CORE Setting using LiveUSB
Starting LiveUSB and EtherCAT master
CORE setting functions
- Firmware update for module
- Encoder check, preset after changing battery and fix error if exist
- Internal gain update
- CORE re-calibration if commutation data lost (e.g. update wrong firmware type)
- CORE simple test including brake control and simple motion test
CORE setting method
- A set of applications and EtherCAT master running on a LiveUSB OS
- Booting from LiveUSB, running EtherCAT master and application
- A PC with at least one Ethernet port, USB-Ethernet may also work but not recommended
- PC can be booted from USB stick
- Some laptop may not work with LiveUSB so a personal PC is preferred
Users may get a pre-configured LiveUSB from Neuromeka or its image file when they get CORE modules. If an image file were received:
- An USB 3.0 with at least 10GB empty is required
- User should use disk cloning applications to clone image to USB stick
- For Windows, win32 disk imager application is suggested
- For Linux, simply dd command can be utilized. Any other cloing tools like Clonezilla will also work well
Figure 1. LiveUSB stick and LiveUSB image writer tool
- Plug the prepared USB stick into a selected PC
- Start PC power, press a suitable key to select boot. Choose booting from USB drive
Figure 2. Select to boot from LiveUSB
Starting EtherCAT Master
- After completely booted, a Ubuntu 16.04 OS is now running.
- Users should find several icons on Desktop including Master control and CORE setting apps.
- The 1st step is to start Master control app (MasterCtrl.sh), press ‘Execute’ if asked.
Figure 3. Desktop application icons
Figure 4. Execute application
- User should look at list of network interfaces available on their PC, select suitable one in ‘Interface’ dropdown list.
- Press ENABLE button to start Master, Master state will change from OFF to ON.
- At this point, users may close Master control application and continue with setting application.
- In case users want to change network interface, they must DISABLE master first, select another interface and ENABLE master again.
Figure 5. Before ENABLE Master
Figure 6. After ENABLE Master
Starting CORE setting application
- After starting EtherCAT Master, connect CORE to PC and start power supplies.
- Double-click on CORESetting.sh script icon, confirm Execute if asked.
- CORE module will appear in slave list, in PREOP state.
- If there is many CORE modules on bus, select device you want to work at ‘Select device’ dropdown list.
- Use ‘Forward->’ and ‘<-Backward ‘ buttons to test CORE modules motion.
Figure 7. CORE setting application
- Step#1: click on Browse button to search for suitable firmware file firmware_crc.bin
- Step#2: click on Update button to start updating, confirm ‘Yes’ if asked. Wait for complete status
- Step#3: shutdown 48V power supply, wait about 3s
- Step#4: turn on 48V again, CORE will start writing new firmware internally. After about 10s CORE module will re-appear in slave list, you may check FW version
Important: in step#4, after power on CORE, user should keep power stable until firmware downloaded is completed. If power were accidently stopped during this period, driver will be bricked.
Figure 8. Firmware update steps
CORE setting and calibration
- In case of losing commutation data (wrong firmware update…) user should do motor re-calibration
- It is simply by clicking on ‘CALIB MODE’ button and let application do remain works
Important: when CORE start calibration, brake will be released and module will do small rotation. If CORE is being installed on robot, users should care to avoid unwanted damages.
Figure 9. CORE Calibration
Encoder setting: preset and fixing encoder error
- CORE module’s absolute encoder maintains multi-turn data by a small battery.
- After replacing battery of encoder or a wrong position detected, users should preset and fix encoder error using setting application.
- Status checking functions:
- Get Chip information: obtain encoder version and internal setting
- Get Status: check encoder internal statuses
- Get Sync state: checking synchronization status
- Fixing functions:
- Reconfiguration: factory reset of encoder configuration
- Clear PVL: clear multi-turn chip error
- Sync: re-synchronization single-turn chip and multi-turn chip after battery replacing
- Preset encoder after replacement of battery:
- Get all information and statuses
- Clear PLV and reset 48V power supply
- Sync and reset 48V power supply
- Re-check all statuses
Figure 10. Encoder setting