R1 Lite Wheel Motor Zero-Point Calibration Instruction

Important Notice: Follow these steps strictly. Incorrect operations may damage the W1 module/calibration tools or affect robot usage. Contact support if issues arise.

1. Preparation

1.1 Hardware Preparation

Item	Quantity	Notes
Mini PC	1	Controls and calibrates robot. System: Ubuntu 20.04 ROS Noetic
USB-CAN Box	1	For robot communication.
Calibration Board	3	For robot zero calibration.
Wrench	1	Installs/removes calibration board.

1.2 Install Essential Tools

On the mini PC, install necessary tools for smooth robot communication:

sudo apt install can-utils

2. Calibration Steps

2.1 Power On and Connect

Power on the robot. Connect the USB-CAN cable to the mini PC's USB port. Ensure all connections are correct and power indicators are lit.

2.2 Enable FDCAN Communication

sudo ip link set dev can0 type can bitrate 1000000 dbitrate 5000000 fd on
sudo ip link set up can0

Note: If commands fail, check USBCAN connection and network settings on the mini PC.

2.3 Disable Steering Motors

R1L_disable_motor

Execute the following commands to disable steering motors: Note: Ensure the robot is stationary.

cansend can0 034#0102  #Disables Motor 01
cansend can0 034#0202  #Disables Motor 02
cansend can0 034#0302  #Disables Motor 03

# Command format:
# cansend <CAN_Interface> <CANID>#<COMMAND>
    # CANID: 034
    # COMMAND: Motor index + command code(01: enable, 02: disable)

2.4 Install Calibration Board

Install according to steering wheel direction. Ensure all three wheels face forward and are perpendicular to the ground. Incorrect installation may cause unexpected chassis movement.

Tighten all screws to prevent loosening during calibration.

R1L_calibration_board

2.5 Recalibrate Zero Position

Execute the following commands to recalibrate:

Note: Ensure the robot is stationary.

cansend can0 034#0103  # Calibrates Motor 01
cansend can0 034#0203  # Calibrates Motor 02
cansend can0 034#0303  # Calibrates Motor 03

# Command format:
# cansend <CAN_Interface> <CANID>#<COMMAND>
    # CANID: 034
    # COMMAND: Motor Index + Command Code (01: enable, 02: disable, 03: calibrate)

2.6 Remove Calibration Board and Power Off

Carefully remove the calibration board. Then power off the robot.

Note: Handle the calibration board carefully to avoid damage.

3. Restart and Check Zero Position

Power on the robot again. Check if it reaches the expected zero position. If not, repeat section 2.5.

Contact support if the issue persists.