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neobotix USBoard-USS5-IP User Manual

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USBoard-USS5-IP
Neobotix GmbH
Apr 21, 2023

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Summary of Contents for neobotix USBoard-USS5-IP

  • Page 1 USBoard-USS5-IP Neobotix GmbH Apr 21, 2023...

  • Page 2: Table Of Contents

    ....... . . 1.5.2 USBoard-USS5-IP Configuration Cable ......
  • Page 3 Command Set ..........2.5.1 Command IDs .
  • Page 4 Würth Elektronik - MPC4 ........Würth Elektronik - MPC3 .

  • Page 5: Usboard-Uss5-Ip

    CHAPTER USBoard-USS5-IP _ Download as PDF The USBoard-USS5-IP is a variant of the (page 9). It was designed for more demanding environmental USBoard-USS5 conditions and mounting outside of a protective cabinet. Most of the basic functionality and properties of the USBoard- USS5-IP are identical to the USBoard-USS5.

  • Page 6: Introduction

    The USBoard-USS5-IP was developed to provide exclusively non-safe data and information. 1.1.2 Improper Use The USBoard-USS5-IP is explicitely not a safety device and must not be used as such. It must never be used to safeguard dangerous areas or as single system for collision avoidance.

  • Page 7: Ultrasonic Sensor Bosch Uss5

    (page 12). 1.3 Dimensions Note: The CAN terminating resistor can be activated in software, either by using the GUI (page 33) or by setting the corresponding flag in the parameter set (page 15). The USBoard-USS5-IP can be mounted in any orientation.

  • Page 8: Connector Descriptions

    CHAPTER 1. USBOARD-USS5-IP 1.4. CONNECTOR DESCRIPTIONS 1.4 Connector Descriptions 1.4.1 Connectors 1.4.1.1 Cinch ModICE ME Pins Cinch Farnell RS Components 30 pins, 3 rows 581 01 30 029 2751266 664-7267 18 pins, 3 rows 581 01 18 023 2751265 664-7254...

  • Page 9: Primary Connector

    CHAPTER 1. USBOARD-USS5-IP 1.4. CONNECTOR DESCRIPTIONS Cinch Farnell RS Components Crimp contacts AWG 20 425 00 00 872 2751652 885-7025 Blind plug 581 00 00 011 2751475 664-7295 1.4.2 Primary Connector Description Ground (Sensors) Sensor 8 Sensor 7 Sensor 6...

  • Page 10: Secondary Connector

    1.5.2 USBoard-USS5-IP Configuration Cable Neobotix offers a standard cable set (X221) for first tests of the USBoard-USS5-IP. This cable set features cables of 1 m length for up to four sensors. All other cables are also 1 m long.

  • Page 11: Primary Cable Set

    2 m length. Other cable lengths (up to 25 m) and designs are available on request. 1.5.5 Sensors The USBoard-USS5-IP uses the same sensors as the USBoard-USS5. You can find more information and the part numbers in its documentation at Ultrasonic Sensors (page 38).
  • Page 12 CHAPTER 1. USBOARD-USS5-IP 1.6. LEGAL NOTES This product complies to the RoHS directives 2011/65/EU (RoHS 2) and 2015/863/EU of the European Parliament and the Council on the restriction of the use of hazardous substances in electrical and electronic equipment.

  • Page 13: Usboard-Uss5

    Defining warning and alarm distances allows an easy detection of possible collisions. Furthermore four analogue inputs are available on the board. These inputs can be used to add other sensors to the system without the need for any additional boards. https://neobotix-docs.de/hardware/en/USBoard-USS5.pdf...

  • Page 14: Introduction

    CHAPTER 2. USBOARD-USS5 2.1. INTRODUCTION Tip: The Graphical User Interface for the USBoard-USS5 can be found at Graphical User Interface (page 28). 2.1 Introduction See also our (page 41). 2.1.1 Intended Use The USBoard-USS5 was designed for use in mobile robots and similar machines like wheeled drones or AGVs. It is meant for obstacle detection and collision avoidance.

  • Page 15: Cross Echo Mode

    CHAPTER 2. USBOARD-USS5 2.2. OPERATING PRINCIPLE Warning: The USBoard-USS5 is no safety system and can only provide supporting, non-safe information. Never use the USBoard-USS5 for safeguarding of dangerous areas or movements. 2.2.2 Cross Echo Mode In the traditional, sequential operation mode the sensors are independent from each other. They operate in an infinite loop one after the other, with each sensor sending its own ultrasonic pulse and waiting for the echo to calculate the distance to the object (left picture below).

  • Page 16: Technical Data

    CHAPTER 2. USBOARD-USS5 2.3. TECHNICAL DATA and cycle times and makes the data output easier. If the distance between the sensors of a cross-echo group is not too big this simplified calculation often provides usable results, despite being not perfectly accurate. For an exact triangulation please double the measurement output to get the total distance from the sending sensor to the obstacle and back to each sensor.

  • Page 17: Uss5 Field Of View

    CHAPTER 2. USBOARD-USS5 2.3. TECHNICAL DATA • Detection of objects closer than the minimum distance • Indication of empty measurement range (no echo) • Customs tariff number: 9031 8080 • Order number: X210 2.3.3 USS5 Field of View We have tested the USS5 real world field of view with different objects and configurations. So far we did tests with •...
  • Page 18 CHAPTER 2. USBOARD-USS5 2.3. TECHNICAL DATA...

  • Page 19: Parameter Set

    CHAPTER 2. USBOARD-USS5 2.4. PARAMETER SET 2.4 Parameter Set The USBoard-USS5 uses a parameter set which allows a custom configuration. The graphical user interface can be used to easily manipulate the board’s settings, store them on the host computer’s hard drive, write them to the EEPROM on the USBoard-USS5 or read the current values from the board.
  • Page 20 CHAPTER 2. USBOARD-USS5 2.4. PARAMETER SET Meaning Enable CAN extended id (default 0) Enable CAN termination of USBoard-USS5-IP (default 0) Enable analog input (default 0) Enable legacy data format (default 0) Warning relay blocked mode (default 0) (see Configuration (page 31)) Alarm relay blocked mode (default 0) (see Configuration...

  • Page 21: Command Set

    Byte 48 Reserved, set to arbitrary values when sending. Byte 49 Hardware version, read only. USBoard-USS5 V1.0.0 USBoard-USS5 V1.0.1 USBoard-USS5-IP V1.0.0 USBoard-USS5-IP V1.0.1 Bytes 50-53 Serial number, read only. (In USBoard V1, only bytes 51-53 are used.) The low pass filter feature can be used smoothen the measurements and to prevent single, potentially faulty, readings from immediately switching the relays.

  • Page 22: Usb / Serial Interface

    CHAPTER 2. USBOARD-USS5 2.5. COMMAND SET The addresses used by the USBoard-USS5 are calculated from the base address by adding the following offsets. Offset to base address Function Receive commands Answer to CMD_CONNECT First answer to CMD_GET_DATA_1TO8 Second answer to CMD_GET_DATA_1TO8 First answer to CMD_GET_DATA_9TO16 2nd answer to CMD_GET_DATA_9TO16 Answer to CMD_READ_PARASET...

  • Page 23: Commands

    CHAPTER 2. USBOARD-USS5 2.6. COMMANDS (continued from previous page) & 0x8000){ if(uCrc16 uCrc16 (uCrc16 & 0x7fff) << uCrc16^= 0x1021; }else{ uCrc16 <<= uCrc16^= (unsigned ((unsigned << int)(ucData[0]) int)(ucData[1]) uCrc16; return 2.6 Commands You can find the command set at Command Set (page 17).

  • Page 24: Cmd_Get_Data_1To8

    CHAPTER 2. USBOARD-USS5 2.6. COMMANDS 2.6.3 CMD_GET_DATA_1TO8 This command is used to request the readings of sensors 1 to 8. Command ID: +0 CMD_GET_DATA_1TO8 Answer (two parts) IDs: +2, +3 Values for sensors 1-4 (one byte each) (reserved) CMD_GET_DATA_1TO8 CMD_GET_DATA_1TO8 Values for sensors 5-8 (one byte each) (reserved) The measurement values are given according to the configured sensor group resolution (see...

  • Page 25: Cmd_Write_Paraset_To_Eeprom

    CHAPTER 2. USBOARD-USS5 2.6. COMMANDS Bytes 1 to 6 CMD_WRITE_PARASET Bytes 7 to 12 CMD_WRITE_PARASET CMD_WRITE_PARASET Bytes 13 to 18 Bytes 19 to 24 CMD_WRITE_PARASET Bytes 25 to 30 CMD_WRITE_PARASET Bytes 31 to 36 CMD_WRITE_PARASET Bytes 37 to 42 CMD_WRITE_PARASET Bytes 43 to 48 CMD_WRITE_PARASET Bytes 49 to 54...

  • Page 26: Cmd_Get_Analogin

    CHAPTER 2. USBOARD-USS5 2.6. COMMANDS Bytes 1 to 6 CMD_READ_PARASET Bytes 7 to 12 CMD_READ_PARASET CMD_READ_PARASET Bytes 13 to 18 Bytes 19 to 24 CMD_READ_PARASET Bytes 25 to 30 CMD_READ_PARASET Bytes 31 to 36 CMD_READ_PARASET Bytes 37 to 42 CMD_READ_PARASET Bytes 43 to 48 CMD_READ_PARASET Bytes 49 to 54...

  • Page 27: Ros Node

    • 2 indicates that the sensor is active and sending pulses but has not received any echo. It usually occurs when the object is too far. 2.7 ROS Node This node handles the communication of the Neobotix USBoard-USS5. The USBoard-USS5 node has been tested with: • ROS Kinetic on Ubuntu 16.04 •...

  • Page 28: Launch

    CHAPTER 2. USBOARD-USS5 2.7. ROS NODE 2.7.2 Launch In case of using CAN, the bus needs to be configured first: sudo ip link set can0 down sudo ip link set can0 type can bitrate 1000000 sudo ip link set can0 up To launch the USBoard-USS5 ROS node use: roslaunch neo_usboard_v2 neo_usboard_v2.launch 2.7.3 Parameters...

  • Page 29: Topics

    In case of using multiple USBoard-USS5 simultaneously, it is possible to start multiple ROS nodes, one for each board. 2.7.5.1 Parameters Each ROS node needs its own yaml configuration file, see for example neo_usboard_v2.yaml and neo_usboard_v2_1.yaml in https://github.com/neobotix/neo_usboard_v2/tree/main/launch: can_id: 1024 can_device: None #can_device: can0...

  • Page 30: Help

    -a -G dialout $USER and restart your PC. 2.8 ROS 2 Node This node handles the communication of the Neobotix USBoard-USS5. The USBoard-USS5 node has been tested with: • ROS 2 Foxy on Ubuntu 20.04, Rolling and Humble on Ubuntu 22.04 Find the code of the ROS node at https://github.com/neobotix/neo_usboard_v2-2.

  • Page 31: Launch

    CHAPTER 2. USBOARD-USS5 2.8. ROS 2 NODE cd neo_usboard_v2-2 git submodule update --init 4. Install vnx-base onto your system. • ROS Foxy: sudo dpkg -i vnx-base/x86_64/vnx-base-1.9.3-x86_64-ubuntu-20.04.deb 5. Compile your workspace: cd your_catkin_workspace colcon build --symlink-install . install/setup.bash 2.8.2 Launch In case of using CAN, the bus needs to be configured first: sudo ip link set can0 down sudo ip link set can0 type can bitrate 1000000 sudo ip link set can0 up...

  • Page 32: Topics

    The USBoard-USS5 comes with a graphical user interface (GUI). This program can be used to configure the USBoard- USS5 for the application it will be used in. It also displays the current sensor readings and helps in setting up the system. https://neobotix-docs.de/files/USBoardUSS5-GUI_Windows.zip https://neobotix-docs.de/files/USBoardUSS5-GUI_Linux.zip...

  • Page 33: First Steps

    -i the_right_package.deb where you replace the_right_package with the one that fits your operating system. To run the GUI after the installation, please use the following command: /opt/neobotix/usboard2-gui/bin/usboard2_gui 2.9.2 First Steps 2.9.2.1 The GUI Layout The graphical user interface is divided into three main areas: the main functions area at the top, the central data area and the footer.
  • Page 34 CHAPTER 2. USBOARD-USS5 2.9. GRAPHICAL USER INTERFACE On the left you can find the basic functions to establish a connection to the USBoard-USS5 and also to disconnect again. Port: Here you can select the interface that will be used to communicate with the USBoard-USS5. When plugging in the USB cable the operating system will automatically add a virtual COM port that can be selected here.

  • Page 35: Configuration

    CHAPTER 2. USBOARD-USS5 2.9. GRAPHICAL USER INTERFACE The check boxes next to the sensor numbers indicate whether a sensor is active. Only active sensors are triggered and read by the USBoard-USS5. Tip: Deactivating sensor channels that are not in use will reduce the cycle time for reading all sensors and update measurements faster.
  • Page 36 CHAPTER 2. USBOARD-USS5 2.9. GRAPHICAL USER INTERFACE Activation Set the tick in the checkbox to activate the according sensor. Deactivated sensors will not be triggered by the USBoard- USS5, will not send an ultrasonic pulse and the board will not wait for an echo. Tip: Deactivate all channels that are not in use.
  • Page 37 filter. CAN Termination In case of the USBoard-USS5-IP the CAN bus terminating resistor can be activated here. This parameter is without function in the normal USBoard-USS5.
  • Page 38 CHAPTER 2. USBOARD-USS5 2.9. GRAPHICAL USER INTERFACE Resolution The measurement data can be sent in four different resolutions: 1 cm, 0.5 cm, 0.25 cm or 0.125 cm. Fire Interval The time between firing two sensors can be adjusted to avoid unwanted echos from earlier pulses. The minimum time a sensor needs to send a pulse and evaluate the echo is 10 ms.

  • Page 39: Dimensions

    CHAPTER 2. USBOARD-USS5 2.10. DIMENSIONS 2.10 Dimensions...

  • Page 40: Connector Descriptions

    CHAPTER 2. USBOARD-USS5 2.11. CONNECTOR DESCRIPTIONS Note: Move S1 to position ON to activate the CAN terminating resistor. Attention: The mounting holes near the supply connector X1 are electrically connected to the ground plane of the USBoard-USS5. Please insulate this mounting point if necessary in your installation. The USBoard-USS5 can be mounted in any orientation.

  • Page 41: Uss5

    CHAPTER 2. USBOARD-USS5 2.12. ADDITIONAL PARTS 2.11.3 X6 Würth Elektronik MPC3, 2 rows, 4 pins Description Alarm relay output (normally open) Warning relay output (normally open) Alarm relay output (normally open) Warning relay output (normally open) 2.11.4 X7 TE Connectivity HE14, 1 row, 4 pins Description Analogue input 1 Analogue input 2...

  • Page 42: Sensor Cable Sets

    2.12.4 Connector Sets Neobotix offers sets of crimp contacts and connector housing for customers who plan to manufacture the cable sets by themselves and only need the correct parts. These contacts can be crimped with generic tools well enough for first tests and prototyping.
  • Page 43 CHAPTER 2. USBOARD-USS5 2.12. ADDITIONAL PARTS Fig. 2: Cable set for 4 x USS5 sensors (X214) Fig. 3: Connector set for USBoard-USS5 (X212)
  • Page 44 CHAPTER 2. USBOARD-USS5 2.12. ADDITIONAL PARTS Fig. 4: Connector set for USS5 (X213) Fig. 5: Ultrasonic sensor Bosch USS5.0 (X210)

  • Page 45: Uss5 Mounting Frames

    CHAPTER 2. USBOARD-USS5 2.13. FAQ 2.12.6 USS5 Mounting Frames The USS5 mounting kit (order number X216) is used to mount the sensor on a front panel. 2.13 FAQ Note: This section is being extended as we get feedback from customers. If your specific questions is not yet listed please either take a look into the full documentation on these pages or get in touch with us directly.

  • Page 46: General Questions

    (page 35) to enable the integrated terminating resistor. Please use the GUI to activate the resistor of the USBoard-USS5-IP. 2.13.2.2 The GUI does not connect to the USBoard-USS5 In case of a direct USB connection please check the following: •...

  • Page 47: Eu Declaration Of Conformity

    CHAPTER 2. USBOARD-USS5 2.14. LEGAL NOTES 2.14.1 EU Declaration of Conformity This product fulfils all relevant directives of the European Union. 2.14.2 RoHS Information This product complies to the RoHS directives 2011/65/EU (RoHS 2) and 2015/863/EU of the European Parliament and the Council on the restriction of the use of hazardous substances in electrical and electronic equipment.

  • Page 48: Te Connectivity - He14

    CHAPTER Connectors 3.1 TE Connectivity - HE14 Pins TE Connectivity Farnell RS Components 3 pins, 1 row 281838-3 429582 532-333 4 pins, 1 row 281838-4 429594 532-349 5 pins, 1 row 281838-5 429600 532-355 6 pins, 2 rows 281839-3 429650 532-406 8 pins, 2 rows 281839-4...
  • Page 49 CHAPTER 3. CONNECTORS 3.2. WÜRTH ELEKTRONIK - MPC4 In Neobotix products the pin assignment of the HE14 connectors is as shown below. 3.2 Würth Elektronik - MPC4 Please check the Würth Elektronik online catalogue for details on the MPC4 Pins (in 2 rows) Würth Elektronik...
  • Page 50 Würth Elektronik online catalogue for details on the MPC3 Pins (in 2 rows) Würth Elektronik 662004113322 662006113322 662012113322 Crimp contacts Würth Elektronik AWG 24-20 66200113722 In Neobotix products the pin assignment of the MPC3 connectors is as shown below. https://www.we-online.com/en/products/components/overview https://www.we-online.de/katalog/de/em/connectors/wire-to-board/wr_mpc3/...
  • Page 51 CHAPTER 3. CONNECTORS 3.3. WÜRTH ELEKTRONIK - MPC3...
  • Page 52 CHAPTER Qualified Personnel This product must only be modified, commissioned, operated and serviced by qualified personnel. Qualified personnel are defined as persons who • due to their specialist training and experience have adequate knowledge for the work at hand, • have been instructed by the responsible robot operator in the operation of the robot or its parts and the currently valid safety guidelines, •...
  • Page 53 The Neobotix GmbH cannot be held responsible for any technical or typographical errors and reserves the right to make changes to the product and manual without prior notice. Neobotix makes no warranty of any kind with regard to the material contained within this document, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose.

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