INSTRUCTION MANUAL
SWD® Starter Kit
Page
4
on
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V-EN_20072022_SWD® Starter Kit
This document should be read carefully before the first use of the product.
1.
Preamble
1.1.
Who is this manual for?
This manual is intended for skilled robotics integrators.
The
SWD® Starter Kit
saves a lot of development time, but needs some core competencies in:
•
Automation, functional safety, and robotics
•
Embedded Linux, Python and C++
•
ROS development environment
1.2.
Terminology
The terms used in this manual are related to the technical field of industrial machinery and more particularly to
driverless industrial trucks and drive systems controlled by fieldbus.
For a precise reading of the manual, 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 electric drives (EN 61800-5)
-
CANopen Application Profile for Motor Drives (CiA 402)
Dictionary of acronyms:
AGV:
AGC:
AMR:
CAN:
LiDAR:
OSSD:
SBC:
SDI[p/n]:
SLAM:
SLS:
SRDO:
STO:
Automatic Guided Vehicle
Automatic Guided Cart
Autonomous Mobile Robot
Controller Area Network
Light Detection And Ranging
Output Signal Switching Device
Safe Brake Control
Safe Direction Indication [positive/negative]
Simultaneous Localization And Mapping
Safety Limited Speed
Safety-Relevant Data Objects
Safe Torque Off
1.3.
Additional resources
The
SWD® Starter Kit
uses
SWD® Core
safety drives, the following
SWD®
Core
documents are available from
ez-Wheel:
-
SWD®
Core
datasheet
-
SWD®
Full Range Brochure
Safety Wheel Drive Series Overview
-
2D and 3D mechanical plans of the
SWD®
Core
