Fort VSC-006, Руководство по оборудованию

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VEHICLE SAFETY CONTROLLER
© 2021, FORT Robotics. Company Confidential. Do not distribute.
935-0003 Rev C
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81 Auto Off Enable Enables the feature of the SRC to go power-off after 2 minutes past an
inactivity timeout.
0 = Disabled
1 = Enabled (default)
82 Orientation
Pause Enable Enables the feature of the SRC to go into Pause Mode because of an
Orientation Fault detected.
0 = Disabled
1 = Enabled (default)
83 Free-fall Pause
Enable Enables the feature of the SRC to go into Pause Mode because of a Free-fall
fault detected.
0 = Disabled
1 = Enabled (default)
84 Inactivity Pause
Enable Enables the feature of the SRC to go into Pause Mode because of an
inactivity timeout.
0 = Disabled
1 = Enabled (default)
85 User E-STOP
Timeout Enables the feature of the VSC to enable the watchdog connection to the
user computer. If the user compute
r doesn’t continuously tran smit
heartbeat messages to the VSC, it will indicate an E-STOP condition. (This
item is persistent and only needs to be sent once)
0 = Disabled (default)
1 = Enabled
99 Display Mode 0 = Default Display Mode
1 = User Text Display Mode (4 Lines)
2 = User Key Value / Text Display Mode (4 Values w/ Text)
3 = User Key Display Mode (8 Values)
Table 24: User Feedback Keys
7.3.7. User Feedback Get Message (To VSC)
The User Feedback Get message to the VSC allows the user to query keys and feedback values from the
system. When a valid key is requested, the VSC will queue a User Feedback Set Message back to the
user with the requested key/value pair.
Byte Offset Type Size Description Value
0 uint16 2 Header 0x1001
2 uint8 1 Message Type 0x32
3 uint8 1 Message Length 0x01
4 uint8 1 User Feedback Key 0-99
5
uint16 2 16-Bit Checksum See Checksum Reference
Table 25: Packet Protocol User Feedback Message
7.3.8. User Feedback Message (From VSC)
The User Feedback message from the VSC allows the user to update values in Menu Mode on the SRC
that can then be fed back to the control software.