roboteq-config

The RoboteQ controller configuration files for robots with ROS 2 driver. For proper work of ROS driver there is a need to update RoboteQ driver firmware (provided by the manufacturer), configuration and script.

Correct configurations:

Panther v1.3

ROS Version	Firmware	Config Front Driver	Config Rear Driver	Script
ROS2	v30c-101525	v3.0-SBLG2360T-20250807-Pth-front.cpr	v3.0-SBLG2360T-20250807-Pth-rear.cpr	script_20240819.hex

Panther v0.1-v1.23

ROS Version	Firmware	Config Front Driver	Config Rear Driver	Script
ROS2	v21a-051923	v2.1-SBL2360T-20240103-Pth-front.cpr	v2.1-SBL2360T-20240103-Pth-rear.cpr	script_20240819.hex

Lynx v1.0

ROS Version	Firmware	Config	Script
ROS2	v30c-101525	v3.0-SBLG2360T-20250806-Lynx.cpr	script_20240819.hex

Lynx v0.2

ROS Version	Firmware	Config	Script
ROS2	v21a-051923	v2.1-SBL2360T-20240103-Lnx.cpr	script_20240819.hex

Understanding the Panther/Lynx CAN Network with Raspberry Pi and RoboteQ Drivers

RoboteQ offers a range of firmware versions. The older version, v2.01, has been succeeded by the newer version, v2.1a and v3.0b. The key distinction that stands out for our objectives is the enhancement in torque control achieved through sinusoidal wave modulation, in addition to improved functionalities for configuring RPDO (Receive PDO) and TPDO (Transmit PDO). As a result, the way communications are handled between ROS 1 and ROS 2 drivers varies, with the control mode in the ROS 2 driver being adjustable to accommodate sinusoidal wave control.

Firmware v3.0b is working only on newer controller hardware shipped with robot revisions:

• Panther - since v1.3
• Lynx - since v1.0

PDO Configuration for Firmware Version v2.1a and v3.0b (Utilized with ROS 2)

The TPDO setup for RoboteQ in firmware versions 2.1a and newer is predominantly handled through the configuration thanks to an update in functionality.

The exchange of the remaining information is performed via SDO.

Operating Mode Setup via SDO:

• OBJECT ID: 0x2106
• SUB-INDEX: 10
• DATA: op_mode(0-6)
• Operating Modes:
  • 0: Open-loop
  • 1: Closed-loop speed
  • 2: Closed-loop position relative
  • 3: Closed-loop count position
  • 4: Closed-loop position tracking
  • 5: Closed-loop torque
  • 6: Closed-loop speed position

RoboteQ Driver Setup

Install RoboRun+

RoboRun+ is a Windows application for configuration of Panther's and Lynx's motor controllers. The program is available on the website of the manufacturer. Remember to install the program in version Roborun+ PC Utility v3.2.

Firmware Update

Caution

• Improper file handling or power loss may damage the controller. Handle with care.
• This process will revert the configuration settings to default.

Preliminary Steps

1. Connect to robot Wi-Fi and login to Built-In Computer ssh husarion 10.15.20.2.

2. Power up the controller using hw_motors_on script or connect it to a power source (using the GND and + terminals).

3. Connect the controller to a Windows computer using a miniUSB connector.

4. Launch RoboRun+ software.

5. Click Yes to read the controller configuration.

   

Firmware Update Process

Note

You can download the firmware from the links provided in the table at the beginning of the README.md.

1. Navigate to the Console tab and click on Update Firmware via USB.
2. The controller will enter DFU mode and will be recognized as a new USB device (STM DFU). If it's the first time, driver installation might be required.

Note

Driver Installation (First Time Only)

1. Download the ST DFU Driver v3.0.6 or newer.
2. Open "Device Manager". Under "Other devices", the "STM DFU" device will be marked with an exclamation point.
3. Right-click on "STM DFU" and choose "Update driver" > "Browse my computer for drivers".
4. Direct it to the folder C:\Program Files (x86)\Roboteq\Roborun Plus\DFU Driver (default location - may vary). The driver should be detected and installed successfully.

Continuing Firmware Update

1. In the DFULoader program, select the appropriate device driver from the list. It may take some time for the computer to recognize the driver. Then, select the correct firmware (ENSURE IT MATCHES THE MODEL OF YOUR DEVICE!). Click "Upgrade".
2. After the firmware upload is complete (a "success" message appears), you can restart the controller.
3. In RoboRun+, verify the firmware version (bottom right corner) to ensure the update was successful.

Note

For Panther, repeat these steps for the second driver.

Configuration update

1. Power up the controller using hw_motors_on script, or connect it to a power source (using the GND and + terminals).

2. Connect a USB Mini B cable to the BLDC Motor Driver (one at a time).

3. Launch RoboRun+ software.

4. Click Yes to read the controller configuration.

5. In the Configuration tab, click Load Profile from Disk.

6. Choose a configuration file that matches the driver connected to the PC (either front or rear). For correct one look in the table at the beginning of the README.md.

7. A warning popup might appear. Click Yes.

   

8. In the Actions tab, click Save to Controller.

Roboteq Script Update

1. Navigate to the Console menu tab.
2. In the Configure tab, click on the Update Script button.
3. Choose the .hex file from the script folder and click Yes in the popup window.

This .hex file is generated from the .mbs file using RoboRun+. If you wish to edit this script, you can do so by navigating to the Scripting menu tab, clicking the Open icon, and selecting the .mbs file. After making your edits, you can export the modified file to .hex format by clicking on the Export Hex icon.

Hall sensors calibration

After updating RoboteQ configuration it is required to perform calibration of hall sensors position. Without it excessive heating and noise in power train might occur.

1. Place robot, that wheels are not in contact with the ground. Ensure that wheels are free to rotate.
2. Navigate to the Diagnostic menu tab.
3. Select Channel 1.
4. Click Motor / Sensor Setup. Wheel(s) on one side will turn back and forth ~15°.
5. Select Channel 2.
6. Click Motor / Sensor Setup. Wheel(s) on one side will turn back and forth ~15°.

Table containing hall calibration is automatically saved to EEPROM. In case of Panther repeat all steps for second controller.