Application note Configure IRD drive with Haozhi Joints on Robot Arm William Romiguières

INTRODUCTION IRD servo drives from INFRANOR are designed to be embedded inside the Haozhi joints with high ratio reducer. A 2nd position sensor is generally mounted on the reducer output to improve the load positioning accuracy. The commissioning process is different depending on the joint position sensor’s structure: only the motor position feedback, or added 2nd position sensor on the reducer output. Part 1 of this paper describes the commissioning process of the joint in both cases. Part 2 concern the axis tuning when the joint is mounted on the robot arm. Part 3 concern the on-line tuning...

1) IRD drives must have the firmware 1.2.18.54 or higher; 2) It is highly recommended to use the latest version of OPTIO, available on the website ( https://infranor.com/en/downloads/) 3) The EtherCAT master (controller) must be disconnected from the IRD drive when doing the commissioning with OPTIO Select the appropriate motor in the proposed motor list. User position scaling Following errors Profile modes Position sensors Brake control Stop operation Position limits Modulo Digital inputs Digital outputs Sequences Digital cams Field bus configuration Process data configuration Seen red data...

itant by Infranor SAS - Copyright © Infra OPTIO Drive Assistant vl .0.39.917 MOTOR CONFIGURATION MOTOR CATALOG NEW MOTOR ADVANCED Device information Power supply M otor config uration Controller Position sensors Brake control Position limits Modulo Digital inputs Digital outputs Sequences Fieldbus configuration Process data configuration MOTOR DETAILS General information Type complement |+| Position sensor ED Drive current loop [—1 Motor protection i current limit (A) rent limit (A) Set the reducer ratio of the joint. Power supply Motor Configuration Control!** Profile modes Position sensors...

Set then, the User Position Scaling:For simplicity, the User Position Scaling can be set equal to the resolution of the sensor used for the position loop. Inour case, for the encoder#"!, it is a 21 bits absolute encoder, so we set “User Position Scaling” to 2097152 inc / rev. ■r'l Power supply Motor configuration Controller Profile modes Position sensors Brake control Stop operation Position limits Digital inputs Digital outputs Digital cams Fietdbus configuration Process data configuration Secured data Display factor | Position scaling Motor LoadReducer ratio for rotative axis Reducer ratio...

Case 2) The motor is not referenced in the motor catalog The motor parameters can be manually adjusted or calculated by using the drive's built-in procedures. The required motor data for the manual setup are listed below: - Motor position sensor specifications (BISS-C encoder parameters) - Motor current limits: rated current and peak current - Motor winding inductance - Motor speed limit Select the motor type and set the motor sensor parameters values Q OPTIQ Drive Assistant by Infranor SAS - Copyright © Infranor SAS 2025 OPTIO Drive Assistant vl .0.39.917 Device information j^owersuggl^^^^^...

^ OPTIO Drive Assistant by Infranor SAS - Copyright © Infranor SAS 2025 — OPTIO Drive Assistant by Infranor SAS - Copyright © Infranor SAS 2026 Device information Power supply Motor configuration Controller User position scaling Following errors Profile modes Motor feedback Motor feedback sensor BiSS-C encoder #1 Note: The motor feedback can only be set in the motor configuration window Position sensors Brake control Stop operation Position limits Modulo Digital inputs Digital outputs Position loop feedback sensor selection Feedback type BiSS-C encoder #1 (Motor feedback) Sensor parameters Name...

Set the reducer ratio of the joint. Set then, the User Position Scaling: For simplicity, the User Position Scaling can be set equal to the resolution of the sensor used for the position loop. In our case, for the encoder#"!, it is a 21 bits absolute encoder, so we set “User Position Scaling” to 2097152 inc / rev. Power supply Motor configuration . Controller_ Display factor flowing errors Profile modes Position sensors Brake control Stop operation Position limits Modulo Digital inputs Digital outputs Sequences Digital cams FieWbus configuration Process data configuration Secured data Motor Load...

Following error* Prpfa* modes Position sensors Brake control Stop operation Position limits Digital inputs Digital outputs Digital cams Process data configuration Secured data LoadReducer ratio for rotative axis Reducer ratio input Reducer ratio output n3 One reducer output revolution represents Notr In case of reeftjeer ratio > 1 the scaling is between the reducer output and the load. 9 Part 1: Joint setup without load

Process data Device information Power supply Motor configuration Controller User position scaling Following errors Profile modes Position sensors Brake control Stop operation Position limits Digital inputs Digital outputs Digital cams Fieldbus configuration Process data configuration Poles pairs number Phases order Feedback offset Reducer ratio input Reducer ratio output Part 1: Joint setup without load 10

The motor position sensor parameter values have been set on the previous step. Check that the values are correct. |J OPTIO Drive Assistant by InfranorSAS- Copyright© lnfranorSAS2025 OPTIO Drive Assistant vl .0.39.917 ■ MY LAST PROJECT B Store parameters Device information _Power_su£|3l^^^^ MOTOR CONFIGURATION MOTOR CATALOG NEW MOTC 2 | ADVANCEI[T"| iHl Controller User position scaling Following errors Profile modes Position sensors Brake control Stop operation Position limits Modulo Digital inputs Digital outputs Sequences Fieldbus configuration Process data configuration Secured data MOTOR DETAILS...

Position sensors Brake control Stop operation Position limits Digital inputs Digital outputs Digital cams Fieldbus configuration Process data configuration Secured data Motor feedback Motor feedback sensor BiSS-C encoder #1 Note: The motor feedback can only be set in the motor configuration window Position loop feedback sensor selection Feedback type Sensor parameters Clock frequency CRC length Encoder resolution (increments per revolution) Maximum revolutions SCD length without CRC If a second sensor on the reducer output is used for the position loop, you need to configure the motor sensor...