Frequently Asked Questions about Robot Joint Modules

Shenzhen Huiwen Intelligent Co., Ltd.Robot joint module FAQ

1. Techmotion software installation system requirements: 

Recommend win7 system, some win10 systems may have problems 

2. Techmotion software cannot communicate, maybe due to:

1) Serial port line problem; the serial port number is selected correctly; the serial port is occupied by other software; there is a problem with the computer serial port

2) The software is incompatible with the computer system. Replace the computer test again. 

3) The Techmotion software process that was previously operated was completely closed. Enter the task manager close the process. 

3. Precautions when operating the inching operation module: 

After the motor is enabled, check whether the current is normal, whether the indicator light is normal, whether the motor brake is open, if there is an alarm, use the debugging software to read the alarm information, contact our technical personnel to troubleshoot the problem. When the module is cascaded, be careful to let the module output shaft rotate multiple times, which may break the internal cable of the module.

4. Is the ready status light always flashing green? 

If the ready status indicator flashes slowly (twice per second), it indicates that the motor is enabled; if the ready status indicator is always green, it indicates that the motor is enabled; if the ready status indicator flashes quickly (four times per second), it indicates that the positive limit negative limit is set is in a valid state to limit/restrict movement.

5. Is the Fault status light always on in red?

The driver fault status light turns red to indicate an error. You can view the specific error information in the monitoring window after connecting the driver through Techmotion software. 

6. Why does phase error occur? 

When the Hall encoder are used together , the driver in the module continuously monitors the connection between the Hall the encoder uses it as a redundant feedback system. When the phase angle of the encoder is inconsistent with the switching state of the Hall, a phase error alarm will appear. If you encounter this error, please contact our technical personnel for troubleshooting. 

7. Why is there a voltage limit warning? 

The driver will monitor whether the PWM duty cycle reaches 95%, if it reaches 95%, a voltage limit warning will be displayed. This warning is allowed as long as no subsequent fault occurs.

One condition: Temporary voltage limit warnings will limit voltage as long as one two PWM cycles are exceeded. When a PWM amplifier is adjusting the duty cycle to control the current in the winding, it may be possible for the PWM duty cycle to reach 95% due to the load regulation characteristics. In this case the warning will be intermittent, but will cause an increase in tracking errors, system speed limiting position loop limitations. These warnings can be ignored. 

Another situation: continuous voltage limit warnings during multiple PWM cycles will limit the voltage. In this case, the motor voltage will be limited the motor cannot get the compensation voltage for back EMF, IR drop inductance. A better way to determine the motor voltage amplitude in the system is to track the voltage waveform, tracking errors, actual current values, etc. Tracking errors continue to appear are higher than the reasonable number of times. In this case, if the voltage limit warning occurs frequently, the warning cannot be ignored you can try to reduce the high speed reduce the acceleration. 

8. Why do tracking errors occur? 

Remove the mechanical fault clear the error using Techmotion software. If there is no mechanical problem, open the error log, clear the log continue to run until the error reappears, check for other errors warnings that may indicate the source of the problem. The most common cause of error tracking is current limitation. 

9. Why does the current limit warning appear? 

One situation: high duty cycle, such as heavy load, when peak continuous current is required, the flag file must be checked to confirm the value dwell time. Techmotion's oscilloscope tracker can use measurement tools to check the actual current value during the duty cycle. The effective value should be less than the continuous current setting value. Reduce the acceleration deceleration rate to reduce the current value. Another situation: if the phase information is lost, the motor will produce the correct torque torque, then a current limit warning will appear, usually because there is a problem with the feedback signal.

10. How do I download a .ccx file? 

The .ccx file is a control axis file that contains the drive variable settings. Our design engineers created used it during the development testing phase. This process completes the module parameter restoration to factory settings:

1) Open the configuration file provided by the manufacturer through Techmotion software download it to the internal memory (RAM); 

2) Then press the button to save the file into FLASH. 

11. How does CANopen/EtherCAT handle multi-axis motion? 

There are two types of multi-axis motion: A. Uncoordinated point-to-point motion, which does require simultaneous start stop B. Coordinated synchronous motion, which requires simultaneous start stop. Both CANopen EtherCAT can be used in uncoordinated coordinated motion, when the machine has a large number of drives I/O devices, using CANopen is a very cost-effective solution. 

12. Which CAN manufacturers do you support?

You can use any CAN interface CANopen master. 

13. Do I need a special Ethernet card when using EtherCAT? 

No additional hardware is required, but a standard Ethernet port is required. The drive in the module complies with the COE (CAN protocol based on EtherCAT) DS-402CANopen standard protocol in motion control.