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SWD

®

Starter Kit

For AGV & AMR

Instruction manual

V2 - 20/07/2022

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Summary of Contents for SWD Starter Kit

Page 1: ...SWD Starter Kit For AGV AMR Instruction manual V2 20 07 2022...

Page 2: ...ed Safety 8 3 3 Specificities of the SWD Starter Kit 9 3 4 Safety features 9 3 5 Conditions of Use 9 3 6 Weight 9 3 7 Product Label 10 3 8 Applications 10 4 Synoptic 11 5 Interfaces 13 5 1 Overview 13...

Page 3: ...splay and status 25 8 3 Connection to Control Page 25 8 4 Safety features monitoring 26 8 5 Hand control for teleoperation 27 Appendices 28 1 Quick start 28 Power on 29 Display and status 29 Connectio...

Page 4: ...wing standards is recommended Machinery Directive 2006 42 EC Safety requirements for driverless industrial trucks and their systems ISO 3691 4 Variable speed power electric drives EN 61800 5 CANopen A...

Page 5: ...in this manual is subject to change without prior notice No responsibility is assumed for the completeness up to date or accuracy of the data and illustrations provided The textual and visual data in...

Page 6: ...tal parts into the connectors Under no circumstances should the product receive any modifications not authorized by ez Wheel Do not attempt to modify the technical performance of the product The produ...

Page 7: ...otics The SWD Starter Kit introduces key technologies for mobile robots development SWD Safety Wheel Drive the world s first drive with embedded safe motion control Safety Laser Scanner the smallest l...

Page 8: ...s motor drivers Unique fully certified safe motion features Safety encoder integrated into SWD The robot architecture is therefore extremely simplified compared to conventional AGVs or AMRs Drives int...

Page 9: ...4 VDC 9 Ah Ni MH rechargeable battery A chassis and complete wiring with two E Stops The SWD Starter Kit is not a complete functional AMR Navigation has to be done No fleet management software 3 4 Saf...

Page 10: ...manufacturer 4 Serial Number 5 Geographical origin of the product 6 Product information Product performance 7 Manufacturing date 8 Address of manufacturer 3 8 Applications The SWD Starter Kit is inte...

Page 11: ...D outputs SWD R programmable inputs CANopen Safety between SWD L and R is used to replicate the safety inputs from one drive to the other one Control CANopen from iMX6 to SWD L and R uses CiA 402 velo...

Page 12: ...All devices powered by Ni MH 24V 9Ah battery Battery to junction box Junction box to SWD L SWD R safety laser scanner and iMX6 Activation signal from the ON OFF button to the activation input of the b...

Page 13: ...ake are not used please refer to the Instruction Manual of the SWD Core for details on the complete connections of the product The same connector types and pin numbers are used in the SWD Core and the...

Page 14: ...r 5 pin L coded 4 pin FE It is used to distribute the battery power on the drives Pin Designation 1 Power supply 24 VDC 16A 2 Power supply 24 VDC 16A 3 GND Power Supply 16A 4 GND Power Supply 16A FE M...

Page 15: ...s a M8 4 pin A coded It is used to exchange non safe data between the safety laser scanner and the iMX6 PC Pin Designation 1 TD 2 RD 3 RD 4 TD 5 4 iMX6 connectors The Power connector CAN connector and...

Page 16: ...andard RJ45 for 10 100 Mbps transmission It is used to exchange non safe data between the safety laser scanner and the iMX6 PC Pin Designation 1 TD 2 TD 3 RD 4 NC 5 NC 6 RD 7 NC 8 NC 5 5 Battery conne...

Page 17: ...afety hub follow the pinouts of the above described connectors Emergency stop connector The Emergency stop connectors are of type M8 4 pin A coded They are used to connect the two normally closed swit...

Page 18: ...SWD Starter Kit Page 18 on 30 V EN_20072022_SWD Starter Kit 6 Mechanical assembly 6 1 Dimensions of the packaging and contents of the pack For all engine logistics operations alone preferably use the...

Page 19: ...INSTRUCTION MANUAL SWD Starter Kit Page 19 on 30 V EN_20072022_SWD Starter Kit 6 2 Overall dimensions Figure 4 Overall dimensions top view Figure 5 Overall dimensions front view...

Page 20: ..._SWD Starter Kit 6 3 Mechanical specifications The casters are designed to support a maximum load of 40 kg per caster but the plastic chassis for demonstration purpose only is not designed to carry lo...

Page 21: ...speed limitation These safety functions are implemented in accordance with IEC 61800 5 2 functional safety requirements for the development of safety drives and according to the CiA DS 402 4 profile f...

Page 22: ...en Safety In the default configuration the SBC function is not used with the engagement of the STO Safety fields and Safe Motion Close obstacle when the safety laser scanner detects an obstacle in the...

Page 23: ...safety laser scanner is set as follows To edit and customize the safety fields use the SLS Project Designer software Close obstacle Area 70cm width x 1m forward Routed to OSSD 3 4 outputs of safety l...

Page 24: ...p L SWD L STO inputs Emergency Stop R SWD R STO inputs Safety laser scanner OSSD outputs SWD L programmable inputs CANopen Safety between SWD L and R to replicate the safety inputs from one drive to t...

Page 25: ...started on the side 4 LED display Power LED green when the battery power is available Devices LED green when the connection to the SWD Core and to the safety laser scanner is active flashing if the co...

Page 26: ...ithms such as LaMa or Gmapping could be used You can also connect through a ssh connection with the following parameters HostName 10 10 0 1 User swd_sk Password swd_sk 8 4 Safety features monitoring O...

Page 27: ...t uses standard ROS Noetic packages using joy and teleop_twist_joy providing interfaces with a standard console joystick To activate the hand controller ROS packages must be started The status of the...

Page 28: ...INSTRUCTION MANUAL SWD Starter Kit Page 28 on 30 V EN_20072022_SWD Starter Kit Appendices 1 Quick start...

Page 29: ...and to the safety laser scanner is active The connection cannot be established 3 ROS The ROS environment is active 4 Wi Fi The Wi Fi connection is established The VPN connection is activated only for...

Page 30: ...cannot exceed 0 3 m s Safely Limited Speed Hand control for teleoperation for demonstration The wireless joystick is directly connected to the embedded iMX6 PC and allows a manual teleoperation of the...

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