# Installation and Connection Guide

This chapter covers driver preparation, eRob debugger detection, CAN wiring, connection settings, and connection troubleshooting before using eTuner. Connect wiring with power off and verify the CAN-bus termination and node IDs before connecting.

## Preparation

Item | Preparation
--- | ---
Client application | Use the customer eTuner client. The main-window title normally appears as `eTuner_version`.
Drive and power | The target drive is powered on, and emergency stop, limits, power supply, and grounding meet field safety requirements.
Communication hardware | Prepare the eRob debugger, USB cable, and CAN cable. For another communication method, follow the project delivery instructions.
Installation privileges | Driver installation normally requires Windows administrator privileges. Close other CAN client applications before installation.

The eRob debugger may appear as `USBCAN` or `GCAN USBCAN Device` in the driver, Device Manager, or software. Both names refer to the CAN debugging hardware used here. RS232, RS485, Modbus, and other methods are not covered as the primary workflow.

## Install the eRob Debugger Driver

1. Open the `Driver_installation` folder in the eTuner release directory.
2. On 64-bit Windows, run `DriverSetup64.exe`; on 32-bit Windows, run `DriverSetup.exe`.
3. Follow the installer prompts to complete driver installation.
4. If the software reports a missing SQL component, run `sqlnclix64.msi` or `sqlnclix86.msi` from the same directory.
5. After installation, unplug and reconnect the eRob debugger's USB cable and wait for Windows to detect the device.

Do not run eTuner or another application that uses the CAN device while installing the driver. Start eTuner after installation. Never connect or disconnect a CAN cable while the joint is powered.

## Select the Driver Manually

If Windows does not detect the eRob debugger automatically, select the driver file manually in Device Manager.

1. Connect the eRob debugger to a USB port on the computer.
2. Open Device Manager and locate the USB CAN device without a driver.
3. Choose to update the driver manually, then select “Have Disk” or “Browse my computer for drivers.”
4. Browse to the `Driver_installation` folder and select `USBCANWDM.INF`.
5. Follow the prompts until Device Manager no longer reports that the driver is missing.

The driver identifies the device as `GCAN USBCAN Device`. The Device Manager name may vary slightly between Windows versions; what matters is that the system detects the device correctly.

## Connect the eRob Debugger to the CAN Bus

1. Power off the joint before connecting or disconnecting a CAN cable. Hot-plugging is prohibited.
2. Set one R termination switch on the eRob debugger to ON. No additional parallel termination is required at the debugger.
3. Connect a 120 Ω terminating resistor in parallel at the CAN connector of the joint at the far end of the bus to prevent signal reflections.
4. Secure the debugger and cables. Do not leave the debugger hanging or pull on a cable.
5. Power on the joint only after checking all wiring.

eTuner, eRunner, CAN_Update_Tool, another eTuner instance, and other CAN analysis software cannot use the same CAN bus simultaneously. Close them before starting eTuner.

For debugger wiring and switch settings, see the eRob Debugger User Manual V1.1.

## Target Connection

Click Connection to open the Target Connection window, run Scanning, click Add List, and then click Connect.

1. Start eTuner and click Connection in the main window to open Target Connection.
2. Make sure a CAN connection method is selected as the communication type.
3. If the connection list is empty, enter the ID Range: and click Scanning to scan for devices.
4. After the target device is found, click Add List.
5. Select the target device in the connection list and click Connect.
6. After connecting, return to the main window and verify the current connection ID, connection state, and enable state.

Common CAN defaults are 1M baud rate, channel 0, and delay 6. Use the defaults for the first connection unless the project delivery documentation specifies otherwise.

Parameter | Range/Default | Recommendations
--- | --- | ---
CAN ID | The valid range is 1 to 63. Common defaults are 10 for eRob70F/70H, 4 for eRob80H, 11 for eRob90H, 3 for eRob110H, 1 for eRob142H, and 2 for eRob170H. | Before connecting or scanning, confirm the target model, project-assigned ID, and field network. Every joint must have a unique CAN ID when multiple devices are connected.

Confirm that CAN IDs are unique before networking multiple joints. If duplicate IDs are found, power off the joints and disconnect their CAN wiring. Connect each joint individually with the eRob debugger, assign a different ID, click Save and wait for confirmation, then power-cycle and rebuild the network.

## Connection Troubleshooting

Symptom | Recommended Action
--- | ---
USBCAN device not found | Check that the eRob debugger is connected to USB and confirm in Device Manager that the driver is installed. If necessary, run `DriverSetup64.exe` or `DriverSetup.exe` again.
Missing DLL or SQL component | Confirm that the eTuner release directory is complete, then install the matching driver and SQL component from `Driver_installation`.
Target drive not found during scan | Confirm that the drive is powered, CAN wiring and termination are correct, the test range includes the target CAN ID, no duplicate IDs exist, and the baud rate matches the target device.
Communication error or another master may be using the bus | Close eRunner, CAN_Update_Tool, other eTuner instances, and other CAN analysis software, then reconnect.
Status does not update after connection | Disconnect and reconnect, then verify that the current connection ID matches the target drive. If there is still no response, check cables, power, and device state.

## Frequently Asked Questions

Question | Answer
--- | ---
Can I open eTuner before installing the driver? | No. Install or verify the driver first, then start eTuner and run a connection test.
What if the connection list is empty? | Use Scanning to scan for devices, then click Add List and connect.
What if I do not know the target CAN ID? | Scan using the start and end test IDs. A wider range takes longer, so use the range in the project delivery documentation when available.
Must I save parameters after installing the driver? | No. Driver installation only affects computer detection of the eRob debugger; it does not change drive parameters.