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Instruction Manual for MYACTUATOR models including: MT-RH-20-100-B Setup Software, MT-RH-20-100-B, Setup Software, Software
MT-RH-20-100-B - RobotShop
File Info : application/pdf, 33 Pages, 4.60MB
DocumentDocumentSetup Software Instruction Manual Applicable driver: V3 Version: V4.0 Date: 2024.06 Catalog 1. Preparation ............................................................................................................ 1 1.1. Hardware Connection .................................................................................1 1.2. Running Environment ................................................................................ 2 2. Basic Parameters Interface ....................................................................................3 2.1. Communication Connection .......................................................................3 2.2. Encoder Calibration ................................................................................... 4 2.3. Motor Information ......................................................................................7 2.4. PID Parameter Adjustment .........................................................................8 3. Advanced Parameters Interface ...........................................................................10 3.1. Protection Parameters ...............................................................................10 3.2. Planning Parameters .................................................................................12 3.3. Motor Parameters ..................................................................................... 13 3.4. Export Parameters .................................................................................... 15 3.5. Import Parameters .................................................................................... 17 4. Motor Running Interface .....................................................................................18 4.1. Position Mode .......................................................................................... 20 4.2. Incremental Mode .................................................................................... 20 4.3. Speed Mode ..............................................................................................21 4.4. Current Mode ........................................................................................... 21 4.5. Alternate Motion Mode ............................................................................ 22 4.6. Motor Status ............................................................................................. 23 5. Set Up the Interface .............................................................................................24 6. Upgrade the Firmware .........................................................................................24 6.1. Motor without Operating Program ...........................................................24 6.2. Motor with Operating Program ................................................................26 7. Common Problems and Solutions .......................................................................27 7.1. Common Problems and Solutions for Using Setup Software .................. 27 7.1.1. Failure to Open CAN Device ........................................................27 7.1.2. Failure to Send Data ......................................................................28 7.1.3. No Response Received from Motor ..............................................29 7.1.4. Incorrect File Data .........................................................................30 7.2. Common Problems and Solutions for Firmware Upgrades ..................... 30 7.2.1. Failure to Open CAN Device ........................................................30 7.2.2. Power Failure during Firmware Upgrades ....................................31 7.2.3. Firmware Selection Error ..............................................................31 1. Preparation Before starting the setup software, the following needs to be done (1)Connection of hardware devices; (2)The configuration of the operating environment of the setup software. 1.1. Hardware Connection As shown in table 1-1. Table 1-1 Hardware devices list Devices Name Windows PC1 Type-C cable1pc CAN-USB conversion device1set Motor1set DC power supply24V/48V After the hardware device is ready, connect the CAN-USB conversion device and Type-C cable, the connection is shown in position 1, Figure 1-1; position 2 is the matching resistance, turn it to the left and keep it on. Figure 1-1 CAN-USB and Type-C connection diagram Please note that the appearance of the CAN-USB conversion device is different after upgrading, keep the matching resistance connected when using, and the connection method of the communication cable will not change. 1/31 Setup software use CAN0 channel, connect the CANH line and CANL line of the motor to the H and L of the CAN0 channel in turn. As shown in Figure 1-2, the CANH line is yellow and the CANL line is white in this example. The color of the CAN line may be different for different models of motors, so please follow the actual situation. In addition, multiple motors can be connected to the CAN bus as long as you make sure that the motor IDs are not the same. Figure 1-2 Motor and CAN-USB connection diagram With the DC power supply turned off, connect the motor to the DC power supply, and the black wire of the motor connected to the negative terminal and the red wire connected to the positive terminal, as shown in Figure 1-3. Figure1-3 Hardware devices connection complete diagram 1.2. Running Environment When you use the setup software for the first time, please install the necessary running environment-drivers and common Microsoft runtime libraries in the same 2/31 directory of the setup software, as shown in Figure 1-4, download link:Downloads | MyActuator. Running the program after the installation is completed, otherwise, a pop-up window will report an error, indicating that a file is missing. Figure 1-4 Installing Drivers and Common Microsoft Runtime Libraries 2. Basic Parameters Interface Basic parameters interface includes communication connections, encoder calibration, motor information and PID adjust parameters. In addition, the communication connection status and current communication ID are instantly displayed at the bottom of the screen. 2.1. Communication Connection After the hardware is correctly connected, turn on the power switch and the setup software, enter the specified communication ID, click the "Set Communication ID" button, and a pop-up window prompts "Successfully set communication ID.", as shown in Figure 2-1. If the communication ID is empty, clicking the "Set communication ID" button will not take effect. 3/31 Figure 2-1 Communication ID setting diagram Click on the "Connect" button to connect successfully, then this button can not be used, and display "Connected", display encoder calibration, the current position, motor information and the current communication ID, as shown in Figure 2-2. Figure 2-2 Setup software connection successfully diagram Click on the "Disconnect" button, operate the setup software to close the CAN-USB conversion device, then displays "Disconnected", and the connection status changes to "Not connected...", the current communication ID is cleared. 2.2. Encoder Calibration Click the "Encoder Calibration" button of the first encoder to bring up the main 4/31 encoder interface, read the encoder parameters, and a pop-up window prompts "Successfully read calibration parameters." , as shown in Figure 2-3. Figure 2-3 Main encoder calibration interface Explanation of encoder parameters,as shown in Table 2-1. Table 2-1 Explanation of encoder parameters Parameters Explanation Range Power off to save When switched on, power down to saves 0,1 multi-turn values multi-turn values Pole pair Number of pole pairs of a motor 2~40 Number of motor Increased encoder value after 1 revolution of 0~262144 encoder lines (PPR) motor operation Encoder calibration Motor torque current during calibration 0~Rated current current (A) Motor exchange Automatic calibration according to encoder 0,1 phase sequence direction and motor wiring direction Change motor When switching on, change the direction of 0,1 direction motor operation Encoder zero point Zero bias of electrical angle 0~PPR Encoder accuracy Assess the accuracy of calibration results <1000 5/31 The criteria for determining the accuracy of the encoder are shown in Table 2-2. Table 2-2 The criteria for determining the accuracy of the encoder Encoder Accuracy 970~1000 0~970 <0 Calibration Results Success Failure Failure Adjust the encoder parameters to ensure that the value is correct, click on the "Save" button to save all parameters to the motor program, and the pop-up window prompts "Successfully saved calibration parameters ." , as shown in Figure 2-4. Figure 2-4 Master encoder parameters adjustment and save In order to prevent operational errors, as long as there is no value for any one parameter, click the "Save" button, the setup software will not perform any operation. Further click on the "Zero Calibration" button, you can control the motor calibration, as shown in Figure 2-5. Figure 2-5 Main encoder zero calibration process 6/31 After calibration, re-read all data in the "Master Encoder" interface and display the calibration result. If the calibration is unsuccessful, the resolution is shown in Table 2-3. In addition, some motors will automatically open the "Exchange phase" option after calibration, which is a normal phenomenon. Table 2-3 Encoder calibration problems and solutions Results Solutions Failure Check that the number of pole pairs, the number of encoder lines and the encoder calibration current and re-calibrate them. Unavailability Re-calibrate 2.3. Motor Information Click the "Read" button of the motor information, the setup software will read the parameters in the motor information, refresh the current position, and pop-up window prompts "Successfully read motor information." , as shown in Figure 2-6. Figure 2-6 Diagram for reading motor information Explanation of motor information parametersas shown in Table 2-4 Table 2-4 Explanation of motor information parameters Parameters Explanation Range Motor ID Addressing the motor's identity on the CAN bus 0~32 Motor code Distinguishing motors NULL 7/31 Motor name Motor model NULL Firmware version Date of firmware version NULL Factory date Factory date and it cannot be modified NULL Reduction ratio Motor's reduction ratio 1~121 Except for the firmware version in the motor information, other parameters can be modified and saved. Click "Save" button to save all parameters to the motor program, and a pop-up window prompts "Successfully saved motor information.", as shown in Figure 2-7. In order to prevent operation errors, as long as there is no value for any parameter, click "Save" button, the setup software will not carry out any operation. Figure 2-7 Diagram for saving motor information 2.4. PID Parameter Adjustment Click on the "Read" button of PID parameter to set the software to read the PID parameters, and at the same time, a pop-up window prompts "Successfully read PID parameters.", as shown in Figure 2-8. 8/31 Figure 2-8 Read PID parameters Click the "Save" button of PID parameter, it save all PID parameters to the motor program, and the pop-up window prompts "Successfully saved PID parameters.", as shown in Figure 2-9. In order to prevent operational errors, as long as there is no value for any parameter, the setup software will not perform any operation when clicking the "Save" button. Figure 2-9 Save PID parameters 9/31 3. Advanced Parameters Interface The Advanced parameters interface displays protection parameters, planning parameters, motor parameters, export parameters and import parameters. 3.1. Protection Parameters Click on the protection parameters of the "Read" button, the setup software read the protection parameters, while the pop-up window prompts "Successfully read protection parameters.", as shown in Figure 3-1. Figure 3-1 Read protection parameters The explanation of protection parameters, as shown in table 3-1 Table 3-1 The explanation of protection parameters Parameters Unit Explanation Over-voltage protection V voltage Low-voltage protection V voltage If the operating voltage exceeds this parameter,the motor stops and an error is reported: over-voltage If the operating voltage is lower than this parameter, the motor stops and an error is reported: low-voltage Range 0~60 0~60 10/31 Time limit of s blocking turns Duty cycle % for braking If the blocking time exceeds this parameter, the motor stops and an error is reported: motor 0~600 blocking Duty cycle of the holding brake circuit when the 0~100 holding brake is activated Current sampling m resistors Holding brake % maintenance Duty Cycle for Brake _ Function Selection Resistor resistance value when sampling three-phase current by the main control Duty cycle of the holding circuit when holding brake is maintained Selection of braking function: holding brake or braking resistor Base on the situation 0~100 NULL Click the "Save" button of the protection parameters, it can save all protection parameters to the motor, and at the same time, a pop-up window prompts "Successfully saved protection parameters .", as shown in Figure 3-2. Figure 3-2 Save protection parameters In order to prevent operation errors, as long as there is no value for any parameter, click "Save" button, the setup software will not carry out any operation. 11/31 3.2. Planning Parameters Click the "Read" button of the planning parameters, the setup software will read the planning parameters, and a pop-up window prompts "Successfully read planning parameters .", as shown in Figure 3-3. Figure 3-3 Read planning parameters The explanation of planning parameters,as shown in Table 3-2. Table 3-2 The explanation of planning parameters Parameter Explanation Range Max. positive angle(Deg) Maximum positive angle of motor running 0~65535 Min. negative angle(Deg) Minimum negative angle of motor 0~65535 Max.acceleration for position oMpaexraimtiounm acceleration for position mode 0~60000 PMlaanxn.dinecge(Dleprast/iso)n for position oMpaexraimtiounm deceleration for position mode 0~60000 PMlaanxn.sipnege(dDpfosr/sl)ocation oMpaexraimtiounm speed for position mode 0~Rated PMlaanxn.aicncge(lRePraMtio)n for velocity oMpaexraimtiounm acceleration for speed mode s0p~e6e0d000 PMlaanxn.dinecge(Dleprast/iso)n for speed oMpaexraimtiounm deceleration for speed mode 0~60000 PMlaontonrinpgo(sDitpiosn/s)zero(Pulse) oSpeleercattiaonn encoder value to mark as motor 0~PPR Click on the "Save" buttonzeorfotphoeinptlanning parameters, it can save all planning parameters to the motor, and at the same time, a pop-up window prompts "Successfully 12/31 saved planning parameters .", as shown in Figure 3-4. Figure 3-4 Save planning parameters In order to prevent operation errors, as long as there is no value for any parameter, click "Save" button, the setup software will not carry out any operation. 3.3. Motor Parameters Click the "Read" button of the motor parameter, use the setup software to read the motor parameter, at the same time, the pop-up window prompts "Read motor parameter successfully.", as shown in Figure 3-5. Figure 3-5 Read motor parameters The explanation of motor parameters, as shown in table 3-3. 13/31 Table 3-3 The explanation of motor parameters Parameter Unit Explanation Range Max phase A current limit The motor stops when the phase current exceeds this parameter and an error is reported: phase current over-current. Base on the situation When the torque current exceeds this parameter, Blocking A current limit the motor still cannot rotate, and the blocking time Base on the exceeds the time limit, then the motor stops and an situation error is reported: the motor is blocked. Over-tempe rature protection temperature The motor stops when the temperature exceeds this parameter and an error is reported: over 0~100 temperature. Over-tempe rature Cancels the over-temperature error when the 0~100 recovery temperature falls below this parameter. temperature Max speed RPM Max speed of motor running in current mode 0~6000 Rated speed RPM Motor speed at rated power Base on the situation Enabling second _ Whether to switch on the second encoder. 01 encoder CAN filter _ enable Whether to enable the CAN filter. 01 Click the "Save" button of the motor parameters, it can save all motor parameters to the motor, and at the same time, a pop-up window prompts "Successfully saved motor parameters.", as shown in Figure 3-6. 14/31 Figure 3-6 Save the planning parameters To prevent operational errors, the setup software does not perform any operation when the "Save" button is clicked as long as there is no value for any of the motor parameters. 3.4. Export Parameters Click the "Export Parameters to XLSX File" button in the Advanced Parameters to bring up the export parameters dialogue box, the default path is the Windows desktop, as shown in Figure 3-7. Figure 3-7 Export parameters dialog box 15/31 Specify a path, enter a filename, and click save, as shown in Figure 3-8. Figure 3-8 Select a path The software will read all parameters in the motor, in the specified path to the specified file name to create a xlsx file, write all parameters to this file, and pop-up window prompts "Parameters exported successfully.", as shown in Figure 3-9. Figure 3-9 Export parameters After exporting the parameters successfully, you can find the xlsx file storing the parameters in the specified path and open it to see all parameters, as shown in Figure 3-10. 16/31 Figure 3-10 The xlsx file that stores the parameters It is not recommended to modify the contents of the xlsx file, which may cause errors in the import parameters. 3.5. Import Parameters Click the advanced parameters in the "Import parameters" button, pop-up import parameters dialogue box, the default path to the Windows system desktop, shown in Figure 3-11. Figure 3-11 Import Parameters dialog box Specify a destination file and click Open, as shown in Figure 3-12. 17/31 Figure 3-12 Select the target file The setup software will read all parameters in the file, write all parameters to the motor, and pop-up window prompts "Parameters were imported to the motor successfully", as shown in Figure 3-13. Figure 3-13 Import parameters to the motor 4. Motor Running Interface The motor running interface is divided into three parts, running part, real-time status curve part and status display part, as shown in Figure 4-1. 18/31 Figure 4-1 Motor operation interface The motor can be controlled to run in a certain mode, as shown in Table 4-1. Table 4-1 The explanation of control mode Control mode Explanation Position mode Specify the speed and position to control the motor to run at the specified speed to the specified position. Incremental Specify the incremental angle and speed to control the motor to run mode the specified incremental angle from the current position. Speed mode Specify the speed to control the motor to run at the specified speed. Current mode Specify the current to control the motor to run at the specified torque current. Reciprocating motion mode Specify the target position 1, running speed 1, running time 1, target position 2, running speed 2, running time 2 to control the motor reciprocating. Click the "Stop Motor" button to stop the motor. In addition, when switching to the basic parameter screen and advanced parameter screen, the control motor is stopped to prevent accidents. Click the "Reset" button to restart the motor master controller. The real-time status curve part collects data in real time and draws dynamic line graphs, so you can view the curve changes within one minute, and the specific meaning 19/31 of the line is shown in Table 4-2. Table 4-2 The explanation of real-time status curve Curve Colour Orange Blue Red Meaning CurrentA SpeedRPM PositionDeg 4.1. Position Mode Select the position mode as the working mode, enter the position and speed, click the "Start Motor" button, you can control the motor to run at the specified speed to the specified position and hold, as shown in Figure 4-2. If any item of position and speed is empty, the setup software will not perform any operation. Figure 4-2 Schematic diagram of position mode operation 4.2. Incremental Mode Select the working mode as incremental mode, enter the incremental angle and speed, click the "Start Motor" button, you can control the motor to the current position as the starting point to run the specified incremental angle, as shown in Figure 4-3. If any of the incremental angle and speed is empty, the setup software will not perform any operation. 20/31 Figure 4-3 Schematic diagram of incremental mode operation 4.3. Speed Mode Select the speed mode as working mode, input the speed, click the "Start Motor" button, you can control the motor to run at the specified speed, as shown in Figure 4-4. If the speed is empty, the setup software will not perform any operation. Figure 4-4 Schematic diagram of speed mode operation 4.4. Current Mode Select the current mode as working mode, input the current, click the "Start Motor" 21/31 button, you can control the motor to run at the specified current, as shown in Figure 4-5. If the current is empty, the setup software will not perform any operation. Figure 4-5 Schematic diagram of current mode operation 4.5. Alternate Motion Mode Turn on the "Alternate Motion" switch, enter the target position 1, running speed 1, running time 1, target position 2, running speed 2, running time 2, click on the "Start Motor" button, you can control the motor to run at running speed 1 to the target position 1, then the motor will run at running speed 2 to the target position 2, the cycle is repeated, as shown in Figure 4-6. If any of the data is empty, click the "Start Motor" button, the setup software will not perform any operation. Figure 4-6 Schematic diagram of alternate motion mode operation 22/31 The following three points about the running time are explained : 1Regardless of whether the target position is reached or not, as soon as the run time is exceeded, the motor will immediately proceed to the next stage of motion. 2When the target position is reached, if the running time is not exhausted, the motor will enter the waiting state, and after exhausting the running time the motor will enter the next stage of movement. 3After switching on the "Alternate motion" switch, even if an operating mode is selected and the required data is entered, clicking on the "Start motor" button, the setup software will prioritize running the motor in alternate motion mode. 4.6. Motor Status The status bar displays the current motor status in real time, as shown in Table 4-3. Table 4-3 The explanation of protection parameters Status Significance Normal The motor is operating normally Hardware over-current Motor stalled Under-voltage Over-voltage Phase current over-current The motor current exceeds the limit value The motor current exceeds the stall current and lasts longer than the stall time The operating voltage is lower than the under-voltage protection voltage The operating voltage exceeds the over-voltage protection voltage The phase current of the motor exceeds the limit value Power overrun Calibration parameters are incorrectly written Speeding The motor power exceeds the limit value Calibration parameters are incorrectly written The motor speed exceeds the limit value 23/31 The temperature of the on-board device of the motor On-board device overheated exceeds the limit value Motor overheated The motor temperature exceeds the over-temperature protection temperature Stall time limit When the stalled rotor time exceeds this parameter, the motor stops and the error is reported: Motor stalled Encoder calibration error Encoder calibration error Without receiving motor The host computer communicates with the motor, but message the host computer does not receive the required message 5. Set Up the Interface In the setting interface, you can choose the language: Chinese or English, and the setup software will automatically obtain the local language of the current Windows system when it starts, if it is Chinese, it will be displayed in Chinese, and if it is not Chinese, it will be displayed in English. 6. Upgrade the Firmware Before upgrading the firmware, you need to make the following preparations: (1) The connection of hardware device; (2) The configuration of operating environment of the setup software, the specific operation process is the same as that of using the setup software, see the first part of the manual: Preparation. The process of writing the upgrade firmware to the motor is described separately depending on whether the motor has an operating program. The judging method is: when the hardware connection is correct, turn on the power switch, and the green light flashing of the motor indicates that there is no operating program; otherwise, there is an operating program. 6.1. Motor without Operating Program Turn off the power switch, open the update setup software, enter the motor ID, you 24/31 don't need to set the port and baud rate, directly click the "Connect Device" button to connect CAN-USB conversion device, then the button changes to "Disconnect", as shown in Figure 6-1. Figure 6-1 Update setup software connection to the conversion device Click the "Open file" button to select the required bin file in the file dialogue box, if it opens successfully, the basic information of the bin file will be displayed in the "Upgrade file information" module, as shown in Figure 6-2. Figure 6-2 The "Upgrade file information" module displays basic information of bin files. Click the "Updata" button, for motors with operating program, the setup software can directly write the upgrade firmware into the motor without re-powering. After successful download, as shown in Figure 6-3, you can directly close the update setup software. Figure 6-3 Firmware upgrade completed 25/31 6.2. Motor with Operating Program Open the setup software, enter the advanced settings, read motor parameters, turn off the CAN filter enable, as shown in Figure 6-4, and click save. Figure 6-4 Reading motor parameters in the setup software Close the setup software, open update software, input the motor ID, do not need to set the port and baud rate, directly click on the "Connect Device" button, you can open the CAN-USB conversion device, the button changes to "Disconnect", as shown in Figure 6-5. Figure 6-5 Update setup software connection to the conversion device Click the "Open file" button, select the bin file required for upgrading the firmware in the file dialogue box, and click "Open". If you open it successfully, the basic information of the bin file will be displayed in the "Upgrade file information" module, as shown in Figure 6-6. 26/31 Figure 6-6 The "Upgrade file information" module displays basic information of bin files Click the "Updata" button, for motors with operating program, update setup software can directly write the upgrade firmware into the motor without re-powering, as shown in Figure 6-7. After successful download, you can directly close the Update setup software. Figure 6-7 Firmware upgrade completed 7. Common Problems and Solutions This subsection provides solutions to common problems during the use of setup software and firmware upgrades. If you still can't solve the problem, please contact us. 7.1. Common Problems and Solutions for Using Setup Software 7.1.1. Failure to Open CAN Device If the pop-up window "Failed to open CAN device, please check the CAN device!" appears, as shown in Figure 7-1. 27/31 Figure 7-1 Failed to open the CAN device Please check if the situation described in table 7-1 exists and deal with it. Table 7-1 Troubleshooting the failure to open the CAN device Situation Methods of handling Other software occupancy Close the software that may be occupied and reconnect it. Unconnected Check the connection between the conversion device and computer. Faulty connection Observe the green light of the conversion device'CAN1 channel, if it doesn't light up, reconnect the hardware. 7.1.2. Failure to Send Data If the pop-up window "Sending message failed, please check if the motor status, CAN device, and wiring are correct!" appears, as shown in Figure 7-2. Figure 7-2 Failure to send data 28/31 Please check if the situation described in Table 7-2 exists and deal with it. Table 7-2 Troubleshooting the failure to send data Situation Methods of Handling No power Check the power supply, whether the motor indicator is normal, /Under voltage and whether the DC power supply voltage is correct. Wrong motor CAN lines connection Check whether the CAN line is connected to the CAN0 channel, and whether the CANH line and CANL line are connected to the H and L of the CAN0 channel in turn. 7.1.3. No Response Received from Motor If the pop-up window "We have not received a response from the motor. Please check if the motor status, connection ID, and wiring are correct!" appears, as shown in Figure 7-3. Figure 7-3 No response received from motor Please check if the situation described in table 7-3 exists and deal with it. Table 7-3 Troubleshooting the failure to response received from motor Situation Methods of Handling The motor that matches the set communication Check if the communication ID is ID could not be found on the CAN bus correct Problems with connection Check hardware device connections 29/31 7.1.4. Incorrect File Data When importing parameters, if the pop-up window "The file data is incorrect." , as shown in Figure 7-4. Figure 7-4 Incorrect file data Replace a properly formatted motor parameter file with complete data. 7.2. Common Problems and Solutions for Firmware Upgrades 7.2.1. Failure to Open CAN Device If the pop-up window "Failed to open the device, please check that the device type and device index number are correct" appearsas shown in Figure 7-5. Figure 7-5 Failure to open CAN device Please check if the situation described in table 7-4 exists and deal with it. 30/31 Table 7-4 Troubleshooting the failure to open CAN device Situation Methods of Handling Other software occupancy Close the software that may be occupying it and reconnect Unconnected Check the connection between conversion device and computer Faulty connection Observe the green light of the conversion device'CAN1 channel, if it doesn't light up, reconnect the hardware 7.2.2. Power Failure during Firmware Upgrades If there is a sudden power failure during the firmware upgrade process, the progress bar will stop. Recharging the motor, when the green light of the motor is blinking, follow the method that writing the upgrade firmware to the motor with no operating program to perform the firmware upgrade. 7.2.3. Firmware Selection Error If the wrong firmware is selected and written to the motor, a pop-up window "The firmware does not match the hardware version, please re-select the correct firmware!", this means the firmware is wrong, as shown in Figure 7-6, please replace the correct firmware. Figure 7-6 Firmware error 31/31