INSTRUCTION MANUAL
SWD® Starter Kit
Page
30
on
30
V-EN_20072022_SWD® Starter Kit
Safety features monitoring
The page is used to check the status of the safety features set up with the
SWD® Core
safety drives and the
safety laser scanner and shows an example of map built thanks to a ROS open-source SLAM algorithm
using the data from the safety laser scanner.
STO
●
when one of the two Emergency Stops is engaged, the motors are stopped (Safe Torque Off)
SDI
●
when the safety laser scanner detects an obstacle in the short perimeter (<50cm), the motors cannot go
forward (Safe Direction)
SLS
●
when the safety laser scanner detects an obstacle in the nearby perimeter (<2m), the robot 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 machine.
The
SWD® Starter Kit
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 ROS LED can be checked to confirm that ROS is active.
Make sure you released the emergency buttons.
If the
motion control becomes jerky, then the joystick might be discharged. You should see joy’s
LEDs blinking.
Maintain pressed to
activate movements
Left / Right pivot
Forward / Backward
Hand control wake-up
4
5
blinking green= connected;
blinking red = connection not established yet
●
illuminated = activated
Illustration of activated
safety feature
