Description

This document outlines the process of transforming robots to ensure that the company's products meet industry standards, maintain stable product quality, and provide guidelines for technical personnel to follow during the transformation process.

Robot automation transformation requires the use of numerous sensors. We suggest utilizing our standard core controller wiring harnesses, TE23 and TE35. This document serves as a guide for operating with the standard wiring harness of the core controller.

Suggestions for selecting Mingzhi servo drivers can be found in the company's SRC2000 selection guide.

This document is for reference purposes only and cannot be used as a technical agreement or any other content for which we are responsible.

1. Scope of Application

This technical specification applies to companies using Mingzhi drivers for automation transformation in R&D, production, and technician debugging.

Second, Debugging Resources

The firmware for 200 watts is as follows:

MDX 107f(d) IP20 20201103 for XianZhi.elf.E

The firmware for 400W is as follows:

MDX 108b(f) IP20 20190422 for XianZhi.elf_400W.E

The firmware for the 200W IP65 is as follows:

MDX 108b(f) IP65 20191128 for XianZhi.elf.E

Three, Editing, Transformation, and Installation

Retrofit (Chassis Driver Part)

1. The driver must be securely fastened to the vehicle body.

2. If the robot is equipped with multiple drives (number ≥2), the CAN_L and CAN_H pins of the slave station can be directly connected and connected in series, as illustrated in Figure 4.3.1. The CAN_H signal from Driver4 is ultimately routed to a Decci cartridge connector, while the CAN_L signal is similarly connected to a Decci cartridge connector to access the Decci DT06-4S male connector. Finally, it is connected to Line 32,33 (CAN1) in T35.

       Figure 3.3.1:

3. In order to guarantee the quality of CAN communication, open the 120Ω terminal resistor on the driver that is farthest from the core controller. For instance, install the terminal resistor on Driver1 in section 4.3.1. The terminal resistances of other drivers, such as Driver2, Driver3, and Driver4, should be turned off. The installed terminal resistances are displayed in Figure 4.3.2.

Figure 3.3.2 : Improved Visualization of Data

4. Verify that the terminal resistance is properly open:

Turn off the power and disconnect the CAN connection lines between the driver and controller (located between Driver4 and the controller in Figure 4.3.1). Use a multimeter to measure the resistance between CAN_L and CAN_H on the driver side of the CAN bus. Refer to Figure 4.3.3. If the resistance value is significantly less than 120Ω (for example, 60Ω), there are at least two open terminal resistors.

Disconnect the connection line between Driver1 and Driver2 in Figure 4.3.1. Use a multimeter to measure the resistance between CAN_L and CAN_H on the CAN bus of Driver1. If the resistance value is 120Ω, it is correct, as shown in Figure 4.3.3. If the resistance value is significantly greater than 120Ω (for example, a few KΩ), it indicates that the terminal resistance is not open at the end of the CAN bus and needs to be adjusted.

Figure 3.3.3

5. The chirping driver provided by the company can control the enabling or disabling of the motor to achieve the emergency stop function. The enabling or disabling of the motor can be achieved by controlling the level of the corresponding IO port on the driver (currently, IO port x5 is used as the motor enable signal, and the high level is +5V provided by the driver).

Figure 3.3.4

Four, Drive Configuration

4.1 DSP Firmware Burning Method of Mingzhi Motor

1. Navigate to the home screen and select the appropriate Com port (232) on the local PC. Insert the COM1 drive on the opposite side of the 232 port and select "Firmware Download" from the tool drop-down menu.

2. Go to the firmware download page, choose the firmware file, and upload it. The "Rev." on the right side will show the version information for you to confirm.

The firmware for 200 watts is as follows:

MDX 107f(d) IP20 20201103 for XianZhi.elf.E

The firmware for 400W is as follows:

MDX 108b(f) IP20 20190422 for XianZhi.elf_400W.E

The firmware for the 200W IP65 is as follows:

MDX 108b(f) IP65 20191128 for XianZhi.elf.E

3. Enter "reset" on udpconsole to power on the drive again. Wait for 3 seconds.

4. Click "Download" and wait for the progress bar to complete. To power on the driver again, update the DSP firmware.

5. Once the driver DSP firmware has been updated, reinitialize the driver, close the Artemis software, and launch the SCL Utility software.

SCL Utility version 2.6.31 compressed file

6. Choose the appropriate Com port for the ii device and turn on the driver once more. If a model appears in the Devices Detected window, the connection has been established successfully.

7. In the Command window, press "Enter" for RF1234. Press "Enter" for SA to complete initialization.

8. Next, you must reset all parameters, including communication parameters, PID parameters, and any other parameters.

4.2 Mingzhi Motor ARM Firmware Burning Method (CANopen)

1. Disable RBK (ideally robodpro).

2. Open the UDP console and enter "reset". Make sure that there is no data on the CAN bus, but a 120-ohm resistor is connected.

3. Connect the USB to 232 module to the motor drive, open Artemis, enter "reset" on UDP console to restart the motor drive, and click "Yes" when prompted. The next screen will be displayed.

Artemis Setup - Version 1.0.19.0410 in RAR format

4. Set the ID to 1, the baud rate to 1Mbps, and then download it to the drive. Please refer to the signal motor debugging method for details on this step.

5. Disconnect the USB to 232 cable, type "reset" in the udpconsole, and then restart the motor.

6. Connect the Kvaser to COM1 on the motor and insert the 120 ohm resistor small plug-in into COM2.

7. Launch CANopen Firmware Download and choose kvaser. Choose NodeID 1, where the baud rate is fixed at 1Mbps. Select the firmware, click open, and then click start to begin downloading the firmware as prompted.

CANopen Firmware Downloader Setup 1.0.16.1103.rar

The current ARM firmware is:

AMA_K10_CANopen MDX 213i (20210914) for XIANZHI.hex

8. Lastly, kindly consult the Mingzhi motor debugging method, modify the motor CANopen ID to the appropriate value, and adjust the motor baud rate to 250Kbps.

4.3 Configuration of Mingzhi Motor Communication Parameters

Please ensure that the power cord is properly connected and that the emergency stop line is connected in accordance with regulations. During my wiring debugging, I discovered that the emergency stop line is prone to becoming loose, therefore it is recommended to use wires with appropriate thickness whenever possible.

After inspecting, connect the debugging wire to the motor com1, open the software, and you will see the following interface. You can now officially begin debugging.

1. Choose the appropriate communication port.

When the motor is turned on, please note that the upload command is only effective when the motor is powered on. Therefore, it is necessary to quickly select "yes" in the picture below.

Next, you will be able to view the present fundamental motor parameters. To proceed, simply execute a few basic commands in the following sequence:

1. Configure to use the CANopen protocol.
2. Set the ID. Typically, the right wheel ID for our differential vehicle is 1, and the left wheel ID is 2;
3. Set the baud rate, which we set uniformly to 250k;
4. Verify that the position error alarm threshold is not applicable;
5. Click the Download to Drive button and wait for the download to complete before restarting the drive.

Here, thanks to the integrated design of the motor and drive, there are significantly fewer steps in the debugging process. Please note that the current documentation only supports 200w drives.

4.4 Birds Eye View Electronics: Reading ARM and DSP Versions

1. Launch the Canopen test tool via the Kvaser connection (remember the 120 ohm resistance).

CANopen Test Tool.zip

2. The baud rate and ID can be adjusted in the settings.

3. Click "Open" to receive the message, and the ARM version and DSP version will be displayed.

4.5 Mingzhi 200w Motor Parameter Configuration

First, connect Artemis to the drive using the debug method. Then, enter the following instructions in the green box.

Step 1: Adjust VI100 for speed loop integration

Step 2: VP12000 // Adjust the proportional loop for speed control

Step 3: Adjust the position ring ratio for KI10

Step 4: JM2 // Speed Mode

Step 5: ZV0.3 // Set the zero speed threshold

Step 6: ZF5000 // Speed Filtering

Step 7: PD20 // Adjust the motor to position the encoder threshold

Step 8: PE800 // Adjust the duration of the motor's position

Step 9: LV200 // Adjust the threshold for low voltage motor errors

Step 10: PM2 // Power-on status

Step 11: SA // Save the data

Instruction 12: RE // Restart the drive

(Revise: Instruction 12: RE // Restart the drive)

Unplug USB from 232

4.6 Parameter configuration of Mingzhi 400w motor

First, connect Artemis to the drive using the debug method. Then, enter the following instructions in the green box.

Step 1: VI120 // Adjust the integration of the speed loop

Step 2: VP32767 // Adjusting the speed ring ratio

Step 3: JM2 // Speed Mode

Step 4: ZV0.3 // Set the zero speed threshold

Step 5: ZF5000 // Speed Filtering

Step 6: KI10 //Adjusting the integral of the PID

Step 7: EG32000 // Electronic Gear Adjustment

Step 8: PD20 // Adjust the motor to position the encoder threshold

Step 9: PE800 // Adjust the time for motor positioning

Step 10: LV200 // Adjust the threshold for low voltage motor errors

Step 11: PM2 // Power-on Status

Step 12: SA // Save the data

Instruction 13: RE // Restart the drive

Unplug USB from 232

4.4.7 Configuration of Parameters for Mingzhi IP65 200W Motor

First, connect Artemis to the drive using the debug method. Then, enter the following instructions in the green box:

Step 1: Adjust VI100 for speed loop integration

Step 2: Adjust the speed ring ratio for VP12000

Step 3: Adjust the position ring ratio for KI10

Step 4: JM2 // Speed Mode

Step 5: ZV0.3 // Set the zero speed threshold

Step 6: ZF5000 // Speed Filtering

Step 7: EG10000 // Electronic Gear Adjustment

Step 8: PD20 // Adjust the motor to position the encoder threshold

Step 9: PE800 // Adjust the time for motor positioning

Step 10: LV200 // Adjust the threshold for low voltage motor errors

Step 11: PM2 // Power-on Status

Step 12: SA // Save the data

Instruction 13: RE // Restart the drive

Unplug USB from 232

Note: The 200W motor with an IP65 rating is magnetically wound. The default setting for electronic gear adjustment is 10000. The robot model's driver has an encoder wire count of 2500.

5. Robot Model Configuration Instructions

Adjust the walking motor parameters based on the motor and deceleration's actual conditions:

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

Figure 5.1

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

Mingzhi 200W motor encoder with 1024 line count;

Mingzhi IP65 200W Motor Encoder with 2500 Line Number

Mingzhi 400W motor encoder line count: 8000.

Six, Drive Function Detection

1. Prior to installing the shell after vehicle assembly, double-check the cables to ensure proper connection.

2. Elevate the car body to raise the wheels off the ground. Activate the robot and connect it to a network cable. Utilize Roboshop software to control the robot and set the wheels in motion. Employ the CanScope clip to detect CAN messages on the CAN bus for a minimum of 1 hour. The CAN messages are devoid of errors.

Step 3: Place the car body on the ground and utilize the Roboshop software to control the robot's movements, including forward, backward, left, and right.

4. Prior to pressing the emergency stop button, attempt to push the robot. If it does not move (motor is disabled), verify that the Roboshop robot is in the "No Emergency Stop" and "Drive No Emergency Stop" state, as depicted in Figure 6.1. Once the emergency stop button has been activated, push the robot again to enable the motor and ensure that it is now in the "Emergency Stop" and "Drive Emergency Stop" state in Roboshop, as illustrated in Figure 6.2.

Figure 6.1

Figure 6.2

Perform a 24-hour task chain motion aging test and check the Robokit Log for any error alarms.

Vii. Supplementary Material

7.1 Using Zhiyuan CAN Scope

1. Software Installation - Install the supporting software CANScope for CANScope. (Please contact Zhiyuan's after-sales service for software and user manual).

2. Hardware Connection - Refer to the CAN Scope user manual to connect the power supply, USB debugging cable, plug in the CAN Port board, and connect the CAN_H to the SRC2000 external wiring harness TE35 No. 33 wire. Connect CAN_L to SRC2000 external wiring harness TE35 No. 32. Plug the USB debugging cable into the computer.

3. Launch CANScope software, choose [Port board], uncheck [Enable terminal resistance], select [Message], set [baud rate] to 250Kbps, uncheck [bus response], select [Enable], and view real-time CAN messages as displayed in Figure 7.1.1.

     Figure 7.1.1

     Figure 7.1.1 - Enhanced visualization of data.

4. Choose [Status] [Error] and verify if there are any error packets. As illustrated in Figure 7.1.2:

     Figure 7.1.2

     Figure 7.1.2 - Enhanced visualization of data

7.2 USB CAN Card Usage

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. As illustrated in Figure 7.2.1.

     Figure 7.2.1

     Figure 7.2.1 - Enhanced visualization of data.

3. Open the USB CAN tool and select [Device Operation (O)] [Start Device (S)]. Confirm the CAN parameters, setting the [baud rate] to 250Kbps and selecting [CAN channel number] as channel 1. Click [Confirm]. Figure 7.2.2 illustrates this process.

     Figure 7.2.2

     Figure 7.2.2 - Enhanced visualization of data.

4. Choose "Display (V)" and uncheck "Merge same ID data (M)". The CAN message is displayed in Figure 7.2.3.

     Figure 7.2.3

     Figure 7.2.3 - Enhanced Visualization of Data

7.3 Usage of udpconsole

udpConsole is a handy tool utilized by our engineers for debugging purposes. It allows you to review the error information reported by the firmware.

1. Prior to launching the udpconsole tool, ensure that the computer is physically linked to the robot via a network cable.

2. Open udpconsole, test the driver function, and verify the displayed content in udpconsole.

Error frames may occur during driver communication, as illustrated in Figure 7.3.1:

     Figure 7.3.1

     Figure 7.3.1 - Enhanced Visualization of Data

Eight, Common Drive Error Codes

For instance:

1.0x8040: indicates a low voltage condition. The low voltage parameter in the drive parameters has not been modified.

2.0x8080, which exceeds the current limit

3.0x8: indicates that the temperature has exceeded the maximum limit.

4.0x6310 equals 2000+4000+0200+0100+0010