of steering driver, CW, CCW limit switches
3. Definition of CAN communication interface
4. Method for configuring terminal resistance
5. Debugging communication port
6. How to connect 500V

Driver Configuration

1. Configuration of guard dog
2. Ability to configure baud rate for CAN
3. CAN address and node configuration
4. Setting of motor parameters (instructions available, contact SEW if unclear)
5. Special parameters
6. Manual zero marking for absolute value encoder (method)
7. Firmware version
8. Driver model (applicable to this protocol set)

Configuration for Models

CanID Configuration

1. Modify the canID of the corresponding motor in the model file to match the configuration node in the drive

Zero Marking Mode for Steering Motor

1. If the motor of an incremental encoder is used as the steering motor, the driver reference mode needs to be set to CCW limit mark zero mode, and the reset mode needs to be changed to reset by driver mode.

2. If the motor of the absolute value encoder is utilized as the steering motor, it will turn towards the corresponding front of the car body. Use the reference mode in the driver, set the current encoder to 0 bits, and change resetMode to None.

Encoder Configuration

1. When using the SEW driver, the output pulse count for one revolution of the motor is always 4096, regardless of the encoder resolution. The encoderLine is then standardized to /4 and filled in.

Brand of the Driver

Error Code

1. Manual can also provide error code explanations and handling methods.

Frequently Asked Questions

1. When the emergency stop button is pressed, the motor emergency stop is activated, which is indicated by external rotation (the motor does not move when the lock brake is engaged).
2. The incremental encoder motor uses the CCW zero-seeking mode. As the motor rotates, it reaches the CCW limit and triggers, then moves away from the CCW limit to trigger the falling edge. The current position is recorded as 0 bit, and then it completes one full rotation.
3. Zero marking is only used for steering motors with incremental encoders. For other motor types or absolute value encoders, zero marking is not carried out or is done manually by the SEW upper machine.
4. The current refers to the active current, and specific details can be consulted with SEW.