neobotix USBoard-USS5 Manual

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USBoard-USS5

Neobotix GmbH

Sep 26, 2024

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Page 1 USBoard-USS5 Neobotix GmbH Sep 26, 2024...
Page 2: Table Of Contents
Downloads and Further Information ......2 USBoard-USS5 Introduction ..........
Page 3 ......... . . 2.12.2 USBoard-USS5 Conﬁguration Cable .
Page 4: Introduction
CHAPTER Introduction 1.1 About This Documentation 1.1.1 Symbols and Conventions The following symbols and highlighting are used in this documentation: Danger: Indicates a hazardous area or an immediately dangerous situation that could lead to serious injury or even death. Warning: Indicates a hazardous area or a potentially dangerous situation that could lead to serious injury or damages.
Page 5: Further Information
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.
Page 6: Usboard-Uss5
The USBoard-USS5 is capable of operating up to 16 ultrasonic sensors of type Bosch USS5. It can be used for collision detection on autonomous vehicles like mobile robot, wheeled drones and other AGVs. The board features easy commissioning, comfortable parametrization and a wide range of custom settings.
Page 7: Introduction
The USBoard-USS5 was developed to provide exclusively non-safe data and information. 2.1.2 Improper Use The USBoard-USS5 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 8: Cross Echo Mode
• The distance calulation performed by the USBoard-USS5 is the same in both operating modes: The time be- tween sending and receiving the echo is halved and multiplied with the speed of sound. This reduces processing...
Page 9: 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 10: Uss5 Field Of View
Note: Please note that the data on this page are only for reference and are no assurance of any product features. Please perform your own tests to check the suitability of the USBoard-USS5 and the USS5 sensors for your speciﬁc...
Page 11 CHAPTER 2. USBOARD-USS5 2.3. TECHNICAL DATA...
Page 12: Parameter Set
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 13 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 25)) Alarm relay blocked mode (default 0) (see Conﬁguration...
Page 14: Command Set
A setting of 1.0 means that each new measurement is directly used as output value while the old value is discarded, in effect deactivating the ﬁlter. 2.5 Command Set 2.5.1 Command IDs The following table shows the available commands of the USBoard-USS5. Command Value Description...
Page 15: Usb / Serial Interface
Every message from the USBoard-USS5 begins with a start byte which must have the value 0xFF. After each mes- sage, made up of eight data bytes, a 16 bit checksum is sent. Because of this, a complete message is 11 bytes long.
Page 16: 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 11).
Page 17: Cmd_Get_Data_1To8
Note: This is a legacy command. The maximum value is 255 (1 Byte). Higher bits are not transmitted. 2.6.5 CMD_WRITE_PARASET Use this command to transfer a complete parameter set to the USBoard-USS5. The parameters are stored volatile, which means that they will be lost when the board is switched off. To conveniently conﬁgure the board, use the graphical parameter editor.
Page 18: Cmd_Write_Paraset_To_Eeprom
Use this command to write a complete parameter set into the board’s EEPROM. The parameters are stored non-volatile, which means that they will be used again the next time the USBoard-USS5 is switched on. To comfortably conﬁgure the board, use the graphical parameter editor.
Page 19: Cmd_Get_Analogin
• 4 bits denoting the sending sensor, either 0xFF if all sensors are sending or the bit of the active sensor set to 1 for cross echo mode The lower 8 bit byte of a sensor can also contain an error code: • 0 indicates that the sensor is not physically connected to the USBoard-USS5.
Page 20: 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 21: Launch
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 The following parameters can be changed according to your needs in neo_usboard_v2.yaml:...
Page 22: Topics
/usboard_v2/sensor16 sensor_msgs/Range 2.7.5 Multiple USBoards 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:...
Page 23: 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 24: Launch
1000000 sudo ip link set can0 up To launch the USBoard-USS5 ROS node use: ros2 launch neo_usboard_v2 neo_usboard_v2.launch.py 2.8.3 Parameters The following parameters can be changed according to your needs in neo_usboard_v2.yaml:...
Page 25: Topics
2.9.1 Introduction 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.
Page 26: First Steps
2.9. GRAPHICAL USER INTERFACE The USBoard-USS5-GUI requires a PC with a Microsoft Windows® or Ubuntu LTS operating system and a free USB port. For industrial applications the USB connection can be replaced with a RS-232 interface. In this case the computer will need an RS-232 interface (COM port) as well or a USB-Serial-Converter.
Page 27 Load from File Loads a conﬁguration ﬁle and changes the GUI settings accordingly. On the right you can ﬁnd the buttons to transfer the current settings from the GUI to the USBoard-USS5 and to read the board’s conﬁguration into the GUI.
Page 28: Configuration
Tip: Deactivating sensor channels that are not in use will reduce the cycle time for reading all sensors and update measurements faster. Deactivated channels will be skipped by the USBoard-USS5 without waiting for an echo. The warning and alarm thresholds of each sensor are displayed on the far right. The current distance measurements are shown as coloured bars and numerical values in the centre of the box.
Page 29 Tip: Deactivate all channels that are not in use. This will reduce the cycle time for handling all sensors and provide updated measurements as fast as possible. If a sensor is not physically connected to the USBoard-USS5 but is marked as active the GUI will indicate this case by displaying “N/A” instead of a measurement value.
Page 30 CAN Baudrate The CAN bus data rate. Transmit Mode Sets the output mode of the board. Request means that the USBoard-USS5 will only send messages on request. In all other settings it will send out messages automatically via the selected interface.
Page 31 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 32: Dimensions
CHAPTER 2. USBOARD-USS5 2.10. DIMENSIONS 2.10 Dimensions...
Page 33: 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 34: Uss5
2.12.2 USBoard-USS5 Conﬁguration Cable The basic cable set (order number X211) speeds up the conﬁguration of the USBoard-USS5 and ﬁrst tests. It consists • Connector X1: Connections for power supply (1 m, ﬂying leads, red = plus, black = minus) and CAN (1 m, female D-Sub 9 connector, no terminating resistor, pin 2 - CAN Low, pin 7 - CAN High) •...
Page 35: Sensor Cable Sets
Neobotix offers unshielded cable sets in different lengths for ﬁrst tests and prototyping. The default version (order number X214) is 2 m long and can be plugged into any of the USBoard-USS5’s four sensor connectors X2 to X5. Other cable lengths (up to 25 m) and designs are available on request.
Page 36 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 37 CHAPTER 2. USBOARD-USS5 2.12. ADDITIONAL PARTS Fig. 4: Connector set for USS5 (X213) Fig. 5: Ultrasonic sensor Bosch USS5.0 (X210)
Page 38: 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 39: General Questions
2.13.1.3 How to get measurement data as fast as possible? Disabling all sensor channels that are currently not in use will prevent the USBoard-USS5 from trying to send pulses on these channels and from waiting for an echo. This will reduce the cycle time needed for updating measurements from all sensors that are actually used.
Page 40: 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...
Page 41: 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 42: Würth Elektronik - Mpc4
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 43: Würth Elektronik - Mpc3
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 44 CHAPTER 3. CONNECTORS 3.3. WÜRTH ELEKTRONIK - MPC3...
Page 45: Qualified Personnel
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, •...

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