Table of Contents
Advertisement
Quick Links
Advertisement
Table of Contents
Related Manuals for ez-wheel SWD
Summary of Contents for ez-wheel SWD
- Page 1 ® Starter Kit For AGV & AMR Instruction manual Preliminary version...
-
Page 2: Table Of Contents
Declarations of conformity ........................4 1.5. Important information about the manual ..................... 4 1.6. Disclaimer .............................. 5 Safety Instructions – SWD® Starter Kit Precautions ..................5 Description ..............................6 3.1. A toolkit for robot developers ....................... 6 3.2. Integrated Safety ........................... 7 3.3. - Page 3 Figure 5 - Overall dimensions, front view ......................17 Figure 6 - Use of Safety Features .......................... 20 Figure 7 - Safety fields of the SE2L ........................20 Figure 8 - Configuration of safety loops in SWD Core ................... 21 V-EN_2021_SWD® Starter Kit Page 3 on 24...
-
Page 4: Preamble
Variable speed power electric drives (EN 61800-5) CANopen Application Profile for Motor Drives (CiA 402) 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®... -
Page 5: Disclaimer
The technical information included 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 included in this manual are the property of ez-Wheel SAS. The trademarks ez-Wheel and SWD Safety Wheel Drive are registered. -
Page 6: Description
SWD® Starter Kit 3. Description 3.1. A toolkit for robot developers The SWD Starter Kit is made of combinable, modular devices for mobile robotics. 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 •... -
Page 7: Integrated Safety
INSTRUCTION MANUAL SWD® Starter Kit 3.2. Integrated Safety The SWD Starter Kit provides the simplest AGV/AMR safety architecture ever: • SWD integrates motor drivers • Unique, fully certified safe motion features • Safety encoder integrated into SWD SWD Core drives with... -
Page 8: Specificities Of The Swd® Starter Kit
INSTRUCTION MANUAL SWD® Starter Kit 3.3. Specificities of the SWD® Starter Kit The SWD Starter Kit is a demonstration platform based on AMR use case, including: • One SE2L safety laser scanner in front/center position • Two SWD Core safety drives with 125mm wheels •... -
Page 9: Product Label
Product performance Manufacturing date Address of manufacturer 3.8. Applications The SWD® Starter Kit is intended for development of mobile robotics applications such as: Industrial AGVs, AGCs and AMRs Logistics AGVs, AGCs and AMRs Cobots and mobile robot arms Mobile platforms V-EN_2021_SWD®... -
Page 10: Synoptic
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 iMX6 to SWD L and R, using CiA 402 velocity control mode for speed and direction control... -
Page 11: Figure 2 - Power Supply Synoptic 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 input of the battery Charging The external charger can be directly connected on the battery panel connector: V-EN_2021_SWD®... -
Page 12: Interfaces
INSTRUCTION MANUAL SWD® Starter Kit 5. Interfaces 5.1. Overview The SWD Starter Kit is using the SWD safety hub interface to centralize the connections of all devices and facilitate the overall wiring. SWD Core L. connectors SE2L connector 24 VDC... -
Page 13: I/O Connector
SWD safety hub. The following pinout description is therefore valid for both. Power+OSSD connector The Power+OSSD connector is type M12 - TBC It is used to power the SE2L and for the safety loops going to the SWD Core safety drives. V-EN_2021_SWD® Starter Kit Page 13 on 24... -
Page 14: Ethernet Connector
Designation 5.4. iMX6 connectors The Power connector, CAN connector 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. -
Page 15: Ethernet Connector
Designation 5.5. Battery connectors The 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 product. Power connector The Power connector is a Neutrik Speakon 4-pin. -
Page 16: Swd Safety Hub Connectors
INSTRUCTION MANUAL SWD® Starter Kit 5.6. SWD safety hub connectors The SWD and Scanner connectors of the SWD safety hub follow the pinouts of the above-described connectors. Emergency stop connector The Emergency stop connectors are of type M8 4-pin A coded. -
Page 17: Overall Dimensions
INSTRUCTION MANUAL SWD® Starter Kit 6.2. Overall dimensions Figure 4 - Overall dimensions, top view Figure 5 - Overall dimensions, front view V-EN_2021_SWD® Starter Kit Page 17 on 24... -
Page 18: Mechanical Specifications
7.1. Overview of safety features Safety features available from the SWD® Core safety drives The SWD® 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 avoiding the need for external supervisory bodies and safety logics. -
Page 19: Use Of Safety Features In The Swd Starter Kit
Emergency Stops E-Stops on each side of the kit, stopping the motors (STO safe torque off function) When one SWD reads the STO signal from an E-Stop button, it sends the STO message to the other drive through the CANopen Safety In the default configuration, the SBC function is not used with the engagement of the STO. -
Page 20: Safety Fields Configuration
INSTRUCTION MANUAL SWD® Starter Kit Arrêt demandé ➔ STO/SBC frein Zone de risque ➔ SLS Obstacle frontal ➔ SDI Figure 6 - Use of Safety Features 7.3. Safety fields configuration The default configuration of safety fields in the SE2L scanner is set as follows:... -
Page 21: Safety Loops Configuration
Emergency Stop R ➔ SWD R - STO inputs • SE2L OSSD outputs ➔ SWD L - programmable inputs • CANopen Safety between SWD L and R, to replicate the safety inputs from one drive to the other one OSSD1/2 OSSD3/4 STO1/2... -
Page 22: Starting The Swd Starter Kit
Once started, the SWD Starter Kit generates its own Wi-Fi access point to connect third-party devices. Any device with a navigator can be connected to the SWD Starter Kit to access the web Control Page hosted on the embedded iMX6 PC. -
Page 23: Safety Features Monitoring
INSTRUCTION MANUAL SWD® Starter Kit Once a PC or tablet connected to the SWD Starter Kit Wi-Fi access point, a web page is accessible with any navigator by typing the page’s address. http://10.10.0.1 The SWD Starter Kit generates a web Control Page for the user to monitor the real time activity. -
Page 24: Hand Control For Teleoperation
SWD® Starter Kit 8.5. Hand control for teleoperation The SWD Starter Kit is delivered with a consumer type console joystick, for demonstration purpose only. The wireless joystick is directly connected to the embedded iMX6 PC and allows a manual teleoperation of the machine.
Need help?
Do you have a question about the SWD and is the answer not in the manual?
Questions and answers