R1Lite FAQ

R1 Lite Wheel Motor Zero Calibration Instructions

Important: Please strictly follow the steps below in order. Incorrect operation may damage the W1 module and the calibration tool, and could even affect normal use of the robot. If you encounter any issues during the process, please contact technical support immediately.

1. Preparation

1.1 Hardware Preparation

Item	Quantity	Remarks
Mini PC	1	Used to control and calibrate the robot. System: Ubuntu 20.04 ROS Noetic
USB-CAN Box	1	Used for communication with the robot.
Calibration Plate	1	Used to calibrate the robot's zero position.
Wrench	1	Used to install and remove the calibration plate.

1.2 Install Necessary Tools

Install the required tools on the mini PC to ensure smooth communication with the robot.

sudo apt install can-utils

2. Calibration Steps

2.1 Power On and Connection

Turn on the robot, connect the USB-CAN cable to the mini PC's USB port, and ensure all devices are properly connected and the power indicator lights are on.

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 the command fails, please check whether the USBCAN is properly connected and whether the mini PC's network configuration is correct.

2.3 Disable Steering Motors

R1L_disable_motor_cn

Execute the following command to disable the steering motors:
Note: Ensure the robot is stationary at this moment.

cansend can0 034#0102  # Disable motor 01
cansend can0 034#0202  # Disable motor 02
cansend can0 034#0302  # Disable motor 03

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

2.4 Installing the Calibration Plate

Please install the calibration plate strictly according to the orientation of the wheels, ensuring that all three wheels are facing forward and are perpendicular to the ground at a 90-degree angle (as shown in the diagram below). Incorrect installation may cause the chassis to move unexpectedly, affecting the stability of the robot.

When installing the calibration plate, ensure that all screws are tightened. This prevents the calibration plate from loosening during the calibration process, ensuring the accuracy and reliability of the calibration.

R1L_calibration_board_cn

2.5 Recalibrating the Zero Point

Execute the following command to recalibrate each wheel.

Note: Please ensure that the robot is stationary during this process.

cansend can0 034#0103  #Configure motor #01
cansend can0 034#0203  #Configure motor #02
cansend can0 034#0303  #Configure motor #03

# Command format:
# cansend <CAN_Interface> <CANID>#<COMMAND>
    # CANID: 034
    # COMMAND: Motor index number + command code. (Command code: 01 for enable, 02 for disable, 03 for calibration)

2.6 Remove the Calibration Plate and Power Off

Carefully remove the calibration plate, then power off the robot.

Note: Be careful when removing the calibration plate to avoid damaging it or the robot.

3. Restart and Check Zero Position

Power on the robot again and check if it has reached the desired zero position. If the robot has not reached the desired zero position, please repeat the procedure in Section 2.5 to recalibrate; if the problem persists, please contact technical support.