Table of Contents
Advertisement
Quick Links
WiBotic
9706 4
th
Avenue NE
Suite 208
Seattle, WA 98115
1.877.WIBOTIC
info@wibotic.com
www.wibotic.com
Date Updated: Revision 24.0 – May
2023
Notice: This document is provided for
informational purposes only. It
represents WiBotic's current product
offerings and practices as of the date
of issue of this document, which are
subject to change without notice.
Customers are responsible for making
their own independent assessments
of the information in this document
and any use of WiBotic's products or
services, each of which is provided "as
is" without warranty of any kind,
whether express or implied. This
document does not create any
warranties, representations,
contractual commitments, conditions
or assurances from WiBotic.
WIRELESS POWER
SYSTEM
USER GUIDE – REV 24.0
© 2023 WiBotic Inc. All rights reserved.
Advertisement
Table of Contents
Summary of Contents for WIBOTIC OC-110
- Page 1 Customers are responsible for making their own independent assessments of the information in this document and any use of WiBotic’s products or services, each of which is provided “as is” without warranty of any kind, whether express or implied. This...
-
Page 2: Table Of Contents
Initial Hardware Setup - Benchtop ......................11 Connecting the Components ........................... 12 Initial Hardware Setup – Robot Applications ..................14 WiBotic Antenna Mounting Guidelines ......................14 Materials to Avoid ............................14 Antenna offsets for best performance ......................14 Connectors ............................15 Battery Cable Connectors .......................... - Page 3 DEVELOPMENT KIT USER GUIDE - REV 24.0 Log Messages ................................38 Distance Connect Mode (DCM) ..........................39 Update Menu ..............................40 Downloading the Files .............................. 41 Uploading the Files to the Transmitter ........................41 Updating/Installing the Firmware ..........................42 Onboard Charger Update Recovery ......................... 43 Control Panel Update Recovery ..........................
- Page 4 Talking over CAN ..............................66 Setting up a DroneCAN (formerly UAVCAN v0, see https://dronecan.github.io) Node in Python ........66 Including WiBotic’s DSDL definitions ........................... 67 Sending a Message Over the CAN Bus with a UAVCAN Node ....................67 Provided Code ................................67 OpenCyphal (formerly UAVCAN V1, see https://opencyphal.org) ................
-
Page 5: Description
“robots” for the remainder of this User Guide. The WiBotic system allows users to automate power delivery to robots or entire robot fleets. In addition to fully automating the battery charging function, configurable charging profiles can also extend the life of every battery. -
Page 6: Key Features
Multiple options up to 30A/1000W delivered to the battery when used with a DC power supply for non- wireless operation Lightweight Onboard Charger system for weight-sensitive installations ● Wireless Power System Configuration The following diagram shows the operational configuration of the system as well as the individual components supplied with every WiBotic system:... -
Page 7: Inside The Box
DEVELOPMENT KIT USER GUIDE - REV 24.0 Inside the Box CANBus communication cable Transmitter Antenna Coil (TC) Onboard Charger (OC) Transmitter Antenna Cable Receiver Antenna Cable Ethernet Cable) Receiver Antenna Coil (RC)) AC Power Cord Battery Cable 10. Transmitter... -
Page 8: Specifications
48V nominal (42-54V) DC power supply. Contact WiBotic for details. The table below shows the average power consumed by WiBotic Onboard Chargers when connected to a battery, and idle (not charging). These numbers can be used as a general guide for idle power consumption and do not represent min or max... - Page 9 0.5 - 30A *DC Output voltage and current are configurable within the specified range via the WiBotic Control Panel or APIs. The total amount of power delivered to the battery is determined by either the maximum power output or the maximum current output, based upon the voltage of the battery being charged.
-
Page 10: Battery Charging Speed
Battery Charging Speed Operators often wonder how long it will take the WiBotic charger to charge a battery. The answer is that it will take the exact same amount of time as a “plug in” (or wired) charger with the same power specifications. A 300W wireless charger will charge the battery just as quickly as a 300W desktop charger. -
Page 11: Initial Hardware Setup - Benchtop
– demonstrating the unique flexibility of WiBotic’s technology. However, if WiBotic has uniquely “tuned” your power transfer antenna coils (we will inform you if this is the case) operation in open air is not recommended. -
Page 12: Connecting The Components
DEVELOPMENT KIT USER GUIDE - REV 24.0 Connecting the Components Connect one coaxial SMA cable between the Power Transmitter and the Transmit Coil. Make sure the antenna end of the cable is tightened to 8 inch-lbs. For TR-150 and TR-302 systems, connect the three-position black Molex connector end of the cable to the transmitter until it snaps into place. - Page 13 DEVELOPMENT KIT USER GUIDE - REV 24.0 CAUTION: If using a battery power cable other than the one supplied by WiBotic, be sure to follow the pin-out instructions in the following section. With the antenna coils mounted on the antenna stand, loosen the thumbscrews and adjust their position so they are concentric and approximately 20mm apart.
-
Page 14: Initial Hardware Setup - Robot Applications
For most applications, the primary concern is large flat planes of metal (or other conductive materials), located either immediately behind or to the side of the WiBotic antennas. Any broad sheet of metal, stainless steel, aluminum, carbon fiber, and even certain fiberglass materials can create interference. Plastic materials typically will NOT cause interference and are highly preferred. -
Page 15: Connectors
During custom tuning, we test the performance of the antennas in their desired location relative to conductive materials in both the charging station and the robot. For this process, it is best for WiBotic to have a sample of the robot chassis at our facility for testing. - Page 16 DEVELOPMENT KIT USER GUIDE - REV 24.0 OC MODEL CONNECTOR BRAND HOUSING PART # CRIMP PART # WIRE GAUGE OC-110 Molex 39-01-2020 45750-3111 16AWG OC-210 Molex 39-01-2040 45750-3111 16AWG OC-150 TE Connectivity 176271-1 175152-1 16AWG OC-251 Molex 42816-0212 42815-0134 10 AWG (24A max)
- Page 17 DEVELOPMENT KIT USER GUIDE - REV 24.0 The following diagrams show the connectors on each OC and the pin-out of each battery output connector. Use these diagrams to properly wire the corresponding connectors.
-
Page 18: Auxiliary Dc Power Input For Onboard Charger (I.e "Wall Power")
For these reasons all current WiBotic Onboard Chargers have an auxiliary DC power input port (the discontinued OC-110 was the only historical WiBotic OC to not have this feature). To power the OC using the auxiliary input, you may connect any 22-50V DC power supply rated for at least 150% of the power level (watts) you require as output from the OC. -
Page 19: Canbus Communications Connectors
Communicating with the Transmitter The WiBotic Control Panel allows users to control the WiBotic system, view its status, and make changes to settings without having to install separate software. The interface is accessible via modern versions of Firefox, Chrome, Edge, and Safari. A direct point-to-point Ethernet connection is recommended for initial setup although networking is possible through the Network Setting menu. - Page 20 DEVELOPMENT KIT USER GUIDE - REV 24.0 Select Internet Protocol Version 4 (TCP/IPv4) and click the Properties button below it: Click the Use the following IP address button and specify the following settings. The DNS section may be left blank. Click OK: IP ADDRESS: 192.168.2.10...
- Page 21 DEVELOPMENT KIT USER GUIDE - REV 24.0 After the network settings have been configured, open a Web Browser (Firefox, Chrome, or Edge) and go to the following URL: http://192.168.2.20 Verify that the web application loaded and that the Transmitter status at the top of the screen shows “Idle”.
-
Page 22: Linux (Temporary Connection)
Type “ip address” to list all network interfaces on your computer and their respective IP addresses. Locate the name of the network interface connected to the WiBotic system. This interface is usually near the bottom if using a USB dongle. It should be something like enx0012345678, eno1, or eth0. -
Page 23: Ethernet Configuration Reset
WiBotic GUI. Ethernet Configuration Reset If the WiBotic system does not respond at the default IP address, you can reset the Ethernet configuration to the default factory settings as follows. Locate a thin rigid object such as a small hex key or an unfolded paperclip. -
Page 24: Transmitter Displays
The primary means of monitoring system status is via the Control Panel user interface. However, it is not always possible to connect a computer/browser to the transmitter through the Ethernet port. For those cases, WiBotic’s standard transmitters are equipped with an LCD screen and indicator LED lights to provide basic status information. -
Page 25: Led Indicator Lights
LED Indicator Lights Standard WiBotic transmitters also provide Red, Green, and Blue LED lights that provide system status at a glance. Below is an overview of LED combinations and what they indicate: No LEDs: System is powered off Green LED slowly cycling on and off (not shown): System is powered-on but charging has not been enabled (see “Starting Wireless Power”... -
Page 26: Homepage
Homepage The image below shows the primary Control Panel Homepage within the WiBotic Control Panel. This display provides a graphical representation of the Transmitter and Onboard Charger (if in range) and their current operational status. If no Onboard Charger is within range, “Disconnected” will appear as the “Charger Status” and the onboard charger and battery icon will not appear in the display. -
Page 27: Settings Menu
Begin by opening the “Battery Settings” sub-menu within the main “Settings” menu to confirm that these values are correct for the battery you are using. If you have switched batteries or the WiBotic system is installed on a different robot, these values can be adjusted at any time. - Page 28 However, it can be increased or decreased within the overall power range of the WiBotic system. For instance, the WiBotic OC-251 Onboard Charger has a maximum power rating of 250W and a maximum current output of 12A. In the image above, the OC is configured to charge a battery with a relatively low float voltage (14.6V). When reaching the end of the charge cycle at 14.6V, a charge current of 17.1A would be needed to output the full 250W power capacity of the...
- Page 29 Therefore, this setting can be used to slow down battery charging when fast charging isn’t needed. Charge speed can then be increased again when the robot needs to quickly return to service. Using the WiBotic API to programmatically make these adjustments based upon the robot’s duty schedule lets users truly maximize the lifespan of entire fleets of batteries.
- Page 30 It is therefore not recommended that a normal high-current charge cycle be attempted after an undervoltage event. The WiBotic OC is designed to avoid that possibility. By default, the OC will not attempt to charge a battery that reads below its minimum safe voltage.
-
Page 31: Charge Settings
When the WiBotic OC is powered only by the battery itself, which is the most common case, then it will likely lose power completely when the protection circuitry engages. - Page 32 DEVELOPMENT KIT USER GUIDE - REV 24.0 Autonomous Operation: WARNING: Never disconnect the battery from the Onboard Charger when actively charging. This may damage the OC circuit. Instead, use the Control Panel software toggle switches or separate the transmitter and receiver antennas to manually stop charging before disconnecting the battery from the OC.
- Page 33 DEVELOPMENT KIT USER GUIDE - REV 24.0 An alert will appear in the taskbar confirming the change of settings. From this point forward, the transmitter and onboard charger will automatically turn ON and start charging a robot/drone as soon as it approaches a charging station. To disable this feature, simply toggle the Transmitter and Charger buttons back to the “OFF”...
- Page 34 “full”. This may be desirable if keeping the robot powered at all times is a key goal. However, if you do not want the WiBotic system to continue sending power indefinitely, you can limit the amount of time it will spend in CV mode.
-
Page 35: System Identification
However, MAC addresses can be difficult to remember and don’t provide any reference as to how or where a device might be used. For this reason, WiBotic allows transmitters and OCs to be given common names. -
Page 36: Network Settings
Network Settings The Network Settings sub-menu provides configuration parameters for adding the WiBotic transmitter to a Local Area Network. The options available via this menu should be familiar to networking/IT professionals, but please contact WiBotic if questions arise. CAN Settings The CAN Settings sub-menu provides configuration parameters for CAN-bus communications between the Onboard Charger and the robot/drone controller. - Page 37 RX Alarm: Rectified The input voltage seen by the Onboard Charger has changed abruptly. This may be due to poor coil voltage crash position or other hardware error. If this problem is not resolved by repositioning coils, contact WiBotic.
-
Page 38: Version Information
The Log Messages section allows users to select and view individual log files for the Transmitter and Onboard Charger – typically for troubleshooting with assistance from WiBotic. The “System Log” file contains a chronological record of all system events since the Transmitter was last powered on. It is like the Live Log above, but the System Log file is not date/time stamped and is not affected by closing the browser. -
Page 39: Distance Connect Mode (Dcm)
12in is sufficient. If the two antenna coils are allowed to pair, then the transmitter will only be able to “see” the paired Onboard Charger. Open the WiBotic GUI. Go to the “Diagnostics” page Expand the Distance Connect Mode box. This will provide a list of all of the Onboard Chargers within radio range of the Transmitter (roughly 30ft) If only one OC is connected to a battery, then only one will appear. -
Page 40: Update Menu
10) To disconnect an OC from DCM, simply click on the “Disconnect” button in the DCM section of the Diagnostics page. Update Menu WiBotic will occasionally release new firmware for the Transmitter or Onboard Charger to improve system performance. To see if new firmware is available, simply click the “Check for Updates” button near the top of the Update page. -
Page 41: Downloading The Files
DEVELOPMENT KIT USER GUIDE - REV 24.0 Downloading the Files Under the heading for each firmware Rev are two file download links 1) Firmware Bundle and 2) API Files. The first link will download the Firmware .zip file with a filename similar to the following: Revxx_WiBotic_Firmware.zip. The .zip file contains three separate files as follows, but there is no need to unzip/extract the files at this time: WEB.RFS –... -
Page 42: Updating/Installing The Firmware
DEVELOPMENT KIT USER GUIDE - REV 24.0 At this point, the “Current” Transmitter and Onboard Charger firmware versions no longer match the Current Web Version. This is to be expected since the firmware running on the two components has not yet been installed. The system will provide an error message to alert you to the mismatch: A more prominent notification will also appear instructing you to proceed with the firmware update/installation. -
Page 43: Onboard Charger Update Recovery
After completing this step your firmware will be fully updated on this transmitter and the connected Onboard Charger. Repeat the process for other Onboard Chargers after connecting to each individually. Or, contact WiBotic to learn how WiBotic Commander, our Fleet Energy Management software product, can automate firmware updates for large fleets of robots. -
Page 44: Data Plots Menu
DEVELOPMENT KIT USER GUIDE - REV 24.0 Data Plots Menu The Data Plots menu provides a graphical representation of various system parameters over time. To choose the displayed parameters, click on the Parameter pull-down menu on the right side of the screen. You may also reset the default scale for that parameter by typing a new value in the Scaling Factor box immediately below. -
Page 45: About Menu
Once wireless power transmission begins, the system will stop only if the Transmitter toggle is clicked again to turn it off, if the battery is fully charged, or if a shutdown event occurs. (See the “Power Down Events” section for details). WiBotic recommends disconnecting power to both the Transmitter and Onboard Charger when not in use for extended periods. -
Page 46: Power-Down Events
OC is powered off or disconnected from the battery. During start-up, the charging current will ramp up to the maximum constant-current charge rate as configured in the WiBotic software. The Onboard Charger will always try to ramp-up to the maximum charge current. However, in some cases, depending on either sub-optimal coil position, environmental conditions or high temperatures of the electronics, the Onboard Charger may not be able to achieve this desired level. -
Page 47: Thermal Throttling
Thermal Throttling As is typical of any battery charging system, WiBotic’s Transmitter and Onboard Charger circuits will develop heat during the charging process. Each circuit is designed to dissipate a sufficient amount of heat either, through active cooling (fans) or passive cooling (heat sinks), while operating at its full rated power. -
Page 48: Troubleshooting Connectivity
“ping 192.168.2.20” in a terminal or command prompt window. If able, running a packet capture tool such as Wireshark on the interface where the WiBotic system is plugged in, and sending the capture to WiBotic, may also help us assist you in getting the system up and running. -
Page 49: Suppliers Declaration Of Conformity (Sdoc)
Note to robot manufacturers: If a WiBotic Onboard Charger is installed inside the robot, or where the FCC approval label cannot otherwise be seen, a separate label must be affixed to the outside of the robot. The label should read as follows depending upon the OC model used: OC-301: “Contains FCC ID: 2AVQUOC30130ST"... -
Page 50: Appendix A: Network Api
It could be susceptible to an attack where a malicious webpage opens a socket and sends data to the WiBotic system in another isolated network segment. This will be addressed in future versions of the system. -
Page 51: General Packet Format
“C Types” (such as uint16_t)) are typically little endian encoded. Larger blobs are typically in network order (big endian). Tip: When porting the WiBotic binary websocket protocol to another language, it can be helpful to look at the packettools.py and wiboticsocket.py files available in Wibotic API.zip... -
Page 52: Api Requests
DEVELOPMENT KIT USER GUIDE - REV 24.0 API Requests The following diagrams illustrate the position of the bytes that should make up the binary WebSocket frames that contain the API requests and responses. Multiple successive bytes with the same name indicate that the value is to be split over those bytes. -
Page 53: Adc Update
DEVELOPMENT KIT USER GUIDE - REV 24.0 ADC Update 0x82 Device ID ADC ID 1 ADC ID 1 ADC Data 1 ADC Data 1 ADC ID 2 ADC ID 2 ADC Data 2 ADC Data 2 … ADC ID ADC ID ADC Data ADC Data The number of ADC values in a packet can be determined by the following equation:... - Page 54 DEVELOPMENT KIT USER GUIDE - REV 24.0 NAME DESCRIPTION READ WRITE TR/OC AVAILABILITY HardwareCommand Commands that manage hardware operations that are common Both across systems TargetVrect Received rectified voltage target that the system will use along with power tracking (mV) DigitalBoardVersion Version of the digital board that is running the system Both...
- Page 55 Number of times the device has booted up RadioPowerLevel Transmit power level for 2.4GHz radio Both BootloaderVersion Both Current bootloader version on the device BaseUAVCANV1SubjectID Starting ID for UAVCAN V1 WiBotic Subject Identifiers. Must be in range of 0 to 6143 inclusive.
-
Page 56: Parameter Response Status Codes
Maximum amount of power that can be drawn from the 48V DC power supply BaseUAVCANV1ServiceID Starting ID for UAVCAN V1 WiBotic Service Identifiers. Must be in range of 0 to 255 inclusive. PowerUnpoweredOnTime Amount of time in seconds to keep a power unpowered pulse... -
Page 57: Real-Time Adc Packets
DEVELOPMENT KIT USER GUIDE - REV 24.0 Real-time ADC Packets NAME DATA TYPE DESCRIPTION PacketCount uint16_t Packet identifier within second of time Timestamp uint32_t Timestamp of the packet in seconds ChargeState uint8_t Current state of system Flags uint16_t Flags PowerLevel uint16_t Output power level (mV) VMon3v3... -
Page 58: Device Id
DEVELOPMENT KIT USER GUIDE - REV 24.0 NAME DATA TYPE DESCRIPTION TmonAmb float Ambient Temperature (Celsius) RadioRSSI uint8_t Radio Signal Strength (subtract 256 from the value to obtain estimated RSSI) RadioQuality uint8_t Radio Signal Quality (arbitrary) TCharger Float Charger temperature (Celsius) Device ID DEVICE ADDRESS... -
Page 59: Appendix B: Python Libraries
Introduction A Python helper library and sample code is provided to help the user integrate faster with the WiBotic system and to demonstrate usage patterns. To access these files, navigate to the “Update” menu in the Control Panel GUI and select the “Check for Updates”... -
Page 60: Python Development
DEVELOPMENT KIT USER GUIDE - REV 24.0 If you do not see this output, it is possible that either your TCP/IP settings are not configured correctly (is the WiBotic UI working?) or that the Transmitter is not configured to be at the default IP address of 192.168.2.20. In the latter case, you can modify wibotic_highlevel_sample.py to change the IP address to the address you have configured. - Page 61 DEVELOPMENT KIT USER GUIDE - REV 24.0 wibotic_lowlevel_sample.py: Example code showing how to open the transmitter websocket directly, and ● communicate to the transmitter over that socket, using the low level packettools library to parse and create data packets. Because this sample connects directly to the asynchronous websocket interface it is the method of choice when requiring high frequency (10Hz) ADC data packets to be received from the Transmitter and any connected Onboard Charger/Receiver.
-
Page 62: Appendix C: Onboard Api
Similar in functionality to the Network API, the Onboard API allows for direct communication between your robot/drone and the WiBotic Onboard Charger. Rather than using Ethernet, however, the Onboard API uses a Control Area Network (CAN) interface - specifically “UAVCAN”, a lightweight protocol used for communication in many industrial applications (https://uavcan.org/). - Page 63 DEVELOPMENT KIT USER GUIDE - REV 24.0...
- Page 64 Note: A 120 Ω terminator resistor must be placed between CAN High and CAN Low on each end of the bus (but not every node) as per ISO-11898 standard. The WiBotic OC does not have a built in termination resistor.
-
Page 65: Can Api
DSDL (data structure description language) definition. The system currently has full support for both V0 and V1 of the protocol. V1 support is disabled until the WiBotic OC sees other V1 packets (like a heartbeat). Adjustments to the data sent out from the on-board charger and the ID of the CAN bus can be changed by modifying the CANMessageConfig and CANID NVM parameters on the on-board charger. -
Page 66: Talking Over Can
DEVELOPMENT KIT USER GUIDE - REV 24.0 candump should result in a stream of data that looks similar to the image. Talking over CAN In order to talk to an Onboard Charger across CAN, the UAVCAN protocol must be setup. For ease of use it is recommended that pyuavcan (which was installed as a part of setup) is used. -
Page 67: Including Wibotic's Dsdl Definitions
DEVELOPMENT KIT USER GUIDE - REV 24.0 Including WiBotic’s DSDL definitions The function uavcan.load_dsdl(PATH) can be used to load WiBotic’s DSDL definitions as a third party definition. This will add the thirdparty path to the definition (e.g. uavcan.thirdparty.wibotic.*). Sending a Message Over the CAN Bus with a UAVCAN Node For this example, we will send a command to change the Onboard Charger’s maximum top-off charge time to 36000... -
Page 68: Opencyphal (Formerly Uavcan V1, See Https://Opencyphal.org)
Yakut can be used to communicate with a WiBotic OC via a terminal on Windows, macOS, and Linux. To get started, install Python 3.9 on your platform of choice (see V0 instructions above for more details). Note: Going forward, this guide uses pipenv as a Python virtualenv wrapper, but you can use another virtualenv solution or install directly into your default python environment. -
Page 69: Serializing Packets
Just setting up UAVCAN on a system will enable communication with any of UAVCAN’s default DSDL definitions. WiBotic’s CAN API has support for the BatteryInfo definition; however, only the temperature, voltage, and current will have values filled in. -
Page 70: Parameters
DEVELOPMENT KIT USER GUIDE - REV 24.0 Parameters NAME CAN NAME DESCRIPTION WRITE Address of the device on the internal point to Address ADDR point wireless link RadioChannel RADC Current device radio channel Version of the digital board that is running the DigitalBoardVersion DBRD system... -
Page 71: Parameter Status Codes
Number of times the device has booted up RadioPowerLevel RPOW Transmit power level for 2.4GHz radio Bootloader Version BTLD Current bootloader version on the device Starting ID for UAVCAN V1 WiBotic Subject Identifiers. Must be in range of 0 to 6143 BaseUAVCANV1SubjectID BUID inclusive IMin IMIN... -
Page 72: Uavcan V0 Gui Tool
127 and is fine for this demonstration. This should be changed if there is already a UAVCAN device on your bus using node ID 127. Click the check box next to the ID to assign it to your device. If your WiBotic OC has been plugged in and powered on, it should show up in the online nodes within a couple of seconds. -
Page 73: Configuring System Parameters
Configuring System Parameters Double click on the online WiBotic charger to view detailed information about the UAVCAN node. From here, parameters can be inspected and manipulated, and firmware can be updated. To view system parameters, click “Fetch All” under the Configuration parameters subsection. -
Page 74: Updating System Firmware
WiBotic OC’s, so click Yes to continue. A file selector will appear. Select a WiBotic OC firmware file and the update will proceed automatically. You will see the mode of your WiBotic OC will change to “SoftwareUpdate” as the update is written to your device. When the update completes, the... - Page 75 WiBotic 9706 4 Ave NE, Suite 208 Seattle, WA 98115 P: +1-877-WIBOTIC | 206-580-0900 | E: info@wibotic.com www.wibotic.com...
Need help?
Do you have a question about the OC-110 and is the answer not in the manual?
Questions and answers