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[SS-UM] SafeStop User
DISTRIBUTION STATEMENT D. Distribution authorized to Department of Defense
(DoD) and U.S. DoD contractors only (Administrative and Operational Use, Export
Controlled; 01 October 2014). Other requests for this document shall be referred to
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torc.ai
Manual
Date: 2023.08.24
Version: 2023.08.24.1
Submitted to:
Prepared by: TORC Robotics
405 Partnership Drive
Blacksburg, VA 24060
FOR OFFICIAL USE ONLY
, Version #
Torc Proprietary
1
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Table of Contents
Summary of Contents for Torc SafeStop SS03TX04
- Page 1 [SS-UM] SafeStop User Manual Date: 2023.08.24 Version: 2023.08.24.1 Submitted to: Prepared by: TORC Robotics 405 Partnership Drive Blacksburg, VA 24060 FOR OFFICIAL USE ONLY DISTRIBUTION STATEMENT D. Distribution authorized to Department of Defense (DoD) and U.S. DoD contractors only (Administrative and Operational Use, Export Controlled;...
- Page 2 , Version # torc.ai Ph: 800.530.9285 405 Partnership Drive. Blacksburg VA 24060...
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Page 3: Table Of Contents
SafeStop ® User Manual, Version 2.0 Table of Contents Assignment of Liability ........................5 Technical Support ......................... 5 General Safety Information ......................6 Package Contents ......................... 7 Included Items ........................7 Optional Accessories......................8 Product Overview ........................10 Product Specifications ........................ 12 SafeStop®... - Page 4 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 12. Web Configuration ........................38 12.1 System Status ........................38 12.2 System Configuration ......................39 12.3 External Watchdogs ......................41 12.4 Network Settings ......................... 42 12.5 Multipoint Transmitters ....................... 43 12.6 Firmware Updates........................
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Page 5: Assignment Of Liability
Copyright © 2023 Torc Robotics, Inc. All Rights Reserved. All information contained in this manual is believed to be accurate at the time of printing, however, Torc Robotics, Inc. reserves the right to make modifications to the specifications and operation of this product without obligation to notify any person or... -
Page 6: General Safety Information
Do Not Operate with Suspected Failures If you suspect damage to the product, contact Torc to have it inspected before further use. Do Not Modify or Disassemble To avoid shock hazard and/or damage to the product, do not attempt to open the case, make modifications, or repair the device. -
Page 7: Package Contents
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Use Within Range To prevent unreliable operation, do not use this product outside of its specified range. A range check should be performed before using the SafeStop system. 4. Package Contents 4.1 Included Items After unpacking the contents, verify the contents of the package includes the following items: Part Number... -
Page 8: Optional Accessories
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Part Number Description SS03PWR 60” Power Cable for SafeStop™ Receiver SS03ETH Ethernet Plugs for SafeStop Receiver SS03ECP Ethernet Caps for SafeStop Receiver ** Designates the frequency band: 04= 400 MHz, 09= 900 MHz, 13= 1.3 GHz, 24= 2.4 GHz 4.2 Optional Accessories Accessory Part Number... - Page 9 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Accessory Part Number Function Transmitter Bind Plug SS03A004 Allows the pairing of a transmitter unit to any receiver. Serial Interface Cable SS03A005 Allows the user to interface with the receiver using the legacy RS- 232 interface.
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Page 10: Product Overview
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 5. Product Overview The SafeStop® is a multi-level wireless emergency stop system, consisting of the SS03TX transmitter and the SS03RX receiver. The SafeStop system provides the ability to safely command an unmanned or autonomous ground vehicle to pause or stop from a remote location up to six miles away. - Page 11 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 The SafeStop has three safety modes: pause, emergency stop, and emergency override. Pause mode is intended to indicate a temporary pause in autonomous or unmanned vehicle operation and is considered to be a software only condition. There is no hardware output associated with the pause state.
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Page 12: Product Specifications
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 6. Product Specifications Wireless Performance Operating Distance with Single Transmitter: 6 miles (line-of-sight) Update Rate: 20 Hz Wireless Link Frequency Band: 902-928MHz (Other frequencies available) Modulation: FHSS GFSK Hopping Channels: Transmit Power: FCC Approved: Transmitter Electrical SS03TX Battery Life:... - Page 13 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 User Interface User Settings: Web browser configuration interface Stop Input: Standard mushroom type stop button (50,000 Operations Minimum) Pause Input: Guarded toggle switch (50,000 Operations Minimum) Bypass Mode: Momentary pushbutton sequence Visual Indicators: Bicolor LEDs for Power, Link, Pause, and Stop Audible Alarm:...
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Page 14: Safestop® Transmitter
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 7. SafeStop® Transmitter Item Description Power Status Indicator Link Status Indicator Pause Status Indicator Stop Output Indicator Emergency Stop Button Run/Pause Toggle Switch Flexible Antenna (900 MHz antenna shown) Power Switch Charging Receptacle Charge Status Indicator Figure 7-1: SafeStop™... -
Page 15: Transmitter Switch Detail
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 7.1 Transmitter Switch Detail There are three switches located on the transmitter: the Power rocker switch, the Pause/Run toggle switch, and the Emergency Stop button. When the Power rocker switch is in the “1” position, the transmitter is powered. With the switch in the “0”... - Page 16 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Description Power Input Factory Use Only Ground (GND) Factory Use Only Factory Use Only Factory Use Only Factory Use Only Factory Use Only Figure 7-2: Transmitter Power Receptacle Detail...
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Page 17: Transmitter Led Indicator Detail
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 7.3 Transmitter LED Indicator Detail Table 7-1: Transmitter LED Detail Indicator Status Meaning Power Unit power is off Less than 20% battery life remaining Green Unit power is on Link Communications link has been lost Green Communications link is active Pause... -
Page 18: Transmitter Audible Alarm
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 7.4 Transmitter Audible Alarm The SafeStop™ transmitter features an audible alarm to indicate an error condition that requires immediate user intervention. If the communication link is lost, the SafeStop transmitter is no longer in communication with the receiver, and the transmitter will emit a constant tone. -
Page 19: Safestop® Oem Transmitter
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 8. SafeStop® OEM Transmitter NOTE: The OEM Transmitter has been discontinued on newer models and may not be present in the newer systems. Item Description Power Status Indicator Link Status Indicator Pause State Indicator Stop Output Indicator User Interface Connector... -
Page 20: Oem Transmitter User Interface Connector Detail
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 8.1 OEM Transmitter User Interface Connector Detail Mating Connector Manufacturer: JST Mating Connector Manufacturer Part Number: PADP-16V-1-S Table 8-1: Transmitter User Interface Connector Detail PIN Function POWER GROUND POWER GROUND Factory Use Only (Connect Directly to Power Pin) STOP LOOP LOW N.C. -
Page 21: Oem Transmitter Led Detail
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Dip Switch Function RESERVED (Keep in OFF position) NORMAL NONE PRIMARY SERIAL TERMINATION DISABLED ENABLED AUX SERIAL TERMINATION DISABLED ENABLED 8.3 OEM Transmitter LED Detail Table 8-3: OEM Transmitter LED Detail Indicator Status Meaning... - Page 22 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Usage: UNPAUSE<CR><LF> Response: none BIND – similar to using a bind plug for multi-point operation, the bind command places the OEM transmitter into discovery mode Usage: BIND<CR><LF> Response: none STATUS – returns the status of the SafeStop™ system Usage: STATUS@<rate><CR><LF>...
- Page 23 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Usage: TEMPERATURE<CR><LF> Response: wxy.zC<CR><LF> (or “NULL<CR><LF>” if unavailable) HELP – returns a list of supported commands Usage: HELP<CR><LF> Response: display a summary of available commands...
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Page 24: Safestop® Receiver
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 9. SafeStop® Receiver Item Description Power Status Indicator Link Status Indicator Pause State Indicator Stop Output Indicator Bypass Pushbutton RJ-45 Ethernet Jack RJ-45 Ethernet Jack Safety Receptacle Power Receptacle Antenna Connector Ground mounting bolt holes (4) Figure 9-1 : SafeStop™... -
Page 25: Receiver Bypass Button Detail
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 9.1 Receiver Bypass Button Detail The SafeStop receiver features an illuminated pushbutton used to enable Bypass Mode. Bypass mode causes the receiver to ignore wireless transmitter commands and link loss conditions, and therefore, should only be used during manned operation. - Page 26 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 9.1.2 Exit Bypass Mode To exit bypass mode press and release the bypass button. Once released, the blue illumination ring will turn off and the receiver will wait up the user defined timeout delay for a wireless link to the transmitter before executing the timeout action.
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Page 27: Receiver Power Receptacle Detail
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 9.2 Receiver Power Receptacle Detail The Power receptacle is used to supply power to the receiver. Whichever input voltage is higher will be used for the emergency stop/override outputs. This connector is also used for serial RS-232 output. -
Page 28: Receiver Safety Receptacle Detail
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 9.3 Receiver Safety Receptacle Detail The Safety receptacle is used for the Emergency Override and Emergency Stop connections. Loop A and Loop B should be connected together for normal operation. Breaking the current loop (disconnecting Loop A and Loop B) will cause the corresponding output to be connected to GND. -
Page 29: Receiver Output Circuit Schematic
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 9.4 Receiver Output Circuit Schematic There are two independent processors within the receiver that have control over the Emergency Stop Output. Each processor verifies the correct operation of the system and will deactivate the emergency stop output if an error is detected. -
Page 30: Receiver Led Indicator Detail
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Unlike the Emergency Stop Output, the Emergency Override Output is not software controlled by the processors. The Emergency Override Output is only controlled through the Emergency Override button loop. When Emergency Override Loop A (Safety connector pin4) and Emergency Override Loop B (Safety connector pin 6) are connected the Emergency Override Output is driven high to V , otherwise the output is driven to GND. -
Page 31: Tcp (Telnet) Communications
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 10. TCP (Telnet) Communications The SafeStop accepts TCP ASCII commands. All commands are one-word commands followed by a carriage return (0x0D) character and new line (0x0A) character. Only Network Virtual Terminal NVT ASCII characters are valid, and any telnet option requests will trigger a WONT or DONT response (See RFC 854 for details). - Page 32 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Possible Response Meaning timeout action will be executed, and the emergency stop output is tied to GND STOP TIMEOUT WIRED The emergency stop button loop is open and there is no WATCHDOG<0x0D><0x0A>...
- Page 33 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Table 10-3: Command: PAUSE<0x0D><0x0A> Possible Response Meaning PAUSE TIMEOUT<0x0D><0x0A> There is no link between the receiver and a transmitter. PAUSE WIRELESS<0x0D><0x0A> The receiver has received a transmitter pause command. PAUSE WATCHDOG<0x0D><0x0A> The external watchdog has expired.
- Page 34 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Table 10-6: Command: WATCHDOG<0x0D><0x0A> Possible Response Meaning WATCHDOG DISABLED<0x0D><0x0A> External watchdog is disabled (set to 0). WATCHDOG RUNNING(xx ms) External watchdog is enabled and running with a time <0x0D><0x0A> limit of xx milliseconds. WATCHDOG EXPIRED(xx ms) External watchdog is enabled and expired with a time <0x0D><0x0A>...
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Page 35: Telnet Testing
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 10.1 Telnet Testing To test the telnet interface on the SafeStop, a standard telnet client such as PuTTY may be downloaded from the internet. To communicate with the SafeStop receiver, make sure to configure the connecting computer to be on the same network as the SafeStop. - Page 36 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Figure 10-2: Example PuTTY Output...
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Page 37: Rs-232 Receiver Serial Communications
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 11. RS-232 Receiver Serial Communications Information about the Emergency Stop Output, the pause state, and the link state is sent serially over RS-232 communications. The data bit format is set to communicate at 9600bps, 8 data bits, 1 stop bit, no parity, and no flow control. -
Page 38: Web Configuration
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 12. Web Configuration The SafeStop® receiver has a built-in web server that allows you to configure the system through a standard web browser. The default IP address for the SafeStop is 192.168.0.160. 12.1 System Status The System Status webpage allows for the monitoring of the current state of the SafeStop system. -
Page 39: System Configuration
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 12.2 System Configuration The System Configuration webpage allows for the configuration of the system timeout delay, timeout action, latching stop action, radio modem power, radio modem frequency key, and the serial port baud rate. The Timeout Delay is the amount of time the SafeStop receiver or transmitter will wait before deciding if wireless communications are lost. - Page 40 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 NOTE: The transmitter frequency key is set to match the receiver during the pairing process, so if the receiver frequency key is changed, all transmitters must be re-paired. Saving settings on the system configuration webpage will not take effect immediately. Even though the new settings will be displayed on the webpage, the settings are only applied after power to the SafeStop receiver is reset.
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Page 41: External Watchdogs
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 12.3 External Watchdogs The SafeStop can be configured with an external watchdog timer that will trigger a pause and stop event if not refreshed, or fed, periodically. The settings for the external watchdog can be viewed or changed via the Watchdog tab. -
Page 42: Network Settings
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 12.4 Network Settings The SafeStop can be configured to be accessed as a part of any network by changing the configurations on the Network Settings tab. A network settings change does not require power cycling and will take effect immediately upon saving settings. -
Page 43: Multipoint Transmitters
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 12.5 Multipoint Transmitters The SafeStop system features the ability to allow the use of multiple transmitters to control a single receiver. The list of currently paired transmitters can be displayed on the Multipoint tab. Figure 12-5: Multipoint Webpage To pair a transmitter with a receiver: 1. - Page 44 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 NOTE: When a receiver is placed in discovery mode, any transmitters already paired and linked with the receiver will lose link status until discovery mode is exited. 4. Select the “Refresh Transmitter List” button if the transmitter in pairing mode is not already displayed in the list.
- Page 45 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Figure 12-6: Multipoint Discovery Webpage...
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Page 46: Firmware Updates
3. Under the firmware update tab, select the “Browse” button corresponding to the type of firmware update to be performed (Receiver primary processor, Receiver secondary processor, or Transmitter). Locate the appropriate firmware file provided by Torc and click the “Open” button. - Page 47 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Figure 12-7: Update Firmware Webpage...
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Page 48: Restore Network And System Defaults
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 13. Restore Network and System Defaults If it becomes necessary to restore the default network settings on the SafeStop receiver: 1. Power off the receiver. 2. Hold down the Bypass button while power to the receiver is switched on. The Bypass button should be illuminated blue. -
Page 49: System Integration
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 14. System Integration Before you can use your SafeStop: 1. Fully charge the transmitter battery. 2. Install the antenna. 3. Install the receiver cables. 4. Verify proper system operation. 14.1 Charging the Transmitter Battery Before using the SafeStop, the transmitter battery should be fully charged. -
Page 50: Installing The Receiver Cables Into The Vehicle System
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 14.3 Installing the Receiver Cables into the Vehicle System The installation of the receiver consists of properly wiring the Power cable and the Safety cable. Using the supplied power cable (P/N: SS03PWR), power the receiver using a power source (not included) capable of 8 Watts at 10-40VDC. - Page 51 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 1. Use the four SafeStop receiver mounting holes to properly secure the receiver to the vehicle chassis ground. Remove the external powder coating around the mounting holes to ensure good bonding to the vehicle chassis while using locking washers. 2.
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Page 52: Example External Button Wiring Schematics
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 14.6 Example External Button Wiring Schematics The button loops for both Emergency Stop and Emergency Override operate in the same manner. All buttons should be connected in series with the Loop A and Loop B pins. Normally closed buttons should be used so that when any one button is pressed (the contacts become disconnected) the output is driven low to ground. - Page 53 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Bypass Normal Operation To verify the operation of the receiver and transmitter working together, turn the SafeStop transmitter power on while the receiver is still powered. Once power to the transmitter is turned on, the status indicators should correspond to the values shown in the table below.
- Page 54 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Indicator Status Meaning Power Green Unit power is on Link Communications link to transmitter has been lost Pause Run/Pause status message state unknown Stop Stop output line state is unknown Entering into Bypass Mode on the receiver will override any signals being sent by the transmitter. It is possible for the Emergency Stop Output to be in a stopped state if external buttons are used.
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Page 55: Intended Safestop® Transmitter Usage And Examples
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 14.8 Intended SafeStop® Transmitter Usage and Examples The SafeStop system was designed to be fully manned and monitored at all times. A person holding a SafeStop Transmitter should be explicitly designated and trained to understand the system and the surrounding environment that they are responsible for monitoring. - Page 56 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 14.8.1.3 Scene 3 – Link Loss The SafeStop Transmitter is on and not linked to the SafeStop receiver. The person holding the SafeStop transmitter can observe the green power and red link light and hear the audible steady link loss tone.
- Page 57 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 14.8.2 Multipoint If any paired and connected transmitter has its ESTOP button pressed, the receiver will be placed into the hardware STOP output condition. Likewise, if any paired and connected transmitter has its RUN/PAUSE switch set to the PAUSE position, the receiver will be placed into the software PAUSE output condition.
- Page 58 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 Both SafeStop Transmitters are on and linked to the SafeStop receiver. The ESTOP button is pressed on one transmitter but not the other. The RUN/PAUSE toggle switch is in the RUN position on both transmitters.
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Page 59: Physical Dimensions
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 15. Physical Dimensions 15.1 SafeStop® Transmitter Dimensions All units in inches 900Mhz Antenna Shown Figure 15-1: SafeStop® Transmitter Dimensions... -
Page 60: Transmitter Mount Dimensions
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 15.2 Transmitter Mount Dimensions The SafeStop transmitter features a standard AMPS/RAM mount hole pattern on the rear of the unit. -
Page 61: Safestop® Receiver Dimensions
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 15.3 SafeStop® Receiver Dimensions All dimensions in inches NOTE: Powder coating may need to be removed to access grounding bolt holes. 15.4 SafeStop® Receiver Mounting Template See the next page for the SafeStop Receiver Mounting Template. - Page 62 SafeStop ® User Manual, Version 2.0 Manual, Version 2.0...
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Page 63: Fcc Compliance
Torc expressly excludes all other warranties. Torc’s liability is limited to the cost of repair or replacement of the product. Such remedy shall be the sole and exclusive remedy for any breach of warranty. -
Page 64: Revision
SafeStop ® User Manual, Version 2.0 Manual, Version 2.0 18. Revision V2.0 – August 2023; Updated grounding information and loss of link.
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