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SWD

Starter Kit

For AGV & AMR

Instruction manual

Preliminary version

Содержание SWD Core

Страница 1: ...SWD Starter Kit For AGV AMR Instruction manual Preliminary version...

Страница 2: ...lkit for robot developers 6 3 2 Integrated Safety 7 3 3 Specificities of the SWD Starter Kit 8 3 4 Safety features 8 3 5 Conditions of Use 8 3 6 Weight 8 3 7 Product Label 9 3 8 Applications 9 4 Synop...

Страница 3: ...WD Starter Kit 19 7 3 Safety fields configuration 20 7 4 Safety loops configuration 21 8 Starting the SWD Starter Kit 22 8 1 Power on 22 8 2 Display and status 22 8 3 Connection to Control Page 22 8 4...

Страница 4: ...a good knowledge of the following standards is recommended Machinery Directive 2006 42 EC Safety requirements for driverless industrial trucks and their systems ISO 3691 4 Variable speed power electri...

Страница 5: ...their own purposes could infringe the rights of such owners INSTRUCTION MANUAL 2021 BY EZ WHEEL FIRST EDITION OCTOBER 2021 ALL RIGHTS RESERVED EZ WHEEL SAS LE MOULIN DE L ABBAYE 135 ROUTE DE BORDEAUX...

Страница 6: ...SWD Starter Kit introduces key technologies for mobile robots development SWD Safety Wheel Drive the world s first drive with embedded safe motion control SE2L Safety Laser Scanner the world s smalle...

Страница 7: ...itecture ever SWD integrates motor drivers Unique fully certified safe motion features Safety encoder integrated into SWD The robot architecture is therefore extremely simplified compared to conventio...

Страница 8: ...24 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 S...

Страница 9: ...anufacturer 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 intend...

Страница 10: ...ts Emergency Stop R SWD R STO inputs SE2L OSSD outputs SWD R programmable inputs CANopen Safety between SWD L and R to replicate the safety inputs from one drive to the other one Control CANopen from...

Страница 11: ...of the product Power supply All devices powered by Ni MH 24V 9Ah battery Battery to junction box Junction box to SWD L SWD R SE2L and iMX6 Activation signal from the ON OFF button to the activation in...

Страница 12: ...e 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 a...

Страница 13: ...stribute 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 Mechanical earth connected to the chassis...

Страница 14: ...and Ethernet connector of the iMX6 embedded PC are used in the SWD Starter Kit Please refer to the TEK3 IMX6 BOX PC Product Manual for details on the complete connections of the product Power connect...

Страница 15: ...he Power connector and Charger connector of the Mobility Module battery are used in the SWD Starter Kit Please refer to the Mobility Module User Manual for details on the complete connections of the p...

Страница 16: ...d to connect the two normally closed switches of an E Stop button 2NC type Pin Designation 1 SW1 NC1 2 SW1 NC2 3 SW2 NC1 4 SW2 NC2 Switch ON and Batt ON connectors The Switch ON and Batt ON connectors...

Страница 17: ...INSTRUCTION MANUAL SWD Starter Kit Page 17 on 24 V EN_2021_SWD Starter Kit 6 2 Overall dimensions Figure 4 Overall dimensions top view Figure 5 Overall dimensions front view...

Страница 18: ...WD Core includes safe engine shutdown features as well as advanced safe speed monitoring features This exclusive integrated solution developed by ez Wheel simplifies the machine architecture by avoidi...

Страница 19: ...ion Prohibition of speeding eight switchable throttling thresholds an adjustable trigger time Refer to the Instruction Manual of the SWD Core to get all details on the operation and configuration of a...

Страница 20: ...uration of safety fields in the SE2L scanner is set as follows Arr t demand STO SBC Zone de risque SLS Obstacle frontal SDI V STO V SLS VSLS V SDI V STO frein SBC Close obstacle Area 70cm width x 1m f...

Страница 21: ...ogrammable inputs CANopen Safety between SWD L and R to replicate the safety inputs from one drive to the other one The drives configuration is done by CANopen messages Scripts are available to config...

Страница 22: ...ed PC shows the status of each service 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 SE2L is ac...

Страница 23: ...Slam available under ROS Noetic but other algorithms such as LaMa or Gmapping could be used 8 4 Safety features monitoring Once the control page of the connected Starter Kit is active and displayed th...

Страница 24: ...onnected to the embedded iMX6 PC and allows a manual teleoperation of the machine The SWD Starter Kit uses standard ROS Noetic packages using joy and teleop_twist_joy providing interfaces with a stand...